High-precision multi-stage steering engine speed reducer

Abstract

The invention provides a high-precision multi-stage steering engine speed reducer, and belongs to the technical field of speed reducers. The high-precision multi-stage steering engine speed reducer comprises a harmonic speed reduction structure, a gear speed reduction structure and a steering engine shell structure. The harmonic speed reduction structure mainly comprises a fixed rigid gear, a driven flexible gear and a wave generator which are sequentially installed in a nested mode. The gear speed reduction structure mainly comprises a driving gear, a first-stage speed reduction gear and a second-stage speed reduction gear. The wave generator is provided with fastening bolts on two sides and the top end of a long shaft of a cylinder in a matched mode and matched with the driven flexible gear in an attached mode, the bottom of the wave generator is connected with a secondary reduction gear, a driving gear is arranged on a working shaft of a direct current motor in a sleeved mode, and the direct current motor is regulated and controlled by a control circuit board. During operation, the driving gear, the first-stage reduction gear, the second-stage reduction gear and the wave generator are sequentially driven in a stepped manner. The transmission mechanism has the advantages of being high in transmission ratio and transmission precision, high in bearing capacity, stable in transmission, high in practicability and long in service life.

Description

Technical Field

[0001] The invention belongs to the technical field of reducers, and in particular relates to a high-precision multi-stage steering gear reducer. Background Art

[0002] With the rapid development of industrialization and aviation industry, small UAVs have been widely used in various industries due to their unique advantages in military and civilian applications. Their miniaturization, lightness and high torque output are one of the important trends in the development of small UAV technology. The servo is one of the core components for controlling small UAVs. Its main structure includes housing, DC motor, reducer, potentiometer and control circuit. Among them, the gear ratio of the reducer determines the torque and speed of the servo. Generally speaking, the larger the transmission ratio, the greater the torque but the slower the speed. The smaller the transmission ratio, the faster the speed but the smaller the torque. For equipment such as small UAVs that require high motion accuracy, the servo reducer is required to provide a larger torque and transmission ratio.

[0003] Most of the servos under the existing technology use gear reducers, which have the problems of large return clearance of the output shaft, low motion accuracy, and small load-bearing capacity. In this regard, the patent with application number CN202111383058.5 discloses a compact servo equipped with a harmonic reducer, in which the motor and the main shaft of the harmonic reducer are arranged in parallel, and the housing of the harmonic reducer and the motor housing form an integrated housing space connected at the top, and the motor output shaft is provided with a driving pulley, which forms a belt drive with the driven pulley at the top of the harmonic reducer through a synchronous belt. The harmonic reducer has the advantages of high precision, high transmission ratio and strong load-bearing capacity, but the flexible wheel of the harmonic reducer is prone to fatigue damage, and the transmission method of the patented belt drive has problems such as inaccurate transmission ratio, low transmission efficiency, and short service life. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision multi-stage steering gear reducer in view of the above-mentioned problems existing in the prior art.

