CN212146423U - Clutch, steering wheel and robot - Google Patents

Abstract

The application discloses a clutch, which comprises an output gear, a rotating shaft and at least one clutch tooth arranged on the rotating shaft; the output gear is provided with an accommodating groove, and the inner side wall of the accommodating groove of the output gear is provided with a plurality of inner tooth grooves matched with the clutch teeth; one end of the clutch tooth, which is far away from the rotating shaft, is provided with a first contact cambered surface, and the inner tooth groove is provided with a second contact cambered surface which is in contact with the first contact cambered surface; the clutch teeth are provided with variable holes. The first contact cambered surface is arranged at the position where the clutch teeth are in contact with the output gear, namely the top of the clutch teeth is of a cylindrical structure, and compared with an involute gear, the contact area of the clutch teeth is larger, so that the vibration in the transmission process can be effectively reduced. Simultaneously set up the second contact cambered surface in output gear's interior tooth's socket, this contact cambered surface contacts with the first contact cambered surface of separation and reunion tooth, consequently when taking place the separation and reunion and skidding, because first contact cambered surface and second contact cambered surface are comparatively gentle, easily realize jumping the tooth and realize safe separation and reunion.

Description

Clutch, steering wheel and robot

Technical Field

The application relates to the field of robot structures, in particular to a clutch, a steering engine and a robot.

Background

The safety clutch is also called a torque limiter, the torque is limited below a preset safety value through a mechanical structure, and the conventional clutch structure usually adopts a spring ball structure or an upper pressure plate structure and a lower pressure plate structure, so that the corresponding structure is complex, the cost is high, and the size is relatively large. The steering wheel is the core part of robot joint motion, and its circular telegram motor closes specific corner with the gear combination, and output great moment of torsion, in order to realize the miniaturization and the dexterity of structure, small-size steering wheel structural design becomes new demand, because the inside design space of reserving of steering wheel structure is little, considers large batch manufacturing again, so above-mentioned common structure can't satisfy the design demand. And the existing clutch teeth and the inner tooth grooves are both in a triangular structure, and the clutch teeth are not easy to jump, so that the clutch teeth are easy to break.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a clutch, aim at solving prior art, the difficult problem of separation and reunion tooth jump tooth.

To achieve the purpose, the following technical scheme is adopted in the application:

the clutch comprises an output gear, a rotating shaft and at least one clutch tooth arranged on the rotating shaft; the output gear is provided with a containing groove, and a plurality of inner tooth grooves matched with the clutch teeth are formed in the inner side wall of the containing groove of the output gear; one end of the clutch tooth, which is far away from the rotating shaft, is provided with a first contact cambered surface, and the inner tooth groove is provided with a second contact cambered surface which is in contact with the first contact cambered surface; the clutch teeth are provided with variable holes.

Further, the first contact cambered surface and the second contact cambered surface have the same curvature radius.

Further, the radius of curvature of the first contact arc surface ranges from 1.7 mm to 1.8 mm.

Furthermore, the clutch teeth are provided with variable holes.

Furthermore, the clutch tooth is also provided with a first deformation arc surface and a second deformation arc surface which are connected with the first contact arc surface; the first contact cambered surface is located between the first deformation cambered surface and the second deformation cambered surface.

Furthermore, the circle center of the first deformation cambered surface is positioned on one side, away from the deformation hole, of the first deformation cambered surface; the circle center of the second deformation arc surface is positioned on one side, far away from the deformation hole, of the second deformation arc surface.

Furthermore, the deformation hole is provided with a first cambered surface wall, a second cambered surface wall, a third cambered surface wall and a fourth cambered surface wall which are sequentially connected; the first cambered wall and the third cambered wall are opposite and arranged at intervals; the radius of curvature of the first cambered surface wall and the third cambered surface wall is the same as that of the first contact cambered surface; the curvature radius of the fourth cambered surface wall is the same as that of the first deformation cambered surface; the second cambered surface wall and the second deformation cambered surface have the same curvature radius.

Further, the number of the clutch teeth is an odd number which is greater than or equal to 3; each clutch tooth is located on the same circumference, and each clutch tooth is located on different diameters of the circumference.

Furthermore, a steering wheel connecting spline is arranged on the rotating shaft.

Furthermore, an encoder connector is arranged on the rotating shaft.

