1. A direct-drive steering engine carrying a harmonic reducer comprises a driving motor (13) and the harmonic reducer; the harmonic reducer is arranged on an output shaft of the driving motor (13); a motor fixing sliding block (14) is fixed on an output shaft of the driving motor (13), a flexible bearing (11) is arranged between the periphery of the cam (16) and the flexible gear (8), and the motor fixing sliding block (14), the movable sliding block (15), the cam (16) and the flexible bearing (11) form a crossed sliding block type wave generator; the wave generator is arranged in the inverted cover type structure of the flexible gear (8);

the flexible gear (8) is rigidly connected with the output flange (1), and the steel gear (10) is fixedly connected with the shell (7); a support bearing (6) is arranged between the output flange (1) and the shell (7), and the support bearing (6) is positioned above the flexible gear (8);

a position magnetic steel (4) is installed in the center of the output flange (1), position sensors (2) are arranged at intervals above the position magnetic steel (4) at corresponding positions, and the position magnetic steel (4) and the position sensors (2) form a steering engine control closed-loop system.

2. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the circumferential protrusions of the motor fixing sliding block (14) are matched with the radial sliding grooves of the inner wall of the annular movable sliding block (15), the circumferential protrusions of the outer wall of the movable sliding block (15) are matched with the circumferential sliding grooves of the inner wall of the peripheral cam (16), and the two groups of sliding grooves are arranged in a crossed mode.

3. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the motor fixing seat (12) comprises a driving motor accommodating part at the bottom and a platform (121) at the upper part, the driving motor (13) is fixed in the driving motor accommodating part, and a motor positioning hole and a fixing hole fixing motor are arranged on the platform (121); an output shaft of the driving motor (13) penetrates through a center hole of the platform (121) and then is fixed with a motor fixing sliding block (14), a movable sliding block (15) is nested on the motor fixing sliding block (14) and is arranged in a hollow inverted space of the cam (16), and a flexible bearing (11) is arranged on the step of the outer wall of the cam (16).

4. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the output flange (1) is provided with a flange plate at the top and shafts which are connected at intervals through side supports; the cover type bottom shell of the flexible wheel (8) is rigidly connected with the shaft of the output flange (1) through a fixed gasket (9).

5. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the top of the shaft center of the output flange (1) is provided with position magnetic steel (4) in an interference fit mode, and the shell (7) is provided with a fixed position sensor (2) in a suspended mode above the position magnetic steel (4) through a sensor mounting support (3).

6. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the tooth forms of the outer gear ring of the flexible gear (8) and the inner gear ring of the steel gear (10) are C tooth forms.

7. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the cam (16), the flexible gear (8) and the steel gear (10) are formed by injection molding of engineering plastics.

8. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the flexible gear (8) is formed by injection molding by adding carbon fiber or PTFE or molybdenum disulfide into a base material of POM or PA or PPS or PEEK material.

9. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the steel wheel (10), the motor fixing slide block (14), the movable slide block (15) and the cam (16) are formed by injection molding of carbon fibers with the mass percent of PPS + 10%.

10. The direct-drive steering engine with the harmonic reducer as claimed in claim 1, wherein: the output flange (1), the sensor mounting bracket (3), the shell (7) and the motor fixing seat (12) are formed by limiting injection molding of PPS, PA or PC and more than 10% of carbon fiber or glass.

Background

The traditional harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small back clearance, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic speed reducer comprises a steel wheel, a flexible wheel and a wave generator, wherein the wave generator with elliptic deformation is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the flexible wheel tooth form and the steel wheel tooth form to be periodically meshed and separated, so that the effect of staggered tooth difference speed reduction is realized.

