CN220807388U - Modularized special steering engine - Google Patents

Abstract

The utility model relates to the technical field of steering engines, and particularly provides a modularized special steering engine which comprises a first connecting arm, a second connecting arm, a driving mechanism, an electric connecting device, a braking module and a docking mechanism, wherein the driving mechanism comprises a reduction gearbox, the reduction gearbox and a power motor are arranged in the first connecting arm, and the output end of the reduction gearbox is connected with the second connecting arm; the braking module comprises an electric lifting seat, the electric lifting seat is fixed in the first connecting arm through a mounting frame, a braking disc is mounted at the top of the electric lifting seat, one end of a braking gear shaft is in gear engagement transmission with a reduction gearbox, and a turntable is coaxially fixed at the other end of the braking gear shaft. When braking, the brake disc of the brake module is pushed to the turntable, the turntable is locked at first, and the brake gear shaft and the reduction gearbox are braked through the turntable, so that the first connecting arm and the second connecting arm can realize braking operation under higher load.

Description

Modularized special steering engine

Technical Field

The utility model relates to the field of steering engines, in particular to a modularized special steering engine.

Background

At present, steering engines in the market cannot be quickly reconstructed and assembled, and a bionic robot is built. The integrated level is low because of being matched with external parts, and the requirement of completing operation in a narrow, complex and closed space cannot be met. In post-disaster rescue, flexible, small, low-cost and various-movement equipment is generally required to adapt to complex working environments. The robot built by the existing steering engine is difficult to meet the requirements, and the modularized special steering engine is urgently required to be developed.

Patent literature discloses a snakelike robot joint module and modularization snakelike robot joint of CN214446400U, includes: the first joint unit and the second joint unit are arranged in a coupling way; and an articulation unit located therebetween and having four ends disposed orthogonally; the first joint unit includes: the first joint body and the first driving component are arranged in the first joint body; the output end of the first driving component is in synchronous transmission connection with the first end part of the joint connection unit; the second joint unit includes: the second joint body and the second driving assembly are arranged in the second joint body and are perpendicular to the output axis of the first driving assembly; the output end of the second driving assembly is synchronously in transmission connection with the second end part on the adjacent side of the first end part; the first end part and the third end part which is arranged right corresponding to the first end part on the joint connection unit are respectively and rotatably connected with the first joint body; the second end part and the fourth end part which is arranged right corresponding to the second end part on the joint connection unit are respectively and rotatably connected with the second joint body. The structural layout setting of the joint module can be realized by adjusting the corresponding relation between the first joint body and the second joint body, each structural component can be repeatedly used, the manufacturing cost is low, the joint module and the joint module are connected and designed universally, and the number of the joint modules can be increased freely on the premise of ensuring the driving capability. However, this patent still suffers from a number of disadvantages: 1. the synchronous wheel and the synchronous belt are used for braking, so that the brake is only suitable for a low-load scene, and accurate positioning and locking of the joint angle are difficult to perform during high-load braking, and the braking failure is caused. 2. The modules are connected through flanges, so that the assembly efficiency is low.

Disclosure of utility model

The utility model aims to solve the technical problems that: in order to solve the problems of low assembly efficiency and braking failure of the existing steering engine module, the utility model provides a modularized special steering engine for solving the problems.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a modularization special steering engine, includes first linking arm and second linking arm, first linking arm and second linking arm rotate to be connected, still include: the device comprises a driving mechanism, an electric connecting device, a braking module and a docking mechanism, wherein the driving mechanism comprises a power motor and a reduction gearbox, the reduction gearbox and the power motor are installed in a first connecting arm, the output end of the reduction gearbox is connected with a second connecting arm, the power motor drives the first connecting arm and the second connecting arm to rotate by taking the output end of the reduction gearbox as an axis through the reduction gearbox, and the electric connecting device is used for connecting circuits in the first connecting arm and the second connecting arm; the brake module comprises an electric lifting seat, a brake disc, a rotary disc and a brake gear shaft, wherein the electric lifting seat is fixed in the first connecting arm through a mounting frame, the brake disc is installed at the top of the electric lifting seat, one end of the brake gear shaft is in meshed transmission with the reduction gearbox through a gear, the rotary disc is coaxially fixed at the other end of the brake gear shaft and is opposite to the brake disc, and the electric lifting seat can push the brake disc to be in butt joint with the rotary disc; the docking mechanism is used for connecting and locking the first connecting arm of one modularized special steering engine with the second connecting arm of the other modularized special steering engine.