Furthermore, a transition arc surface is arranged between every two adjacent inner tooth grooves; the accommodating groove is a circular groove; the output gear is an injection molding piece; the pivot with the separation and reunion tooth is integrative piece, the pivot with the separation and reunion tooth is the injection molding.

Furthermore, the output gear is provided with a yielding hole at the bottom of the accommodating groove, and the rotating shaft penetrates through the yielding hole; and a gap is formed between the rotating shaft and the inner wall of the abdicating hole.

Another objective of the present application is to provide a steering engine, which includes a housing, a driving motor, a reduction gear set connected to an output shaft of the driving motor, and a clutch according to any of the embodiments; the output gear is meshed with the reduction gear set, and the rotating shaft is rotatably arranged on the shell.

Still another object of this application is to provide a robot, including the steering wheel of above-mentioned embodiment.

The beneficial effect of this application: set up first contact cambered surface in the position of separation and reunion tooth and output gear contact, the top of also promptly separating and reunion tooth is the cylinder structure, and for involute's gear, its contact area is bigger, and driven stability is strong, can effectively reduce the vibration of transmission in-process. Simultaneously set up the second contact cambered surface in output gear's interior tooth's socket, the tank bottom that also is interior tooth's socket links to each other with the inner wall and forms this second contact cambered surface, and this contact cambered surface contacts with the first contact cambered surface of separation and reunion tooth, consequently when taking place to separate and reunion and skidding, because first contact cambered surface and second contact cambered surface are comparatively gentle, easily realize jumping the tooth and realize safe separation and reunion, and the separation and reunion tooth is difficult for breaking the damage.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a clutch according to an embodiment of the present application;

FIG. 2 is an exploded view of the clutch of FIG. 1;

FIG. 3 is a schematic view of a plurality of clutch teeth disposed on a rotating shaft in a circumferentially distributed manner according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of the output gear of FIG. 1;

FIG. 5 is a schematic structural view of the clutch of FIG. 1 from another perspective;

FIG. 6 is a force diagram of the second contact arc surface of the inner tooth slot of the output gear contacting the first contact arc surface of the clutch tooth according to the embodiment of the present disclosure;

FIG. 7 is a graph of the magnitude of the radius of curvature of the first contact cambered surface and the change of the compression stress thereof in the embodiment of the present application;

FIG. 8 is a view showing the points corresponding to the points of the structure of the clutch teeth and the rotating shaft at a in FIG. 6;

FIG. 9 is a schematic structural diagram of a steering engine in an embodiment of the present application;

in the figure:

1. an output gear; 11. a containing groove; 12. an inner tooth socket; 121. a second contact arc surface; 13. a transition arc surface; 14. a hole of abdication;

2. a rotating shaft; 21. connecting a spline; 22. an encoder connector;

3. a clutch tooth; 31. a first contact arc surface; 32. a deformation hole; 321. a first cambered surface wall; 322. a second arc wall; 323. a third arc wall; 324. a fourth arc wall; 33. a first deformed arc surface; 34. a second deformed arc surface;

4. a gap; 5. a housing; 6. a drive motor; 7. a reduction gear set.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1 to 3, an embodiment of the present application provides a clutch, including an output gear 1, a rotating shaft 2, and at least one clutch tooth 3 disposed on the rotating shaft 2; the output gear 1 is provided with a containing groove 11, and the inner side wall of the containing groove 11 of the output gear 1 is provided with a plurality of inner tooth grooves 12 which are matched with the clutch teeth 3; one end of the clutch tooth 3 away from the rotating shaft 2 is provided with a first contact arc surface 31, and the inner tooth groove 12 is provided with a second contact arc surface 121 contacted with the first contact arc surface 31.

In the embodiment of the application, the first contact cambered surface 31 is arranged at the position where the clutch teeth 3 are in contact with the output gear 1, namely the top of the clutch teeth 3 is of a cylindrical structure, compared with an involute gear, the contact area is larger, the transmission stability is strong, and the vibration in the transmission process can be effectively reduced. Meanwhile, a second contact arc surface 121 is arranged in the inner tooth groove 12 of the output gear 1, namely the groove bottom of the inner tooth groove 12 is connected with the inner wall to form the second contact arc surface 121, and the contact arc surface is contacted with the first contact arc surface 31 of the clutch tooth 3, so that when the clutch slips, because the first contact arc surface 31 and the second contact arc surface 121 are smooth, the safe clutch is realized by easily realizing tooth skipping, and the clutch tooth 3 is not easy to break and damage. Jumping teeth: the clutch teeth 3 will jump from the original meshing zone to the next meshing zone phenomenon.