Steering engine drive is often required in the automatic control technical fields of service robots, cloud platforms, high-grade toys and the like, and the lightweight and miniaturization of steering engines based on high-precision basis are always continuous pursuits in the fields. However, in view of the high price, high precision, light weight and miniaturization of the conventional harmonic reducer cannot be balanced, and the conventional harmonic reducer cannot be generally applied to a pan-tilt head, a high-grade toy and a universal robot.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the direct-drive steering engine with the harmonic speed reducer has the advantages of compact mechanism, small size, small back clearance, high transmission precision and large reduction ratio, can simultaneously consider the manufacturing cost, and has universality.

In order to solve the technical problems, the invention adopts the following technical scheme:

a direct-drive steering engine carrying a harmonic reducer comprises a driving motor (13) and the harmonic reducer; the harmonic reducer is arranged on an output shaft of the driving motor (13); a motor fixing sliding block (14) is fixed on an output shaft of the driving motor (13), a flexible bearing (11) is arranged between the periphery of the cam (16) and the flexible gear (8), and the motor fixing sliding block (14), the movable sliding block (15), the cam (16) and the flexible bearing (11) form a crossed sliding block type wave generator; the wave generator is arranged in the inverted cover type structure of the flexible gear (8);

the flexible gear (8) is rigidly connected with the output flange (1), an outer gear ring of the flexible gear (8) is periodically meshed or separated with an inner gear ring of the steel gear (10) under the action of a wave generator, and the steel gear (10) is fixedly connected with the shell (7); a support bearing (6) is arranged between the output flange (1) and the shell (7), and the support bearing (6) is positioned above the flexible gear (8);

a position magnetic steel (4) is installed in the center of the output flange (1), position sensors (2) are arranged at intervals above the position magnetic steel (4) at corresponding positions, and the position magnetic steel (4) and the position sensors (2) form a steering engine control closed-loop system.

Among the above-mentioned technical scheme, the protruding radial spout cooperation of inner wall with annular movable slider (15) of circumference interval of motor fixed sliding block (14), the protruding circumference of the outer wall of movable slider (15) is mutually supported with the circumference spout of peripheral cam (16) inner wall, and two sets of spouts are the cross and arrange.

In the technical scheme, the motor fixing seat (12) comprises a driving motor accommodating part at the bottom and a platform (121) at the upper part, the driving motor (13) is fixed in the driving motor accommodating part, and a motor positioning hole and a fixing hole fixing motor are arranged on the platform (121); an output shaft of the driving motor (13) penetrates through a center hole of the platform (121) and then is fixed with a motor fixing sliding block (14), a movable sliding block (15) is nested on the motor fixing sliding block (14) and is arranged in a hollow inverted space of the cam (16), and a flexible bearing (11) is arranged on the step of the outer wall of the cam (16).

In the technical scheme, the output flange (1) is provided with a flange plate at the top and shafts which are connected at intervals through side supports; the cover type bottom shell of the flexible wheel (8) is rigidly connected with the shaft of the output flange (1) through a fixed gasket (9).

Among the above-mentioned technical scheme, output flange (1) axle center top interference fit position magnet steel (4), set up fixed position sensor (2) through sensor installing support (3) unsettled above position magnet steel (4) on casing (7).

In the technical scheme, the tooth forms of the outer gear ring of the flexible gear (8) and the inner gear ring of the steel gear (10) are C-shaped.

In the technical scheme, the cam (16), the flexible gear (8) and the steel gear (10) are formed by injection molding of engineering plastics.

In the technical scheme, the flexible gear (8) is formed by adding carbon fiber, PTFE or molybdenum disulfide into a base material by using one of POM, PA, PPS or PEEK materials.

In the technical scheme, the steel wheel (10), the motor fixing slide block (14), the movable slide block (15) and the cam (16) are formed by carbon fiber injection molding of PPS + 10%.

Among the above-mentioned technical scheme, output flange (1), sensor installing support (3), casing (7) and motor fixing base (12) adopt PPS or PA or PC to add the spacing injection moulding of carbon fiber or glass more than 10%.