As the optimization, the reduction gearbox adopts a four-stage reduction structure and comprises a motor shaft gear, a first duplex gear, a second duplex gear, a third duplex gear, an output gear shaft, a first bearing, a sealing cover and a plurality of pin shafts, wherein the motor shaft gear, the first duplex gear, the second duplex gear, the third duplex gear, the output gear shaft and the brake gear shaft are sequentially meshed and are rotatably installed in the first connecting arm through the pin shafts, the sealing cover is used for sealing the inner space of the first connecting arm, the first bearing is sleeved on the output gear shaft, and the outer ring of the first bearing is clamped with the first connecting arm.

Preferably, the electric lifting seat comprises a brake motor, a gear transmission seat, a transmission screw, a brake disc sliding sleeve, a guide block, a guide shaft, a compression spring and a limiting needle, wherein an output shaft of the brake motor is connected with the transmission screw through the gear transmission seat, the brake disc sliding sleeve is installed on the transmission screw and is in threaded connection with the transmission screw, the brake disc is slidably installed on the brake disc sliding sleeve, the limiting needle is inserted into the end part of the brake disc sliding sleeve to limit the brake disc, the compression spring is sleeved on the brake disc sliding sleeve and is in butt joint with the brake disc, the guide block is fixed on the side surface of the brake disc sliding sleeve, and the guide shaft is vertically fixed on the gear transmission seat, and the guide block and the brake disc are both in sliding connection with the guide shaft.

Preferably, a brake pad is further bonded to the surface of the brake disc.

Preferably, the brake pad is a polyurethane pad.

Preferably, the docking mechanism comprises a threaded ring, a pressing ring and a positioning pin, the threaded ring is rotatably mounted at the tail end of the first connecting arm, the pressing ring is fixed on the first connecting arm and is in sliding fit with the threaded ring, the axial position of the threaded ring is limited, the positioning pin is fixed on the first connecting arm, a positioning hole for accommodating the positioning pin is formed in the second connecting arm, and an external thread opening is formed in the tail end of the second connecting arm.

Preferably, a motor bin shell and a gear bin shell are fixed on the first connecting arm, the motor bin shell is used for covering the power motor, the gear bin shell is used for covering the reduction gearbox, and a magnet installation shell and a charging port shell are fixed on the second connecting arm.

Preferably, the electric connection device comprises a circuit board, a battery, an electric butt joint male head, an electric butt joint female head, a charging interface and a magnet, wherein the battery, a power motor, an electric lifting seat, the electric butt joint male head, the electric butt joint female head and the charging interface are electrically connected with the circuit board, the electric butt joint male head and the electric butt joint female head are respectively fixed at the tail ends of a first connection arm and a second connection arm, a rotary magnetic encoding sensor is arranged on the circuit board, and the magnet is fixed in a magnet installation shell and is opposite to the rotary magnetic encoding sensor, and the charging interface is fixed on a charging port shell.

Preferably, a spacer bush is sleeved on the brake gear shaft, and two ends of the spacer bush are rotatably connected with the first connecting arm through a second bearing and a third bearing.

The utility model has the beneficial effects that firstly, the speed reduction box and the braking module are arranged, the turntable of the braking module is connected with the speed reduction box through the braking gear shaft, when braking is carried out, the braking disc of the braking module is pushed to the turntable, the turntable is locked firstly through the action of friction force, and then the braking gear shaft and the speed reduction box are braked through the turntable, so that the first connecting arm and the second connecting arm can realize braking operation under higher load.

Secondly, a butt joint mechanism and an electric connection device are arranged, the two modularized special steering engines can be physically locked through rotating a threaded ring of the butt joint mechanism, and after butt joint is finished, an electric butt joint male head and an electric butt joint female head of the electric connection device are connected to realize circuit communication.

Drawings

The utility model will be further described with reference to the drawings and examples.