[0005] The object of the present invention can be achieved by the following technical solutions: A high-precision multi-stage steering gear reducer, comprising a harmonic reduction structure, a gear reduction structure and a steering gear housing structure; The harmonic reduction structure is installed on the top of the steering gear housing structure, and mainly includes a fixed rigid wheel, a driven flexible wheel and a wave generator; the fixed rigid wheel is generally a cylindrical tubular structure, and a rigid wheel bearing seat is formed at the upper end of its inner side wall, a first bearing is matched and installed in the rigid wheel bearing seat, and a circle of continuous rigid wheel internal teeth is formed at the lower end; A steering disc mounting seat is formed at the upper end of the driven flexible wheel, a flexible wheel bolt hole is opened at the center of the steering disc mounting seat, and a plurality of steering disc mounting holes are opened circumferentially around the flexible wheel bolt hole at the top of the steering disc mounting seat. A flexible wheel connecting cover with a downward opening is formed at the lower end of the driven flexible wheel from the bottom of the steering disc mounting seat, and a circle of continuous flexible wheel external teeth is formed at the bottom of the outer side wall of the flexible wheel connecting cover. The base of the wave generator is an elliptical cylinder, with a conical head formed at the upper end, mounting bolt seats are formed on both sides and the top of the long axis of the cylinder, and fastening bolts are installed in the mounting bolt seats. The bottom of the wave generator is provided with a gear hole connected to the gear reduction structure from bottom to top, and a circle of continuous generator internal teeth is formed on the inner side wall of the gear hole; The steering gear housing structure is composed of a housing upper cover, a housing body and a housing base. The top of the housing upper cover is provided with an upper cover bearing seat, a second bearing is installed in the upper cover bearing seat, and the harmonic reduction structure is fixedly connected to the top of the upper cover bearing seat. The gear reduction structure is mainly installed on the top of the shell body and inside the shell cover, and includes a driving gear, a primary reduction gear and a secondary reduction gear. The driving gear is sleeved on the working shaft of the DC motor. The primary reduction gear and the secondary reduction gear are both double-layer gears with a smaller upper diameter and a larger lower diameter and consistent tooth thickness. The lower end of the primary reduction gear is meshed with the driving gear, the lower end of the secondary reduction gear is meshed with the upper end of the primary reduction gear, and the upper end of the secondary reduction gear extends into the gear hole at the bottom of the wave generator and meshes with the internal teeth of the generator.

[0006] In the above-mentioned high-precision multi-stage steering gear reducer, a plurality of rigid wheel screw holes are circumferentially opened inside the tube wall of the fixed rigid wheel from bottom to top, and a plurality of upper cover screw holes are circumferentially opened on the upper cover bearing seat of the upper cover of the housing corresponding to the rigid wheel screw holes, and the harmonic reduction structure is fixedly connected to the upper cover of the housing by screws passing through the upper cover screw holes and the rigid wheel screw holes from bottom to top.

[0007] In the above-mentioned high-precision multi-stage steering gear reducer, the fastening bolt at the top of the wave generator conical head extends into the flexible wheel bolt hole to cooperate with it, and the outer nut walls of the fastening bolts on both sides are tightly matched with the cover-shaped inner wall of the flexible wheel connecting cover.

[0008] In the above-mentioned high-precision multi-stage steering gear reducer, both sides of the shell body protrude outward to form installation extension blocks, and the installation extension blocks are provided with steering gear installation holes.

[0009] In the above-mentioned high-precision multi-stage steering gear reducer, the top of the shell body is respectively opened or formed with a motor shaft hole, a primary gear shaft and a secondary support column corresponding to the driving gear, the primary reduction gear and the secondary reduction gear, the working shaft of the DC motor passes through the motor shaft hole, the primary reduction gear is sleeved on the primary gear shaft, and the secondary reduction gear is installed on the top of the secondary support column to form a stepped installation with the primary reduction gear.

[0010] In the above-mentioned high-precision multi-stage steering gear reducer, a mounting shaft passes through the centers of the secondary reduction gear and the secondary support column, and a potentiometer is fixedly connected to the lower end of the mounting shaft inside the shell body.

[0011] In the above-mentioned high-precision multi-stage servo reducer, a control circuit board is connected and installed at the bottom of the shell at the bottom of the DC motor, and a number of data lines are externally connected to the control circuit board. A wire outlet hole is opened on the side of the shell base, and the data lines are connected from the wire outlet hole.

[0012] Compared with the prior art, the high-precision multi-stage steering gear reducer provided by the present invention has the following advantages: First, by setting a harmonic reduction structure and a gear reduction structure, the steering gear reducer can first increase the transmission torque and transmission ratio through multi-stage gear reduction, and then improve the transmission accuracy and bearing strength through harmonic reduction, thereby improving the functionality and practicality of the steering gear reducer; Second, the driven flexible wheel is fastened and supported by a wave generator, thereby avoiding fatigue damage to the driven flexible wheel, ensuring the transmission stability of the steering gear reducer and increasing its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a structural diagram of the high-precision multi-stage steering gear reducer; Figure 2 This is the structural sectional view of this high-precision multi-stage steering gear reducer; Figure 3 This is the structural explosion diagram of the harmonic reduction structure in this high-precision multi-stage servo reducer; Figure 4 This is a partial structural cross-sectional view of the harmonic reduction structure in the high-precision multi-stage steering gear reducer; Figure 5 It is a structural schematic diagram of the gear reduction structure and the local steering gear housing structure in the high-precision multi-stage steering gear reducer.

