CN105422792A - Harmonic speed reducer with strain gauges - Google Patents
Harmonic speed reducer with strain gauges Download PDFInfo
- Publication number
- CN105422792A CN105422792A CN201510982256.1A CN201510982256A CN105422792A CN 105422792 A CN105422792 A CN 105422792A CN 201510982256 A CN201510982256 A CN 201510982256A CN 105422792 A CN105422792 A CN 105422792A
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- CN
- China
- Prior art keywords
- gear
- rolling bearing
- flexbile gear
- speed reducer
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Abstract
The invention discloses a harmonic speed reducer with strain gauges, which comprises an elastic body, a flexible gear, a wave generator and a rigid gear, wherein the flexible gear comprises a thin-walled gear which can generate elastic deformation; a rolling bearing is arranged on the outer side wall of the wave generator, and the rolling bearing and the inner wall of the flexible gear are pressed against each other; an output shaft is arranged at the upper end part of the flexible gear, and the flexible gear is connected with the output shaft through bolts; the output shaft is sleeved with a cross rolling bearing; the cross rolling bearing is fixed at the upper end of the elastic body through bolts; the lower end part of the flexible gear is sleeved with the rigid gear; when the wave generator rotates, the thin-walled gear of the flexible gear and the rigid gear change circularly in the four states of engaging-in, engagement, engaging-out and disengagement in sequence; the rigid wheel is fixed to the lower end of the elastic body through bolts; and the strain gauges are uniformly distributed on the outer surface of the elastic body. The harmonic speed reducer is low in cost, compact in structure, simple and convenient in torque measurement and accurate in measurement result.
Description
Technical field
The present invention relates to a kind of improvement of harmonic speed reducer, refer in particular to that a kind of cost is low, compact structure, measure the simple and convenient and harmonic speed reducer of measurement result accurately with foil gauge of moment of torsion.
Background technique
It is high that harmonic speed reducer has bearing capacity, and velocity ratio is large, and volume is little, lightweight, stable drive and transmission accuracy these particular advantages high, makes to be widely used in the industries such as electronics, space flight and aviation, robot.
Harmonic speed reducer can not carry torque feedback as the core transmission component of robot.Robot misoperation is easily clashed into, and causes whole harmonic speed reducer to damage and even scraps.The measurement torque method of traditional harmonic speed reducer: after harmonic speed reducer 3 is connected by adpting flange 2 with torque sensor 1, the moment of torsion of harmonic speed reducer 3 is measured, as shown in Figure 1.This structural volume increases, and adds weight; Increase flexible link, rigidity declines obviously; There is multi-dimensional force coupling, the inaccurate and complex structure of torque measurement, cost is higher.
For this reason, we have developed, and a kind of cost is low, compact structure, measures the simple and convenient and harmonic speed reducer of measurement result accurately with foil gauge of moment of torsion.
Summary of the invention
The present invention seeks to provide that a kind of cost is low, compact structure to overcome the deficiencies in the prior art, measuring the simple and convenient and harmonic speed reducer of measurement result accurately with foil gauge of moment of torsion.