In the technical scheme, the steel wheel (10) and the shell (7) are installed in an interference fit mode through splines.

Therefore, the direct-drive steering engine provided by the invention is carried with a special plastic harmonic speed reducing mechanism, a driving motor of the direct-drive steering engine drives a wave generator to work through a crosshead shoe arranged on a motor output shaft, and a harmonic speed reducer runs. The transmission and the driving are integrated, the mechanism is compact and the volume is small; and a position magnetic steel is arranged on an output flange which is arranged together with the flexible gear, and the position magnetic steel and the position sensor are combined to control a position closed loop and a speed closed loop of the steering engine. Meanwhile, the wave generator has the advantages of exquisite structure, small back clearance, high transmission precision and large reduction ratio. The flexible gear, the steel gear and the cam of the plastic harmonic speed reducing mechanism are all formed by injection molding of special engineering plastics, so that the light weight is realized; the tooth form adopts a C tooth form design, so that the transmission torque and the rigidity of the plastic steering engine are ensured. Due to the fact that mass production and manufacturing can be achieved, the structure and the material are optimized, the cost is greatly reduced, and the automatic control system can be widely applied to the technical field of automatic control of service robots, cloud platforms, high-grade toys and the like.

Drawings

FIG. 1 is a schematic structural diagram of a direct-drive steering engine equipped with a harmonic reducer according to the present invention;

FIG. 2 is a schematic diagram of the internal structure of a direct-drive steering engine provided with a harmonic reducer according to the invention;

FIG. 3 is a schematic view of the structure of a wave generator of the present invention;

the reference numerals in fig. 1-3 are as follows: 1. an output flange; 2. a position sensor; 3. a sensor mounting bracket; 4. position magnetic steel; 5. a support bearing fixing flange; 6. a support bearing; 7. a housing; 8. a flexible gear; 9. fixing a gasket; 10. a steel wheel; 11. a compliant bearing; 12. a motor fixing seat; 13. a drive motor; 14. the motor fixes the slide block; 15. a movable slide block; 16. a cam.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The invention is further described in detail with reference to the accompanying figures 1, 2 and 3: in the direct-drive steering engine provided with the harmonic reducer, the harmonic reducer is coaxially arranged on an output shaft of a driving motor 13; the method specifically comprises the following steps:

the driving motor 13 is fixed on the motor fixing seat 12, and the motor fixing seat 12 comprises a driving motor accommodating part at the bottom and a platform 121 at the upper part; the platform 121 is provided with a motor positioning hole and a fixing hole, so that the mounting position of the motor is ensured. An output shaft of the driving motor 13 penetrates through a center hole of the platform 121 and then is fixed with a motor fixing sliding block 14, the cross sections of the motor fixing sliding block 14 and the movable sliding block 15 are both in a cross shape, the motor fixing sliding block 14 and the movable sliding block 15 are arranged in a cross shape and are accommodated in a hollow inverted space of the cam 16 (the cam 16 is an inverted hollow closed circular truncated cone), a flexible bearing 11 is arranged on the outer wall step of the cam 16, and the motor fixing sliding block 14, the movable sliding block 15, the cam 16 and the flexible bearing 11 form a crosshead shoe type wave generator. The flexible bearing 11 is located between the cam 16 and the inner wall of the flexible gear 8, thereby urging the outer ring teeth of the flexible gear 8 to periodically mesh with or separate from the inner ring teeth of the adjacent steel gear 10. The wave generator is arranged at the inner ring of the flexible gear 8, and the inner ring of the flexible gear 8 is simultaneously provided with a limiting step to ensure the axial position of the wave generator. The platform 121 of the motor fixing seat 12 is in rigid fit with the shell 7, and the steel wheel 10 is fixed on the shell 7 in the axial direction and the radial direction.