Further, referring to fig. 1 to fig. 3, as another embodiment of the clutch provided by the present application, the first contact arc surface 31 and the second contact arc surface 121 have the same radius of curvature, so that when the clutch teeth 3 are engaged with the internal tooth grooves 12, the second contact arc surface 121 can completely cover the first contact arc surface 31 and realize relatively complete surface contact with the first contact arc surface 31, thereby further improving the stability of transmission. And because the curvature radius of the first contact cambered surface 31 is the same as that of the second contact cambered surface 121, the deformation of the interaction force between the clutch teeth 3 and the internal tooth grooves 12 is approximately the same, so that the clutch teeth 3 are easier to realize tooth jumping to realize safe clutch, and the clutch teeth 3 are less prone to breaking and damage.

Further, referring to fig. 1 to 3, as another embodiment of the clutch provided by the present application, the radius of curvature of the first contact arc surface 31 ranges from 1.7 mm to 1.8 mm. In other embodiments, the radius of curvature of the first contact arc surface 31 may also be 1.7 mm, 1.71 mm … … 1.75, 1.75 mm … … 1.8, 1.8 mm.

The steering wheel is the core part of robot joint motion, and its circular telegram motor closes specific corner with the gear combination, and output great moment of torsion, in order to realize the miniaturization and the dexterity of structure, small-size steering wheel structural design becomes new demand, because the inside design space that reserves of steering wheel structure is little, considers large batch manufacturing again, needs set up the clutch for enough little.

When the radius of curvature of the first contact arc surface 31 is the same as that of the second contact arc surface 121.

In order to design a clutch meeting the requirements of a small-sized steering engine, the following optimization principle is calculated according to the size of the clutch and the attached figure 6:

during the whole rotation, generally, a compressive stress is generated between the output gear 1 and the clutch teeth 3, and since the structure is symmetrical, only one of them needs to be analyzed. As shown in fig. 6 (fig. 6 is a force-receiving schematic diagram when the second contact arc surface 121 of the inner tooth groove 12 of the output gear 1 contacts the first contact arc surface 31 of the clutch tooth 3), an irregular σ pattern composed of an arc EBG (the circle center is a, the radius is AB; EBG is an arc corresponding to the first contact arc surface 31 and the second contact arc surface 121 when the curvature radii of the first contact arc surface 31 and the second contact arc surface 121 are the same; that is, the radius AB is the curvature radius of the first contact arc surface 31 and the second contact arc surface 121; the circle center is O, the radius is OE; the arc EDG is a circle having a smaller corresponding angle and a larger radius, so the arc EDG shown in fig. 6 is an approximate straight line; OE is a perpendicular line between the left edge of the first contact arc surface 31 and the axis of the rotating shaft 2; and the point O is a certain point on the axis of the rotating shaft 2), which is a main portion of the force received by a certain point C of the contact force received by which the first contact arc surface 31 and the second contact arc surface 121 is defined as σ (; wherein (a) is the force experienced by the right side during clockwise rotation, and (b) is the force experienced by the corresponding left side; here, order: BD-H-0.03 cm, OE-R-0.54 cm, angle BAC- α, angle BOC- θ, AC-R, OB-R + H.

Specifically, please refer to fig. 8, the arc EBG is an arc where the first contact arc surface 31 and the second contact arc surface 121 are located; e is a point of the left edge of the first contact arc surface 31, and G is a point of the right edge of the first contact arc surface 31; point B is a point of the first contact arc surface 31 on its angular bisector; a is the center of the first contact arc surface 31 and the second contact arc surface 121; AB is the radius of the arc where the first contact arc surface 31 and the second contact arc surface 121 are located; the point O is a certain point on the axis of the rotating shaft 2; OE is a perpendicular line between the left edge of the first contact arc surface 31 and the axis of the rotating shaft 2; the circular EDG is: an arc formed between the edges of the left and right ends of the first contact arc surface 31 with the O point as the center of a circle and with the OE radius; point D is the point of the circular arc EDG on its angular bisector.