For achieving the above object, the technical solution used in the present invention is: a kind of harmonic speed reducer with foil gauge, comprises elastomer, flexbile gear, wave-generator and has just taken turns; The cross section of described flexbile gear becomes inverted U-shaped, the madial wall of its underpart is provided with the thin-wall gear that can produce resiliently deformable; The outer side wall of described wave-generator is provided with rolling bearing, and the inwall of described rolling bearing and flexbile gear presses mutually; Described output shaft is arranged on the upper end portion of flexbile gear, and described flexbile gear and output shaft are bolted; Described output shaft overcoat has intersection rolling bearing; Described intersection rolling bearing is bolted on elastomeric upper end; In the underpart of described flexbile gear is set in and just takes turns; When wave-generator rotates, the thin-wall gear on its flexbile gear and the engagement between just having taken turns successively engaging-in, engage, nibble out and throw off in these four kinds of states and carry out circulation change, thus reach slowing effect; Described firm wheel is bolted on elastomeric lower end; Described outer elastomeric surface is evenly equipped with foil gauge.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
The rolling bearing that intersects in the harmonic speed reducer of band foil gauge of the present invention is bolted on elastomeric upper end; Described firm wheel is bolted on elastomeric lower end; Described outer elastomeric surface is evenly equipped with foil gauge, compact structure, and volume greatly reduces, and weight have also been obtained control; Measure moment of torsion by foil gauge simple and convenient, and torque measurement does not exist coupled problem, measurement result is accurate simultaneously; Moreover cost ratio, be convenient to miscellaneous parts such as motors integrated; Have described elastomer to fix non rotating again, signals collecting is simple and easy to do.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, technical solution of the present invention is described further:
Accompanying drawing 1 is the torque measurement schematic diagram of the harmonic speed reducer of prior art;
Accompanying drawing 2 is the structural drawing of the harmonic speed reducer of band foil gauge of the present invention;
Wherein: 1, torque sensor; 2, adpting flange; 3, harmonic speed reducer; 4, foil gauge; 5, flexbile gear; 6, rolling bearing; 7, wave-generator; 8, output shaft; 9, crossed roller bearing; 10, elastomer; 11, just take turns.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Accompanying drawing 2 is the harmonic speed reducer of band foil gauge of the present invention, comprises elastomer 10, flexbile gear 5, wave-generator 7 and has just taken turns 11; The cross section of described flexbile gear 5 becomes inverted U-shaped, the madial wall of its underpart is provided with the thin-wall gear that can produce resiliently deformable; Described wave-generator 7 is set with rolling bearing 6, and described rolling bearing 6 presses mutually with the inwall of flexbile gear 5; Described output shaft 8 is arranged on the upper end portion of flexbile gear 5, and described flexbile gear 5 and output shaft 8 are bolted; Described output shaft 8 overcoat has intersection rolling bearing 9; Described intersection rolling bearing 9 is bolted on the upper end of elastomer 10; The underpart of described flexbile gear 5 is set in just takes turns in 11; When wave-generator 7 rotates, the thin-wall gear on its flexbile gear 5 and the engagement between just having taken turns successively engaging-in, engage, nibble out and throw off in these four kinds of states and carry out circulation change, thus reach slowing effect; Described firm wheel 11 is bolted on the lower end of elastomer 10; Described elastomer 10 outer surface is evenly equipped with foil gauge 4; During work, there is resiliently deformable in peripheral elastomer 10, the foil gauge 4 on it also can change, and now can be measured the Operating torque of harmonic speed reducer by monitor strain sheet 4.
Due to the utilization of technique scheme, the present invention compared with prior art has following advantages:
The rolling bearing that intersects in the harmonic speed reducer of band foil gauge of the present invention is bolted on elastomeric upper end; Described firm wheel is bolted on elastomeric lower end; Described outer elastomeric surface is evenly equipped with foil gauge, compact structure, and volume greatly reduces, and weight have also been obtained control; Measure moment of torsion by foil gauge simple and convenient, and torque measurement does not exist coupled problem, measurement result is accurate simultaneously; Moreover cost ratio, be convenient to miscellaneous parts such as motors integrated; Have described elastomer to fix non rotating again, signals collecting is simple and easy to do.