FIG. 1 is a schematic diagram of the construction of a preferred embodiment of the modular specialty steering engine of this utility model;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a right side view of FIG. 2;

FIG. 4 is a schematic view of the internal structure of the modular specialty steering engine of the present utility model;

Fig. 5 is a schematic structural view of a reduction gearbox of the modularized special steering engine;

FIG. 6 is a schematic structural view of the drive mechanism of the modular specialty steering engine of the present utility model;

fig. 7 is a schematic structural view of a brake module of the modular special steering engine of the present utility model.

Reference numerals: 1. a first connecting arm; 2. a second connecting arm; 3. a driving mechanism; 4. an electrical connection device; 5. a brake module; 6. a docking mechanism; 7. a power motor; 8. a reduction gearbox; 9. an electric lifting seat; 10. a brake disc; 11. a turntable; 12. braking the gear shaft; 13. a mounting frame; 14. a motor shaft gear; 15. a first double gear; 16. a second duplex gear; 17. a third double gear; 18. an output gear shaft; 19. a first bearing; 20. sealing cover; 21. a pin shaft; 22. braking the motor; 23. a gear transmission seat; 24. a drive screw; 25. a brake disc sliding sleeve; 26. a guide block; 27. a guide shaft; 28. a compression spring; 29. a limiting needle; 30. a brake pad; 31. a threaded ring; 32. a compression ring; 33. a positioning pin; 34. positioning holes; 35. an external thread opening; 36. a motor housing; 37. a gear housing; 38. a magnet mounting case; 39. a charging port housing; 40. a circuit board; 41. a battery; 42. electrically butting the male heads; 43. electrically docking the female head; 44. a charging interface; 45. a magnet; 46. rotating the magnetic encoder; 47. a spacer bush; 48. a second bearing; 49. and a third bearing.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

As shown in fig. 1 to 7, the present utility model provides an embodiment of a modular special steering engine, which includes a first connecting arm 1 and a second connecting arm 2, and the first connecting arm 1 and the second connecting arm 2 are rotatably connected, and further includes: the driving mechanism 3, the electric connecting device 4, the braking module 5 and the docking mechanism 6, the driving mechanism 3 comprises a power motor 7 and a reduction gearbox 8, the reduction gearbox 8 and the power motor 7 are installed in the first connecting arm 1, the output end of the reduction gearbox 8 is connected with the second connecting arm 2, the power motor 7 drives the first connecting arm 1 and the second connecting arm 2 to rotate by taking the output end of the reduction gearbox 8 as a shaft through the reduction gearbox 8, and the angle of the first connecting arm 1 and the angle of the second connecting arm 2 are adjusted.

The reduction gearbox 8 adopts a four-stage reduction structure, and comprises a motor shaft gear 14, a first duplex gear 15, a second duplex gear 16, a third duplex gear 17, an output gear shaft 18, a first bearing 19, a sealing cover 20 and a plurality of pin shafts 21, wherein the motor shaft gear 14, the first duplex gear 15, the second duplex gear 16, the third duplex gear 17, the output gear shaft 18 and the brake gear shaft 12 are sequentially meshed and rotatably arranged in the first connecting arm 1 through the pin shafts 21, the total reduction ratio of the reduction gearbox 8 is 1:358.5, the sealing cover 20 is used for sealing the inner space of the first connecting arm 1, the first bearing 19 is sleeved on the output gear shaft 18, the outer ring of the first bearing 19 is clamped with the first connecting arm 1, the friction force between the output gear shaft 18 and the first connecting arm 1 is reduced through the first bearing 19, the output gear shaft 18 can further provide stronger torsion for the rotation of the second connecting arm 2, and meanwhile, the first bearing 19 can also support and limit the output gear shaft 18, and prevent the output gear shaft 18 from vibrating due to larger stress.