Since the first contact arc surface 31 is a cylindrical surface, we assume that the compressive stress is uniformly distributed along the compressive surface, and then the following derivation is possible:

since the forces in (a) and (b) are equal and opposite, the right side can be referenced when calculating the left compressive stress. Assuming that OA is a R-R and h is a gear thickness (thickness in the axial direction of the rotating shaft 2), then:

in addition:

therefore:

wherein T is the torque of the clutch; r is the radius of curvature of the first contact arc surface 31; h is the length of the BD; r is the length of OE.

If defined: BD-H-0.03 cm, OE-R-0.54 cm, T-4000 Kg-cm, H0.25 cm; which is a parameter that satisfies the preferred clutch for the steering engine.

According to the formula and relevant clutch parameters meeting the requirements of the steering engine, a curve graph of the curvature radius of the first contact arc surface 31 and the change of the extrusion stress of the first contact arc surface as shown in fig. 7 can be obtained; it can be seen that fig. 7 represents a transition region of the first contact arc 31 when the curvature radius of the first contact arc is 1.7 mm to 1.8 mm.

If the curvature radius value of the first contact arc surface 31 is larger than the area, that is, the extrusion stress is smaller, the safety clutch function is easy to realize, although the value is consistent with the design requirement, the size of the radius of the clutch tooth 3 is too large (as shown in the second half of the relation graph of the extrusion stress and the curvature radius in fig. 7, when the extrusion stress is smaller, the radius is smaller because the change rate is reduced), so that the size of the structure of the clutch tooth is larger and limited, for example, in the design, the diameter of the pitch circle of the gear is 15.2mm, the size of the transmission tooth is smaller, and the larger safety tooth structure cannot be realized.

If the curvature radius value of the first contact arc surface 31 is smaller than the area, that is, the extrusion stress is larger, the structure of the clutch tooth 3 is smaller (as shown in the first half of the relation graph of the extrusion stress and the curvature radius in fig. 7, when the extrusion stress is larger, the radius is smaller), the safety clutch function is not easy to realize, the size of the clutch tooth 3 is reduced, the subsequent processing precision is limited, under the same condition, the quality consistency of the clutch tooth 3 is found to be poor (the difficulty in realizing the safety clutch force within the tolerance requirement is larger) according to the existing process, the second extrusion stress exceeds the yield stress thereof, and the clutch tooth is easy to break.

Therefore, the curvature radius of the first contact arc surface 31 is set to be 1.7 mm to 1.8 mm or a certain value of 1.7 mm and 1.71 mm … … 1.75 mm … … 1.8.8 mm, that is, the size of the transition region of the change of the extrusion stress in the curve diagram of the curvature radius of the first contact arc surface 31 and the change of the extrusion stress is adopted, so that not only is the larger extrusion stress ensured, but also the size is not too small, and the size is convenient to process. The part of the first contact arc surface 31 with the curvature radius of 1.75 mm is a curve turning point shown in fig. 7, which can be used as an optimal value to meet the requirement of the clutch on the extrusion stress and the requirement of the small steering engine on the small size of the clutch, so that the clutch can be applied to the small steering engine. The problem of among the prior art, can't set up the clutch in the small-size steering wheel is solved.

In this embodiment, the radius of curvature of the first contact arc surface 31 is set to 1.7 mm to 1.8 mm, which can reduce the processing difficulty of the output gear 1, the rotating shaft 2 and the clutch teeth 3. The output gear 1 can be an injection molding piece; the rotating shaft 2 and the clutch teeth 3 can be an integral piece; and is formed by injection molding. The injection molding quality is light, and to the processing of miniaturized clutch, for the mode of metal casting and metal cutting, can effectively reduce the processing degree of difficulty. Meanwhile, the injection molding piece is light in weight, and the requirement of various domestic robots on light weight can be met.

Further, referring to fig. 2, as another embodiment of the clutch provided by the present application, the clutch teeth 3 are provided with deformation holes 32. The deformation hole 32 runs through the clutch teeth 3 along the axis direction of the rotating shaft 2, so that the middle position of the clutch teeth 3 has a certain deformation buffer space, the clutch teeth 3 are easy to change phase to realize tooth jumping, the difficulty of tooth jumping is reduced, and after tooth jumping, the clutch teeth 3 can be quickly restored to the original state and are meshed with the inner tooth grooves 12 well.