[0014] In the above figure, 100, harmonic reduction structure; 110, fixed rigid wheel; 111, rigid wheel bearing seat; 112, rigid wheel inner teeth; 113, rigid wheel screw hole; 120, first bearing; 130, driven flexible wheel; 131, steering wheel mounting seat; 132, steering wheel mounting hole; 133, flexible wheel bolt hole; 134, flexible wheel connecting cover; 135, flexible wheel outer teeth; 140, second bearing; 150, wave generator; 151, conical head; 152, mounting bolt seat; 153, fastening bolt; 154, generator inner teeth; 200, gear reduction structure; 210, driving gear; 211, DC motor; 220, primary reduction gear; 230, secondary reduction gear; 231, mounting shaft; 232, potentiometer; 240, control circuit board; 241, data line; 300, servo housing structure; 310, housing upper cover; 311, upper cover bearing seat; 312, upper cover screw hole; 320, housing body; 321, installation extension block; 322, servo mounting hole; 323, motor shaft hole; 324, primary gear shaft; 325, secondary support column; 330, housing base; 331, wire outlet hole. DETAILED DESCRIPTION

[0015] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments. Embodiment 1:

[0016] like Figures 1 to 5 As shown, the high-precision multi-stage steering gear reducer comprises a harmonic reduction structure 100, a gear reduction structure 200 and a steering gear housing structure 300. The steering gear housing structure 300 is composed of a housing upper cover 310, a housing body 320 and a housing base 330 connected by bolts from top to bottom, wherein the harmonic reduction structure 100 is installed on the top of the housing upper cover 310, and the gear reduction structure 200 is mainly installed inside between the top of the housing body 320 and the housing upper cover 310, and is connected and linked with the harmonic reduction structure 100.

[0017] like Figures 2 to 4 As shown, the harmonic reduction structure 100 mainly includes a fixed rigid wheel 110, a driven flexible wheel 130 and a wave generator 150. The fixed rigid wheel 110 is a cylindrical tubular structure as a whole, with a rigid wheel bearing seat 111 formed at the upper end of its inner side wall, and a circle of uniform and continuous rigid wheel internal teeth 112 formed at the lower end, and a flexible wheel matching space is formed on the inner side wall of the fixed rigid wheel 110 by an arc transition between the rigid wheel bearing seat 111 and the rigid wheel internal teeth 112.

[0018] A steering wheel mounting seat 131 is formed at the upper end of the driven flexible wheel 130. A flexible wheel bolt hole 133 is opened in the center of the steering wheel mounting seat 131. A plurality of steering wheel mounting holes 132 are opened in the top of the steering wheel mounting seat 131 in a circumferential direction around the flexible wheel bolt hole 133. The steering wheel mounting holes 132 are used to connect the working steering wheel of the reducer. The lower end of the driven flexible wheel 130 is expanded outward from the bottom of the steering wheel mounting seat 131 to form a flexible wheel connecting cover 134 with an opening downward. The cover-shaped interior of the flexible wheel connecting cover 134 is a matching space for the wave generator 150. A circle of uniform and continuous flexible wheel external teeth 135 is formed at the bottom of the outer wall of the flexible wheel connecting cover 134. The flexible wheel external teeth 135 mesh with the rigid wheel internal teeth 112 in the long axis direction and are separated from the rigid wheel internal teeth 112 in the short axis direction.