The brake module 5 comprises an electric lifting seat 9, a brake disc 10, a rotary disc 11 and a brake gear shaft 12, wherein the electric lifting seat 9 is fixed in a first connecting arm 1 through a mounting frame 13, the brake disc 10 is mounted at the top of the electric lifting seat 9, one end of the brake gear shaft 12 is in gear engagement transmission with a reduction gearbox 8, the rotary disc 11 is coaxially fixed at the other end of the brake gear shaft 12 and is arranged opposite to the brake disc 10, a spacer 47 is sleeved on the brake gear shaft 12, two ends of the spacer 47 are in rotary connection with the first connecting arm 1 through a second bearing 48 and a third bearing 49, the second bearing 48 and the third bearing 49 are positioned through the spacer 47, the second bearing 48 and the third bearing 49 can provide support for the brake gear shaft 12, the brake gear shaft 12 is prevented from being blocked due to deformation caused by overlarge acting force, the brake precision and the service life of the brake gear shaft 12 are improved, and the electric lifting seat 9 can push the brake disc 10 to be abutted with the rotary disc 11.

The electric lifting seat 9 comprises a brake motor 22, a gear transmission seat 23, a transmission screw 24, a brake disc sliding sleeve 25, a guide block 26, a guide shaft 27, a compression spring 28 and a limiting needle 29, wherein an output shaft of the brake motor 22 is connected with the transmission screw 24 through the gear transmission seat 23, the brake disc sliding sleeve 25 is arranged on the transmission screw 24 and is in threaded connection with the transmission screw 24, the brake disc 10 is slidably arranged on the brake disc sliding sleeve 25, the limiting needle 29 is inserted into the end part of the brake disc sliding sleeve 25 to limit the brake disc 10, namely, the brake disc 10 can freely slide on the brake disc sliding sleeve 25 and cannot fall off from the brake disc sliding sleeve 25, the compression spring 28 is sleeved on the sliding sleeve of the brake disc 10 and is abutted against the brake disc 10, so that the brake disc 10 can always be positioned at the forefront end of the brake disc sliding sleeve 25 when not braked, the brake disc 10 can firstly contact the rotary disc 11 to brake, the guide block 26 is fixed on the side surface of the brake disc sliding sleeve 25, the guide shaft 27 is vertically fixed on the gear transmission seat 23, the guide block 26 and the brake disc 10 are slidably connected with the guide shaft 27, and the guide shaft 27 are respectively, and the brake disc 10 can reduce the radial vibration of the brake disc 10.

The brake pad 30 is adhered to the surface of the brake disc 10, the brake pad 30 is a polyurethane pad, the friction force between the brake disc 10 and the rotary disc 11 is improved through the polyester ammonia pad, the rotary disc 11 can be braked rapidly, the rotary disc 11 and the brake disc 10 can bear larger load after being abutted, the braking accuracy is improved, braking failure is prevented, the polyester ammonia pad is directly replaced without replacing the brake disc 10 after being worn for a long time, the hardness of the polyester ammonia pad is lower, the wear of the rotary disc 11 during braking can be reduced, and the service lives of the brake disc 10 and the rotary disc 11 are prolonged.

The working principle of the brake module 5 is: when braking, the brake motor 22 starts and drives the drive screw 24 to rotate, the drive screw 24 pushes the brake disc sliding sleeve 25 in threaded fit with the drive screw 24 to move in the rotating process, and the guide block 26 and the guide shaft 27 are used for positioning and guiding, the brake disc sliding sleeve 25 pushes the compression spring 28 and the brake disc 10 to move towards the rotary disc 11, and the brake disc 10 moves, in the process, the polyester ammonia pad firstly contacts with the rotary disc 11, at the moment, the compression spring 28 compresses the brake disc 10 to provide linear pressure for the brake disc 10, so that the impact on the rotary disc 11 when the brake disc 10 brakes is reduced, the stability and the service life of the rotary disc 11 are improved, and after the compression spring 28 is compressed to a limit position, the polyester ammonia pad on the brake disc 10 is pressed on the rotary disc 11, so that the rotary disc 11 is forced to stop rotating completely, the first connecting arm 1 and the second connecting arm 2 can realize braking operation under higher load, the brake gear shaft 12 connected with the rotary disc 11 stops rotating, and the gear shaft 12 is meshed with the gear in the reduction box 8, therefore, the reduction box 8 can be braked after the brake gear shaft 12 stops rotating, the output gear shaft 18 of the reduction box 8 stops rotating, and the first connecting arm 1 and the second connecting arm 2 can not change the included angle at any position.