The flexible wheel 8 forms an inverted cover type structure by a cover type bottom shell with a central hole and a vertical wall, the inner wall of the vertical wall is contacted with the flexible bearing 11, and an outer ring tooth is formed on the outer ring of the vertical wall; the output flange 1 is provided with a flange plate at the top and shafts which are connected at intervals through side supports; the cover bottom shell and the shaft of the output flange 1 are rigidly connected together by fixing gaskets 9 and self-tapping screws. The steel wheel 10 and the housing 7 are mounted by a spline interference fit.

Referring to fig. 3, the main body of the motor fixing slider 14 is cylindrical, and fixing convex ridges are arranged on the circumference of the cylinder at intervals of 180 degrees; the motor fixed slide block 14 is sleeved in a movable slide block 15 with an annular ring-shaped structure, the fixed convex edge is matched with the vertical groove of the inner wall of the movable slide block 15, the vertical grooves of the inner wall are arranged at intervals of 180 degrees and are radially and linearly distributed; similarly, the movable sliding block 15 is sleeved in the hollow cylindrical space of the cam 16, the outer wall of the movable sliding block 15 is provided with a vertical protruding strip, and the inner wall of the cam 16 is provided with a vertical sliding groove; the vertical raised strip is matched with the vertical sliding groove on the inner wall of the cam 16; the two groups of sliding grooves are arranged in a crisscross shape at 90 degrees, and can be driven by sliding in a staggered manner in the radial direction during circumferential operation. Under the condition of different shafts, the driving motor 13 and the harmonic wave speed reducing mechanism can also be ensured to work normally. The platform 121 of the motor fixing seat 12 is in rigid fit with the shell 7, and the motor fixing seat 12 is connected with the shell 7 through a positioning hole and a self-tapping screw.

Install support bearing 6 between output flange 1's axle and casing 7, support bearing 6 interference fit is in the bearing mounting hole of casing 7, and support bearing mounting flange 5 passes through self tapping screw simultaneously and fixes on casing 7, guarantees that support bearing 6 firmly installs. The support bearing 6 is located above the flexspline 8. The inner ring of the support bearing 6 is fixed on the shaft of the output flange 1, and the axial position of the support bearing 6 is controlled by the fixation of the output flange 1 and the flexible gear 8.

Position magnetic steel 4 is installed on the shaft center of the output flange 1 in an interference mode, position sensors 2 are arranged above the position magnetic steel 4 at intervals, and the position sensors 2 are located below the flange plate. The position sensor 2 is fixed on the shell 7 through the sensor mounting bracket 3, the position magnetic steel 4 and the position sensor 2 form a steering engine control closed loop system, and meanwhile, the sensor mounting bracket 3 plays a role in hard rotation limiting of the output flange 1.

The flexible gear 8, the steel gear 10 and the cam 16 of the harmonic speed reducing mechanism are all formed by injection molding of special engineering plastics, and the tooth profile is designed to be C-shaped in order to ensure the transmission torque and rigidity of the plastic speed reducing mechanism. The tooth height of the C tooth profile is 30% higher than that of an involute tooth profile or an arc tooth profile ruler; the meshing proportion of the harmonic tooth profile of the C tooth profile is 50 percent higher than that of an involute tooth profile or an arc tooth profile. Furthermore, the tooth top arc radius of the C tooth profile is smaller than that of the involute tooth profile or the arc tooth profile, and the tooth root arc radius is larger than that of the involute tooth profile or the arc tooth profile.

The steel wheel 10, the motor fixed slide block 14, the movable slide block 15 and the cam 16 are formed by injection molding of carbon fiber with PPS +10% or more; the flexible gear 8 is formed by adding carbon fiber, PTFE or molybdenum disulfide into base materials such as POM, PA, PPS or PEEK and the like through injection molding; the output flange 1, the sensor mounting bracket 3, the shell 7 and the motor fixing seat 12 are formed by PPS, PA or PC and adding more than 10% of carbon fiber or glass in a limiting injection molding mode.

It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.