[0019] The base of the wave generator 150 is an elliptical cylinder, and a gear hole connected to the gear reduction structure 200 is opened from bottom to top at the bottom, and a circle of uniform and continuous generator internal teeth 154 is formed on the inner wall of the gear hole. A conical head 151 is formed at the upper end of the wave generator 150. The conical head 151 is formed with mounting bolt seats 152 on both sides and the top of the cylindrical long axis. Fastening bolts 153 are installed in the mounting bolt seats 152. The fastening bolts 153 at the top of the conical head 151 extend into the flexible wheel bolt hole 133 of the driven flexible wheel 130 and are limitedly matched therewith. The nut outer side walls of the fastening bolts 153 on both sides are tightly matched with the cover-shaped inner side wall of the flexible wheel connecting cover 134. Since the driven flexible wheel 130 is prone to fatigue damage, the fastening bolts 153 on both sides play a role in fastening and supporting the driven flexible wheel 130 from the inside, and fixing the wave generator 150 and the driven flexible wheel 130 relatively, thereby ensuring the transmission stability of the steering gear reducer and improving its service life.

[0020] To further illustrate, the harmonic reduction structure 100 is integrally installed in a nested manner on the top of the housing cover 310 of the servo housing structure 300. An upper cover bearing seat 311 is provided on the top of the housing cover 310. The top of the outer edge of the upper cover bearing seat 311 is convexly formed with a mounting flange surface, on which a plurality of upper cover screw holes 312 are circumferentially provided. A plurality of rigid wheel screw holes 113 are circumferentially provided from bottom to top on the inner wall of the tube for fixing the rigid wheel 110. The upper cover screw holes 312 correspond to and cooperate with the rigid wheel screw holes 113.

[0021] The installation process of the harmonic reduction structure 100 is as follows: the second bearing 140 is installed in the upper cover bearing seat 311, the second bearing 140 is sleeved on the elliptical cylindrical base at the bottom of the conical head 151 of the wave generator 150, the driven flexible wheel 130 is sleeved on the outside of the wave generator 150 from top to bottom, the fixed rigid wheel 110 is sleeved on the outside of the driven flexible wheel 130 from top to bottom and meshed with it at the bottom, the first bearing 120 is installed in the rigid wheel bearing seat 111 between the fixed rigid wheel 110 and the driven flexible wheel 130, and the fixing screw passes through the upper cover screw hole 312 and the rigid wheel screw hole 113 from bottom to top to fix the harmonic reduction structure 100 with the upper cover 310 of the housing.

[0022] like Figure 2 and Figure 5 As shown, the gear reduction structure 200 is a multi-stage gear structure, mainly including a driving gear 210, a primary reduction gear 220 and a secondary reduction gear 230, wherein the primary reduction gear 220 and the secondary reduction gear 230 are double-layer gears with a small upper diameter and a large lower diameter, and the driving gear 210, the primary reduction gear 220 and the secondary reduction gear 230 have the same tooth thickness and can mesh with each other. A DC motor 211 is provided on one side of the inner part of the shell body 320 to provide power, and a motor shaft hole 323, a primary gear shaft 324 and a secondary support column 325 are respectively opened or formed on the top of the shell body 320 corresponding to the driving gear 210, the primary reduction gear 220 and the secondary reduction gear 230.

[0023] When the gear reduction structure 200 is installed, the working shaft of the DC motor 211 passes through the motor shaft hole 323, and the driving gear 210 is sleeved on the working shaft of the DC motor 211; the first-stage reduction gear 220 is sleeved on the first-stage gear shaft 324, so that the lower end of the first-stage reduction gear 220 is meshed with the driving gear 210; the second-stage reduction gear 230 is installed on the top of the second-stage support column 325 to form a stepped installation with the first-stage reduction gear 220, so that the lower end of the second-stage reduction gear 230 is meshed with the upper end of the first-stage reduction gear 220, and the upper end of the second-stage reduction gear 230 extends into the gear hole at the bottom of the wave generator 150 and meshes with the internal teeth 154 of the generator.