The docking mechanism 6 is used for connecting and locking a first connecting arm 1 of one modularized special steering engine and a second connecting arm 2 of the other modularized special steering engine, the docking mechanism 6 comprises a threaded ring 31, a pressing ring 32 and a positioning pin 33, the threaded ring 31 is rotatably arranged at the tail end of the first connecting arm 1, the pressing ring 32 is fixed on the first connecting arm 1 and is in sliding fit with the threaded ring 31, the axial position of the threaded ring 31 is limited, the threaded ring 31 is prevented from being locked in place due to locking caused by shaking in the threaded ring 31 in the threaded connection process, the positioning pin 33 is fixed on the first connecting arm 1, a positioning hole 34 for accommodating the positioning pin 33 is formed in the second connecting arm 2, and an external threaded port 35 is formed in the tail end of the second connecting arm 2.

When the two modularized special steering engines are connected, the first connecting arm 1 of one modularized special steering engine is aligned with the second connecting arm 2 of the other modularized special steering engine, the positioning pin 33 is inserted into the positioning hole 34 to be positioned and guided, the external threaded opening 35 is aligned to the threaded ring 31, then the threaded ring 31 is rotated to enable the threaded ring 31 to be in threaded connection with the external threaded opening 35 and locked, and at the moment, the two modularized special steering engines are in an orthogonal posture.

A motor bin shell 36 and a gear bin shell 37 are fixed on the first connecting arm 1, the motor bin shell 36 is used for covering the power motor 7, the gear bin shell 37 is used for covering the reduction gearbox 8, and a magnet mounting shell 38 and a charging port shell 39 are fixed on the second connecting arm 2.

The electric connection device 4 is used for connecting circuits in the first connection arm 1 and the second connection arm 2, the electric connection device 4 comprises a circuit board 40, a battery 41, an electric butt joint male head 42, an electric butt joint female head 43, a charging interface 44 and a magnet 45, the battery 41, a power motor 7, an electric lifting seat 9, the electric butt joint male head 42, the electric butt joint female head 43 and the charging interface 44 are electrically connected with the circuit board 40, the electric butt joint male head 42 and the electric butt joint female head 43 are respectively fixed at the tail ends of the first connection arm 1 and the second connection arm 2, a rotary magnetic encoder sensor 46 is arranged on the circuit board 40, the magnet 45 is fixed in a magnet mounting shell 38 and is rotating the rotary magnetic encoder sensor 46, the second connection arm 2 can drive the magnet 45 to synchronously rotate when moving by a certain angle, the rotary magnetic encoder sensor 46 detects magnetic field changes caused by the rotation of the magnet 45 and converts the magnetic field changes into sine waves, accurate measurement of the rotation angles of the modular steering engine is realized, the rotation angles of the first connection arm 1 and the second connection arm 2 are accurately adjusted, and the charging interface 44 is fixed on the charging interface 39.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model.

Claims (9)

1. The utility model provides a modularization special steering engine, includes first linking arm (1) and second linking arm (2), first linking arm (1) and second linking arm (2) rotate and connect, its characterized in that still includes: the electric connecting device comprises a driving mechanism (3), an electric connecting device (4), a braking module (5) and a butting mechanism (6), wherein the driving mechanism (3) comprises a power motor (7) and a reduction gearbox (8), the reduction gearbox (8) and the power motor (7) are arranged in a first connecting arm (1), the output end of the reduction gearbox (8) is connected with a second connecting arm (2), the power motor (7) drives the first connecting arm (1) and the second connecting arm (2) to rotate by taking the output end of the reduction gearbox (8) as an axis, and the electric connecting device (4) is used for connecting circuits in the first connecting arm (1) and the second connecting arm (2);

The braking module (5) comprises an electric lifting seat (9), a braking disc (10), a rotary disc (11) and a braking gear shaft (12), wherein the electric lifting seat (9) is fixed in the first connecting arm (1) through a mounting frame (13), the braking disc (10) is installed at the top of the electric lifting seat (9), one end of the braking gear shaft (12) is in gear engagement transmission with the reduction gearbox (8), the rotary disc (11) is coaxially fixed at the other end of the braking gear shaft (12) and is opposite to the braking disc (10), and the electric lifting seat (9) can push the braking disc (10) to be abutted with the rotary disc (11);

the docking mechanism (6) is used for connecting and locking a first connecting arm (1) of one modularized special steering engine with a second connecting arm (2) of the other modularized special steering engine.