Further, referring to fig. 2, as another specific embodiment of the clutch provided by the present application, the clutch teeth 3 further have a first deformed arc surface 33 and a second deformed arc surface 34 connected to the first contact arc surface 31; the first contact arc surface 31 is located between the first deforming arc surface 33 and the second deforming arc surface 34. That is, the surfaces of the clutch teeth 3 connected with the first contact arc surfaces 31 are all arc surfaces, and the surfaces have a good deformation effect relative to a plane, so that the clutch teeth 3 are smoothly deformed and are not broken differently.

Further, please refer to fig. 2, as another specific embodiment of the clutch provided in the present application, a center of the first deforming arc 33 is located at a side of the first deforming arc 33 away from the deforming hole 32; the center of the second deforming arc surface 34 is located on the side of the second deforming arc surface 34 away from the deforming hole 32. Therefore, when the clutch tooth 3 deforms, the surface of the clutch tooth deforms towards the deformation hole 32, and the deformation space provided by the deformation hole 32 can be used, so that the clutch tooth 3 deforms more smoothly, easily jumps and is not easy to break.

Further, referring to fig. 2, as another embodiment of the clutch provided by the present application, the deformation hole 32 has a first arc wall 321, a second arc wall 322, a third arc wall 323, and a fourth arc wall 324 connected in sequence; the first cambered wall 321 is opposite to the third cambered wall 323 and is arranged at intervals; the radii of curvature of the first arc surface wall 321 and the third arc surface wall 323 are the same as the radius of curvature of the first contact arc surface 31; the fourth arc surface wall 324 has the same curvature radius as the first deformed arc surface 33; the second cambered surface wall 322 has the same radius of curvature as the second deforming cambered surface 34. That is also the external profile of separation and reunion tooth 3 is unanimous rather than the profile in inside deformation hole 32 to the deformation space of maximize utilization deformation hole 32, the deformation takes place for the deformation space that the homoenergetic was better when making separation and reunion tooth 3 each department received extrusion stress with the help of deformation hole 32 provides, makes the deformation of separation and reunion tooth 3 gentler, easily jumps the tooth and be difficult for the rupture.

Further, referring to fig. 3, as another specific embodiment of the clutch provided by the present application, the number of the clutch teeth 3 is an odd number greater than or equal to 3; the individual clutch teeth 3 lie on the same circumference, and the individual clutch teeth 3 lie on different diameters of this circumference. The clutch teeth 3 are provided with first contact cambered surfaces 31, so that the end parts of the single clutch teeth 3 are of cylindrical structures, and the rotating body is easy to machine; and each clutch tooth 3 is positioned on the same circumference, so that the processing of the clutch teeth 3 can be further facilitated. The clutch teeth 3 are arranged on different diameters, namely, the opposite sides of the clutch teeth 3 are all hollow areas, so that extrusion deformation is facilitated. If two clutch teeth 3 with the same diameter exist, the two clutch teeth are in corresponding structures, and the clutch teeth 3 are not easy to deform when being extruded in the forward direction; therefore, the clutch teeth 3 are arranged on different diameters, and under the condition of the same clutch force, a larger structure of the clutch teeth 3 (a structure formed by a plurality of clutch teeth 3 on the same circumference) can be realized, so that the injection molding processing is easy (because for the injection molding processing, too large or too small parts are not easy to realize from the process perspective).

Further, referring to fig. 3, as another specific embodiment of the clutch provided in the present application, a rudder disk connecting spline 21 is disposed on the rotating shaft 2, and is used for performing transmission connection with a corresponding structure in a rudder machine.

Further, referring to fig. 5, as another embodiment of the clutch provided in the present application, an encoder connector 22 is disposed on the rotating shaft 2, so that the encoder can detect parameters such as the rotating speed and the angle of the rotating shaft 2.