[0024] Further explanation, a potentiometer 232 is arranged on the other side of the housing body 320, and the center of the secondary reduction gear 230 and the secondary support column 325 passes through a mounting shaft 231, and the mounting shaft 231 is the resistance rod of the potentiometer 232, and the potentiometer 232 is fixedly connected to the lower end of the mounting shaft 231. The potentiometer 232 can convert mechanical motion into an electrical signal, thereby realizing angle position measurement and control. The bottom of the DC motor 211 is connected and installed with a control circuit board 240 in the bottom of the housing, and the control circuit board 240 is externally connected with a plurality of data lines 241. The side of the housing base 330 is provided with an outlet hole 331, and the data line 241 is connected from the outlet hole 331. When the control circuit board 240 sends an instruction to require the steering gear reducer to rotate to a specific angle, the potentiometer 232 will automatically adjust the angle position and generate a corresponding feedback signal. In addition, the control circuit board 240 can also adjust the running speed of the DC motor 211 according to actual needs, thereby realizing flexible control of the steering gear.

[0025] The working principle of the high-precision multi-stage steering gear reducer is as follows: the control circuit board 240 receives and sends operation instructions, controls the DC motor 211 to operate, so that the driving gear 210 drives the primary reduction gear 220 and the secondary reduction gear 230 to rotate in sequence, and the secondary reduction gear 230 drives the wave generator 150 and the driven flexible wheel 130 to rotate in conjunction. Since the cross-section of the wave generator 150 and the driven flexible wheel 130 is elliptical as a whole, when the wave generator 150 rotates, the driven flexible wheel 130 meshes with the fixed rigid wheel 110 in the long axis direction and separates from each other in the short axis direction, and with the continuous rotation of the wave generator 150, the movement process from meshing to separation and from separation to meshing is continuously cycled.

[0026] Compared with the steering gear reducer in the prior art, the present invention provides a linked harmonic reduction structure 100 and a gear reduction structure 200, so that the steering gear reducer can first increase the transmission torque and transmission ratio through multi-stage gear reduction, and then improve the transmission accuracy and bearing strength through harmonic reduction, thereby improving the functionality and practicality of the steering gear reducer. Embodiment 2:

[0027] like Figure 1 and Figure 5 As shown, based on a high-precision multi-stage servo reducer in Example 1, in order to facilitate its overall fixed installation in equipment with high motion precision requirements such as small unmanned aerial vehicles, the top sides of the shell body 320 in the servo shell structure 300 are extended outward to form installation extension blocks 321, and the installation extension blocks 321 on both sides are respectively provided with servo mounting holes 322. The servo mounting holes 322 are semi-open holes in the shape of a lock core, which can be snapped or screwed according to actual needs during installation.