2. The modular specialty steering engine of claim 1, wherein: the reduction gearbox (8) adopts a four-stage reduction structure, and comprises a motor shaft gear (14), a first duplex gear (15), a second duplex gear (16), a third duplex gear (17), an output gear shaft (18), a first bearing (19), a sealing cover (20) and a plurality of pin shafts (21), wherein the motor shaft gear (14), the first duplex gear (15), the second duplex gear (16), the third duplex gear (17), the output gear shaft (18) and a brake gear shaft (12) are sequentially meshed and are rotatably installed in a first connecting arm (1) through the pin shafts (21), the sealing cover (20) is used for sealing the inner space of the first connecting arm (1), the first bearing (19) is sleeved on the output gear shaft (18), and the outer ring of the first bearing (19) is clamped with the first connecting arm (1).

3. The modular specialty steering engine of claim 1, wherein: the electric lifting seat (9) comprises a brake motor (22), a gear transmission seat (23), a transmission screw (24), a brake disc sliding sleeve (25), a guide block (26), a guide shaft (27), a compression spring (28) and a limiting needle (29), wherein an output shaft of the brake motor (22) is connected with the transmission screw (24) through the gear transmission seat (23), the brake disc sliding sleeve (25) is installed on the transmission screw (24) and is in threaded connection with the transmission screw (24), the brake disc (10) is slidably installed on the brake disc sliding sleeve (25), the limiting needle (29) is inserted into the end portion of the brake disc sliding sleeve (25) to limit the brake disc (10), the compression spring (28) is sleeved on the brake disc (10) sliding sleeve and is in butt with the brake disc (10), the guide block (26) is fixed on the side face of the brake disc (25), and the guide shaft (27) is vertically fixed on the gear transmission seat (23), and the guide block (26) is in sliding connection with the brake disc (27).

4. The modular specialty steering engine of claim 3, wherein: a brake pad (30) is also bonded to the surface of the brake disc (10).

5. The modular specialty steering engine of claim 4, wherein: the brake pad (30) is a polyurethane pad.

6. The modular specialty steering engine of claim 1, wherein: the butt joint mechanism (6) comprises a threaded ring (31), a compression ring (32) and a locating pin (33), wherein the threaded ring (31) is rotatably arranged at the tail end of the first connecting arm (1), the compression ring (32) is fixed on the first connecting arm (1) and is in sliding fit with the threaded ring (31), the axial position of the threaded ring (31) is limited, the locating pin (33) is fixed on the first connecting arm (1), a locating hole (34) for accommodating the locating pin (33) is formed in the second connecting arm (2), and an external thread opening (35) is formed in the tail end of the second connecting arm (2).

7. The modular specialty steering engine of claim 1, wherein: be fixed with motor storehouse shell (36) and gear storehouse shell (37) on first linking arm (1), motor storehouse shell (36) are used for covering power motor (7), gear storehouse shell (37) are used for covering reducing gear box (8), be fixed with magnet installation shell (38) and mouth shell (39) that charges on second linking arm (2).

8. The modular specialty steering engine of claim 7, wherein: the electric connection device (4) comprises a circuit board (40), a battery (41), an electric butt joint male head (42), an electric butt joint female head (43), a charging interface (44) and a magnet (45), wherein the battery (41), a power motor (7), an electric lifting seat (9), the electric butt joint male head (42), the electric butt joint female head (43) and the charging interface (44) are electrically connected with the circuit board (40), the electric butt joint male head (42) and the electric butt joint female head (43) are respectively fixed at the tail ends of a first connecting arm (1) and a second connecting arm (2), a rotary magnetic encoding sensor (46) is arranged on the circuit board (40), the magnet (45) is fixed in a magnet installation shell (38) and is opposite to the rotary magnetic encoding sensor (46), and the charging interface (44) is fixed on a charging port shell (39).

9. The modular specialty steering engine of claim 1, wherein: and a spacer bush (47) is sleeved on the brake gear shaft (12), and two ends of the spacer bush (47) are rotatably connected with the first connecting arm (1) through a second bearing (48) and a third bearing (49).