CN111005988A - Harmonic reducer with force sensing function - Google Patents
Harmonic reducer with force sensing function Download PDFInfo
- Publication number
- CN111005988A CN111005988A CN201911275206.4A CN201911275206A CN111005988A CN 111005988 A CN111005988 A CN 111005988A CN 201911275206 A CN201911275206 A CN 201911275206A CN 111005988 A CN111005988 A CN 111005988A
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- Prior art keywords
- bearing
- input shaft
- sensing function
- harmonic reducer
- torque sensor
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
The invention discloses a harmonic reducer with a force sensing function, which belongs to the technical field of mechanical transmission and is provided with a torque sensor, wherein the torque sensor is movably sleeved on an input shaft, and the torque sensor is fixedly installed with the other side of the second end of a flexible wheel. On the basis of the structural principle of a traditional harmonic reducer, a torque sensor is added and is arranged between an external power source and a rigid wheel, so that the torque sensor has the function of sensing the torque force, can fix a flexible wheel and connect the external power source through the torque sensor, and has the advantages of simple and compact structure, convenience in installation, small size and light weight.
Description
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a harmonic reducer with a force sensing function.
Background
At present, the core part of a robot is a robot rotating joint, and a harmonic reducer has the characteristics of small volume, large speed ratio, small return difference and the like, so that the rotating joint is mainly provided with the harmonic reducer. The harmonic drive speed reducer is a gear drive which uses a wave generator to assemble a flexible bearing to make a flexible gear generate controllable elastic deformation and is meshed with a rigid gear to transfer motion and power.
The auxiliary robot is required to have higher safety performance and must have a force sensing function, but now the harmonic reducer generally does not have the force sensing function or has a complex structure, so that the volume and the weight of the joints of the robot are greatly increased, and if a torque sensor is added outside the joints, the structure of each joint of the robot must be increased by a plurality of parts, so that the volume and the weight are increased.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a harmonic reducer with a force sensing function, which has a more compact and simpler structure, is more convenient to mount, has a smaller volume and is lighter in weight under the condition that the harmonic reducer has a torque sensing function.
The purpose of the invention is realized by adopting the following technical scheme:
a harmonic reducer with force sensing function comprises a flexible gear, a rigid gear and a wave generator; the rigid gear is sleeved on the periphery of the flexible gear and is meshed with the flexible gear, the wave generator is connected to the flexible gear in a driving mode so that the flexible gear drives the rigid gear to realize speed reduction transmission, the wave generator comprises an input shaft, one end of the input shaft forms an input end which can be connected to an external power source in a driving mode, and the other end of the input shaft forms an output end used for transmitting output power of the input end; the flexible gear is provided with a first end and a second end, and the input shaft is rotatably connected with the flexible gear in a penetrating way and extends out of the flexible gear from the first end to the second end of the flexible gear; the inboard of the first end of flexbile gear and second end all with wave generator cooperatees, the opposite side of the first end of flexbile gear mesh in the rigid wheel, the harmonic speed reducer ware that has the power and feels the function still includes torque sensor, torque sensor movably overlaps and locates the input shaft, torque sensor with the opposite side fixed mounting of the second end of flexbile gear.
Further, a first bearing is arranged between the rigid wheel and the torque sensor, an inner ring of the first bearing is fixedly connected with the rigid wheel, and an outer ring of the first bearing is fixedly connected with the torque sensor.
Furthermore, the first bearing is a crossed roller bearing, and two side surfaces of the first bearing are respectively abutted to the rigid wheel and the torque sensor.
Further, the wave generator further comprises a second bearing, the second bearing is arranged between the output end of the input shaft and the first end of the flexible gear and is matched with the output end in shape; the inner ring of the second bearing is fixedly sleeved at the output end of the input shaft, and the outer ring of the second bearing is abutted against the inner side of the first end of the flexible gear.
Further, the second bearing is a compliant bearing.
Further, a third bearing is arranged between the second end of the flexible gear and the input shaft; the inner ring of the third bearing is fixedly sleeved on the input shaft, and the outer ring of the third bearing is abutted against the inner side of the second end of the flexible gear.
Further, the harmonic reducer with the force sensing function further comprises an output flange; the output flange is fixedly connected with the rigid wheel, and the rotation axis of the output flange is coincided with the rotation axis of the input shaft.