[0028] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0029] Although various terms are used more frequently in this article, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A high-precision multi-stage steering gear reducer, comprising a harmonic reduction structure (100), a gear reduction structure (200) and a steering gear housing structure (300); It is characterized in that The harmonic reduction structure (100) is installed on the top of the steering gear housing structure (300), and mainly comprises a fixed rigid wheel (110), a driven flexible wheel (130) and a wave generator (150); the fixed rigid wheel (110) is in the form of a cylindrical tubular structure as a whole, a rigid wheel bearing seat (111) is formed at the upper end of its inner side wall, a first bearing (120) is fitted in the rigid wheel bearing seat (111), and a circle of continuous rigid wheel internal teeth (112) is formed at the lower end; a steering disc mounting seat (131) is formed at the upper end of the driven flexible wheel (130), a flexible wheel bolt hole (133) is provided at the center of the steering disc mounting seat (131), and a plurality of steering disc mounting holes (133) are provided in the circumferential direction around the flexible wheel bolt hole (133) at the top of the steering disc mounting seat (131). 132), the lower end of the driven flexible wheel (130) is expanded outward from the bottom of the steering plate mounting seat (131) to form a flexible wheel connecting cover (134) with an opening facing downward, and a circle of continuous flexible wheel external teeth (135) is formed at the bottom of the outer wall of the flexible wheel connecting cover (134); the base of the wave generator (150) is an elliptical cylinder, and a conical head (151) is formed at the upper end, and the conical head (151) is formed with mounting bolt seats (152) on both sides of the long axis of the cylinder and at the top, and a fastening bolt (153) is installed in the mounting bolt seat (152); the bottom of the wave generator (150) is provided with a gear hole connected to the gear reduction structure (200) from bottom to top, and a circle of continuous generator internal teeth (154) is formed on the inner wall of the gear hole; The steering gear housing structure (300) is composed of a housing upper cover (310), a housing body (320) and a housing base (330); a housing upper cover bearing seat (311) is provided on the top of the housing upper cover (310); a second bearing (140) is mounted in the upper cover bearing seat (311); and the harmonic reduction structure (100) is fixedly connected to the top of the upper cover bearing seat (311); The gear reduction structure (200) is mainly installed on the top of the housing body (320) and inside the housing upper cover (310), and comprises a driving gear (210), a primary reduction gear (220) and a secondary reduction gear (230). The driving gear (210) is sleeved on the working shaft of the DC motor (211). The primary reduction gear (220) and the secondary reduction gear (230) are both double-layer gears with a smaller outer diameter at the top and a larger outer diameter at the bottom and uniform tooth thickness. The lower end of the primary reduction gear (220) is meshed with the driving gear (210), the lower end of the secondary reduction gear (230) is meshed with the upper end of the primary reduction gear (220), and the upper end of the secondary reduction gear (230) extends into the gear hole at the bottom of the wave generator (150) and is meshed with the internal teeth (154) of the generator.

2. A high-precision multi-stage steering gear reducer according to claim 1, characterized in that: A plurality of rigid wheel screw holes (113) are circumferentially opened inside the tube wall of the fixed rigid wheel (110) from bottom to top, and a plurality of upper cover screw holes (312) are circumferentially opened on the upper cover bearing seat (311) of the housing upper cover (310) corresponding to the rigid wheel screw holes (113), and the harmonic reduction structure (100) is fixedly connected to the housing upper cover (310) by screws passing through the upper cover screw holes (312) and the rigid wheel screw holes (113) from bottom to top.

3. A high-precision multi-stage steering gear reducer according to claim 1, characterized in that: The fastening bolt (153) at the top of the conical head (151) of the wave generator (150) extends into the flexible wheel bolt hole (133) to match it, and the outer side walls of the nuts of the fastening bolts (153) on both sides are tightly matched with the cover-shaped inner side wall of the flexible wheel connection cover (134).

4. The high-precision multi-stage steering gear reducer according to claim 1, characterized in that: Both sides of the housing body (320) are protruded outward to form installation extension blocks (321), and the installation extension blocks (321) are provided with steering gear installation holes (322).

5. The high-precision multi-stage steering gear reducer according to claim 1, characterized in that: The top of the housing body (320) is respectively provided with or formed with a motor shaft hole (323), a first-stage gear shaft (324) and a second-stage support column (325) corresponding to the driving gear (210), the first-stage reduction gear (220) and the second-stage reduction gear (230); the working shaft of the DC motor (211) passes through the motor shaft hole (323); the first-stage reduction gear (220) is sleeved on the first-stage gear shaft (324); and the second-stage reduction gear (230) is installed on the top of the second-stage support column (325) to form a stepped installation with the first-stage reduction gear (220).

6. A high-precision multi-stage steering gear reducer according to claim 5, characterized in that: A mounting shaft (231) passes through the centers of the secondary reduction gear (230) and the secondary support column (325), and a potentiometer (232) is fixedly connected to the lower end of the mounting shaft (231) inside the housing body (320).

7. The high-precision multi-stage steering gear reducer according to claim 1, characterized in that: The bottom of the DC motor (211) is connected to a control circuit board (240) installed in the bottom of the housing, and the control circuit board (240) is externally connected to a plurality of data lines (241). A wire outlet hole (331) is provided on the side of the housing base (330), and the data lines (241) are connected through the wire outlet hole (331).

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