Above-described embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and be implemented; can not limit the scope of the invention with this; all equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (1)
1. the harmonic speed reducer with foil gauge, comprises elastomer, flexbile gear, wave-generator and has just taken turns; The cross section of described flexbile gear becomes inverted U-shaped, the madial wall of its underpart is provided with the thin-wall gear that can produce resiliently deformable; The outer side wall of described wave-generator is provided with rolling bearing, and the inwall of described rolling bearing and flexbile gear presses mutually; Described output shaft is arranged on the upper end portion of flexbile gear, and described flexbile gear and output shaft are bolted; Described output shaft overcoat has intersection rolling bearing; It is characterized in that: described intersection rolling bearing is bolted on elastomeric upper end; In the underpart of described flexbile gear is set in and just takes turns; When wave-generator rotates, the thin-wall gear on its flexbile gear and the engagement between just having taken turns successively engaging-in, engage, nibble out and throw off in these four kinds of states and carry out circulation change, thus reach slowing effect; Described firm wheel is bolted on elastomeric lower end; Described outer elastomeric surface is evenly equipped with foil gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510982256.1A CN105422792A (en) | 2015-12-24 | 2015-12-24 | Harmonic speed reducer with strain gauges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510982256.1A CN105422792A (en) | 2015-12-24 | 2015-12-24 | Harmonic speed reducer with strain gauges |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105422792A true CN105422792A (en) | 2016-03-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510982256.1A Pending CN105422792A (en) | 2015-12-24 | 2015-12-24 | Harmonic speed reducer with strain gauges |
Country Status (1)
| Country | Link |
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| CN (1) | CN105422792A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175686A (en) * | 2017-06-09 | 2017-09-19 | 东南大学 | A kind of joint of robot |
| CN107387719A (en) * | 2017-09-05 | 2017-11-24 | 杨庆华 | Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN109185422A (en) * | 2018-10-15 | 2019-01-11 | 南京信息工程大学 | A kind of cup type harmonic speed reducer having both sensing function |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN111452083A (en) * | 2019-01-21 | 2020-07-28 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN111844120A (en) * | 2020-07-22 | 2020-10-30 | 北京理工大学 | Torque feedback joint |
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| WO2010142318A1 (en) * | 2009-06-08 | 2010-12-16 | Abb Technology Ab | A device for measuring torque |
| CN202814608U (en) * | 2012-06-13 | 2013-03-20 | 内蒙古科技大学 | Torque measuring device |
| CN103486225A (en) * | 2013-09-25 | 2014-01-01 | 深圳先进技术研究院 | Harmonic reducer with torque sensing function |
| CN104675942A (en) * | 2013-12-03 | 2015-06-03 | 现代自动车株式会社 | Technique for measuring torque output of harmonic drive |
| CN204739189U (en) * | 2015-05-11 | 2015-11-04 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer machine of structure |
| CN204748646U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint reduction gear |
| CN205350255U (en) * | 2015-12-24 | 2016-06-29 | 苏州绿的谐波传动科技有限公司 | Take harmonic speed reducer ware of foil gage |
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2015
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2010142318A1 (en) * | 2009-06-08 | 2010-12-16 | Abb Technology Ab | A device for measuring torque |
| CN202814608U (en) * | 2012-06-13 | 2013-03-20 | 内蒙古科技大学 | Torque measuring device |
| CN103486225A (en) * | 2013-09-25 | 2014-01-01 | 深圳先进技术研究院 | Harmonic reducer with torque sensing function |
| CN104675942A (en) * | 2013-12-03 | 2015-06-03 | 现代自动车株式会社 | Technique for measuring torque output of harmonic drive |
| CN204739189U (en) * | 2015-05-11 | 2015-11-04 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer machine of structure |
| CN204748646U (en) * | 2015-07-02 | 2015-11-11 | 成都三译智能技术有限公司 | Robot joint reduction gear |
| CN205350255U (en) * | 2015-12-24 | 2016-06-29 | 苏州绿的谐波传动科技有限公司 | Take harmonic speed reducer ware of foil gage |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175686A (en) * | 2017-06-09 | 2017-09-19 | 东南大学 | A kind of joint of robot |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN107175686B (en) * | 2017-06-09 | 2020-05-19 | 东南大学 | Robot joint |
| CN107387719A (en) * | 2017-09-05 | 2017-11-24 | 杨庆华 | Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator |
| CN109185422A (en) * | 2018-10-15 | 2019-01-11 | 南京信息工程大学 | A kind of cup type harmonic speed reducer having both sensing function |
| CN111452083A (en) * | 2019-01-21 | 2020-07-28 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN111452083B (en) * | 2019-01-21 | 2022-08-09 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN110307322A (en) * | 2019-05-24 | 2019-10-08 | 宁波中大力德智能传动股份有限公司 | A kind of harmonic drive reduction mechanism |
| CN111844120A (en) * | 2020-07-22 | 2020-10-30 | 北京理工大学 | Torque feedback joint |
| CN111844120B (en) * | 2020-07-22 | 2023-04-07 | 北京理工大学 | Torque feedback joint |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215101 Harmonic Drive Technology Co., Ltd. of Suzhou Green, 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: Suzhou Green Harmonic Drive Technology Co., Ltd. Address before: 215101 Harmonic Drive Technology Co., Ltd. of Suzhou Green, 19 Muxu West Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant before: Suzhou Lvdi Harmonic Transmission Technology Co., Ltd. |
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| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160323 |
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| RJ01 | Rejection of invention patent application after publication |