Furthermore, a wire passing channel is formed in the input shaft, and the wire passing channel penetrates through two ends of the input shaft so that the input shaft is of a through structure; and the output flange is provided with a first threading channel communicated with the threading channel.
Furthermore, a threading pipe is arranged in the threading channel, one end of the threading pipe is connected with the output flange, and the other end of the threading pipe extends towards the input end along the threading channel; the threading pipe is internally provided with a second threading channel, and the first threading channel is communicated with the second threading channel.
Further, the harmonic reducer with force sensing function further comprises a motor, wherein the motor is provided with a stator and a rotor; the outer side of the torque sensor is arranged on a stator of the motor, and the input end of the input shaft is in driving connection with a rotor of the motor.
Compared with the prior art, the invention has the beneficial effects that:
on the premise of the working principle structure of the traditional harmonic reducer, the torque sensor is movably sleeved on the input shaft and fixedly installed with the other side of the second end of the flexible gear, so that in practical application of the harmonic reducer, the torque sensor is positioned between an external power source and the rigid gear, the flexible gear can be fixed and connected with the external power source through the torque sensor while the harmonic reducer has a torque sensing function, and the harmonic reducer has the advantages of simple and compact structure, convenience in installation, small size and light weight.
And the torque sensor is not arranged at the output end of the harmonic reducer (the side of the rigid wheel far away from the external power source) but arranged between the reducer and the external power source, so that the radial force acting on the outer side of the rigid wheel generated by a self-weight cantilever for a workpiece or a load can only act on the inside of the harmonic reducer, and the torque sensor can be supported by arranging a bearing in practical application without influencing the fact that the torque sensor really measures the torque acting on the rotation direction of the mechanical human joint, thereby not only increasing the precision of the torque sensor, but also prolonging the service life of the torque sensor. Making it more suitable for use in the field of assisting robots.
Drawings
FIG. 1 is an overall structural view of a harmonic reducer having a force sensing function according to the present invention;
fig. 2 is an axial sectional view of the harmonic reducer with force sensing function according to the present invention.
In the figure: 10. a flexible gear; 11. a first end; 12. a second end; 20. a rigid wheel; 30. an input shaft; 31. an input end; 32. an output end; 33. a wire passage; 40. a torque sensor; 50. a first bearing; 60. a second bearing; 70. a third bearing; 80. an output flange; 81. a first threading channel; 90. a threading tube; 91. a second threading channel.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1 to 2, in order to make the structure of the harmonic reducer more compact and simpler on the premise of having the torque sensing function, the invention discloses a harmonic reducer having the force sensing function, which comprises a flexible gear 10, a rigid gear 20 and a wave generator; the rigid gear 20 is sleeved on the periphery of the flexible gear 10 and is meshed with the flexible gear 10, the wave generator is connected to the flexible gear 10 in a driving mode so that the flexible gear 10 drives the rigid gear 20 to realize speed reduction transmission, the wave generator comprises an input shaft 30, one end of the input shaft 30 is connected with an external power source in a driving mode, and the other end of the input shaft 30 is provided with an output end 32 used for transmitting output power of an input end 31; the flexible gear 10 is a cylindrical structure and has a first end 11 and a second end 12, the input shaft 30 is rotatably connected to the flexible gear 10 and extends out of the flexible gear 10 from the first end 11 to the second end 12 of the flexible gear 10; the inner sides of the first end 11 and the second end 12 of the flexible gear 10 are both matched with a wave generator, wherein the axial projection shape of one side of the wave generator matched with the first end 11 of the flexible gear 10 is elliptical, the other side of the first end 11 of the flexible gear 10 is meshed with the rigid gear 20, the flexible gear 10 is driven to move by the wave generator, and the side, meshed with the rigid gear 20, of the first end 11 of the flexible gear 10 is in meshing transmission so as to drive the rigid gear 20 to rotate around the rotation axis of the rigid gear 20.