Further, please refer to fig. 4, as another specific embodiment of the clutch provided by the present application, a transition arc 13 is disposed between adjacent inner tooth grooves 12, and the clutch teeth 3 can smoothly slide from one inner tooth groove 12 to the next inner tooth groove 12 when jumping; the accommodating groove 11 is a circular groove; the output gear 1 is an injection molding piece; the rotating shaft 2 and the clutch teeth 3 are integrated, and the rotating shaft 2 and the clutch teeth 3 are injection-molded parts.

Further, referring to fig. 4, as another specific embodiment of the clutch provided in the present application, the output gear 1 is provided with a yielding hole 14 at the bottom of the accommodating groove 11, and the rotating shaft 2 penetrates through the yielding hole 14; a gap 4 is formed between the rotating shaft 2 and the inner wall of the abdicating hole 14. That is, the rotating shaft 2 is not directly contacted with the inner wall of the abdicating hole 14, so that the interaction force between the rotating shaft 2 and the output gear 1 only occurs at the contact part of the clutch tooth 3 and the inner tooth groove 12 of the output gear 1, that is, only occurs at the contact part of the first contact arc surface 31 and the second contact arc surface 121 (the clutch force at the contact part is controllable and also is a preset value), and the clutch action between the clutch tooth 3 and the output gear 1 is prevented from being influenced by the contact between the rotating shaft 2 and the inner wall of the abdicating hole 14 (if there is contact, the actual clutch force between the clutch tooth 3 and the output tooth is uncontrollable, and the calculation cannot be performed by using the optimization principle).

As shown in fig. 9, an embodiment of the present application further provides a steering engine, which includes a housing 5, a driving motor 6, a reduction gear set 7 connected to an output shaft of the driving motor 6, and a clutch in any of the embodiments; the output gear 1 is engaged with the reduction gear set 7, and the rotating shaft 2 is rotatably mounted on the housing 5.

The embodiment of the application further provides a robot, which comprises the steering engine in the embodiment and other structures of the robot in the prior art; the steering engine can be installed at the joint.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims (9)

1. The clutch is characterized by comprising an output gear, a rotating shaft and at least one clutch tooth arranged on the rotating shaft; the output gear is provided with a containing groove, and a plurality of inner tooth grooves matched with the clutch teeth are formed in the inner side wall of the containing groove of the output gear; one end of the clutch tooth, which is far away from the rotating shaft, is provided with a first contact cambered surface, and the inner tooth groove is provided with a second contact cambered surface which is in contact with the first contact cambered surface; the clutch teeth are provided with variable holes; the first contact cambered surface and the second contact cambered surface have the same curvature radius.

2. The clutch of claim 1, wherein the radius of curvature of the first contact patch ranges from 1.7 mm to 1.8 mm.

3. The clutch according to claim 1, wherein the output gear has a relief hole at a bottom of the receiving groove, and the rotating shaft penetrates through the relief hole; and a gap is formed between the rotating shaft and the inner wall of the abdicating hole.

4. The clutch according to claim 1, wherein the clutch teeth further have a first deforming arc surface and a second deforming arc surface connected to the first contact arc surface; the first contact cambered surface is located between the first deformation cambered surface and the second deformation cambered surface.

5. The clutch of claim 4, wherein the center of the first deformation arc is located on a side of the first deformation arc away from the deformation hole; the circle center of the second deformation arc surface is positioned on one side, far away from the deformation hole, of the second deformation arc surface.

6. The clutch of claim 4, wherein the deformation aperture has a first arcuate surface wall, a second arcuate surface wall, a third arcuate surface wall, and a fourth arcuate surface wall in series; the first cambered wall and the third cambered wall are opposite and arranged at intervals; the radius of curvature of the first cambered surface wall and the third cambered surface wall is the same as that of the first contact cambered surface; the curvature radius of the fourth cambered surface wall is the same as that of the first deformation cambered surface; the second cambered surface wall and the second deformation cambered surface have the same curvature radius.

7. The clutch according to claim 1, wherein the output gear has a relief hole at a bottom of the receiving groove, and the rotating shaft penetrates through the relief hole; and a gap is formed between the rotating shaft and the inner wall of the abdicating hole.

8. A steering engine, characterized by comprising a housing, a drive motor, a reduction gear set connected to an output shaft of the drive motor, and a clutch according to any one of claims 1 to 7; the output gear is meshed with the reduction gear set, and the rotating shaft is rotatably arranged on the shell.

9. A robot comprising a steering engine according to claim 8.

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