In order to make the harmonic reducer with force sensing function of the present invention have the torque sensing function, the torque sensor 40 is movably sleeved on the input shaft 30, and the torque sensor 40 is fixedly installed with the other side of the second end 12 of the flexible gear 10, so that in practical application, the torque sensor 40 is located between the external power source and the rigid gear 20, so that the harmonic reducer with force sensing function of the present invention can fix the flexible gear 10 and connect the external power source through the torque sensor 40 while having the torque sensing function, and has the advantages of simple and compact structure, convenient installation, small volume and light weight.
And the acting force of the torque sensor 40 on the workpiece or the load generated by the self-weight cantilever only acts in the harmonic speed reducer, and the torque sensor can be supported by mounting a bearing in practical application without influencing the torque of the torque sensor 40 in the rotation direction of the robot joint, so that the torque sensing precision is improved, and the service life of the torque sensor 40 is prolonged. The torque sensor 40 replaces the traditional positioning flange and other components, so that the harmonic reducer with the force sensing function is more compact and simple in structure and convenient to assemble and overhaul.
In the preferred embodiment of the above configuration, the first bearing 50 is provided between the rigid wheel 20 and the torque sensor 40, the inner ring of the first bearing 50 is fixedly connected to the rigid wheel 20, and the outer ring of the first bearing 50 is fixedly connected to the torque sensor 40, so that the transmission stability between the rigid wheel 20 and the torque sensor 40 is improved.
Further, the first bearing 50 is a cross roller bearing, and both side surfaces of the first bearing 50 are respectively abutted to the rigid wheel 20 and the torque sensor 40, so that the rigid wheel 20 and the torque sensor 40 can be accurately positioned between the outer sides thereof, and the operation stability thereof is further improved.
In this embodiment, steps for engaging the first bearing 50 and engaging the external power source are further formed on both sides of the torque sensor 40, respectively, so as to position and support the components of the harmonic reducer having the force sensing function.
Preferably, the wave generator further comprises a second bearing 60, the second bearing 60 being arranged between the output end 32 of the input shaft 30 and the first end 11 of the flexspline 10 and being shaped to match the output end 32, the second bearing 60 being a flexible bearing; the inner ring of the second bearing 60 is fixedly sleeved on the output end 32 of the input shaft 30, and the outer ring of the second bearing 60 abuts against the inner side of the first end 11 of the flexible gear 10, so that the output end 32 of the input shaft 30 can transmit the torsional force more stably and accurately.
In order to support the acting force of the torque sensor 40 on the workpiece or the load due to the self-weight cantilever in the harmonic reducer, a third bearing 70 is arranged between the second end 12 of the flexspline 10 and the input shaft 30; the inner ring of the third bearing 70 is fixedly sleeved on the input shaft 30, and the outer ring of the third bearing 70 abuts against the inner side of the second end 12 of the flexible gear 10, so that the friction between the input shaft 30 and the flexible gear 10 during rotation is reduced to the maximum extent, and the service life of the flexible gear is prolonged.
The harmonic reducer with the force sensing function further comprises an output flange 80, wherein the output flange 80 is generally used for being in driving connection with an external component to achieve driving; the output flange 80 is fixedly connected with the rigid wheel 20, the rotation axis of the output flange 80 is coincident with the rotation axis of the input shaft 30, and in order to stabilize the traditional stability of the output flange 80, one side of the output flange 80 close to an external power source can extend towards the inside of the wire passage 33 and is supported by adopting a bearing connection with the inner side of the wire passage 33.
In the practical use process of the present invention, when the rotor of the motor drives the input shaft 30 to rotate, i.e. drives the wave generator to rotate, under the interaction between the flexible gear 10 and the rigid gear 20, the flexible gear 10 is used as a fixed point, i.e. the rigid gear 20 can realize the speed reduction continuous rotation output. The output flange 80 is rigidly connected with the rigid wheel 20, and when a workpiece or a load is mounted on the output flange 80 to generate a torque, the torque is transmitted to the torque sensor 40 through the flexible wheel 10, so that the torque is detected.
A wire passing channel 33 is formed in the input shaft 30, and the wire passing channel 33 penetrates through two ends of the input shaft 30 so that the input shaft 30 is of a through structure; the output flange 80 is provided with a first threading channel 81 communicated with the threading channel 33, and the threading channel 33 and the first threading channel 81 can be used for threading wires such as power lines, data lines and the like, so that the wires can pass through the output flange, and the structure of the output flange is more compact and simpler.
In order to protect the wires in the threading channel, a threading pipe 90 is arranged in the threading channel 33, one end of the threading pipe 90 is connected with the output flange 80, and the other end of the threading pipe 90 extends towards the input end 31 along the threading channel 33; the second threading channel 91 is arranged in the threading pipe 90, the first threading channel 81 is communicated with the second threading channel 91, so that the threading pipe 90 rotates along with the output flange 80, and the rotating speed of the output flange 80 is generated under the mutual matching action of the wave generator, the flexible gear 10 and the rigid gear 20, so that the rotating speed of the output flange 80 is low, and the condition that the input shaft 30 damages wires under the condition of telling to rotate can be effectively avoided.
In this example, the central axes of the threading passage 33, the first threading passage 81 and the second threading passage 91 all coincide with the rotational axis of the input shaft 30.
Preferably, the harmonic reducer with force sensing function further includes a motor (not shown) having a stator and a rotor; the torque sensor 40 is mounted to the stator of the motor and the input end 31 of the input shaft 30 is drivingly connected to the rotor of the motor.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A harmonic reducer with force sensing function comprises a flexible gear, a rigid gear and a wave generator; the rigid wheel cover is located the flexbile gear periphery and with flexbile gear intermeshing, wave generator drive connect in the flexbile gear is so that the flexbile gear drive rigid wheel realizes speed reduction transmission, its characterized in that:
the wave generator comprises an input shaft, wherein one end of the input shaft forms an input end which can be connected with an external power source in a driving way, and the other end of the input shaft forms an output end which is used for transmitting the output power of the input end;
the flexible gear is provided with a first end and a second end, and the input shaft is rotatably connected with the flexible gear in a penetrating way and extends out of the flexible gear from the first end to the second end of the flexible gear; the inboard of the first end of flexbile gear and second end all with wave generator cooperatees, the opposite side of the first end of flexbile gear mesh in the rigid wheel, the harmonic speed reducer ware that has the power and feels the function still includes torque sensor, torque sensor movably overlaps and locates the input shaft, torque sensor with the opposite side fixed mounting of the second end of flexbile gear.
2. The harmonic reducer with force sensing function of claim 1, wherein: a first bearing is arranged between the rigid wheel and the torque sensor, an inner ring of the first bearing is fixedly connected with the rigid wheel, and an outer ring of the first bearing is fixedly connected with the torque sensor.
3. The harmonic reducer with force sensing function according to claim 2, characterized in that: the first bearing is a crossed roller bearing, and two side faces of the first bearing are respectively abutted to the rigid wheel and the torque sensor.
4. The harmonic reducer with force sensing function of claim 1, wherein: the wave generator further comprises a second bearing, the second bearing is arranged between the output end of the input shaft and the first end of the flexible gear and is matched with the output end in shape; the inner ring of the second bearing is fixedly sleeved at the output end of the input shaft, and the outer ring of the second bearing is abutted against the inner side of the first end of the flexible gear.
5. The harmonic reducer with force sensing function of claim 4, wherein: the second bearing is a flexible bearing.
6. The harmonic reducer with force sensing function of claim 1, wherein: a third bearing is arranged between the second end of the flexible gear and the input shaft; the inner ring of the third bearing is fixedly sleeved on the input shaft, and the outer ring of the third bearing is abutted against the inner side of the second end of the flexible gear.
7. The harmonic reducer with force sensing function of claim 1, wherein: the harmonic reducer with the force sensing function further comprises an output flange;
the output flange is fixedly connected with the rigid wheel, and the rotation axis of the output flange is coincided with the rotation axis of the input shaft.
8. The harmonic reducer with force sensing function of claim 7, wherein: a wire passing channel is formed in the input shaft and penetrates through two ends of the input shaft so that the input shaft is of a through structure; and the output flange is provided with a first threading channel communicated with the threading channel.
9. The harmonic reducer with force sensing function of claim 8, wherein: a threading pipe is arranged in the threading channel, one end of the threading pipe is connected with the output flange, and the other end of the threading pipe extends towards the input end along the threading channel;
the threading pipe is internally provided with a second threading channel, and the first threading channel is communicated with the second threading channel.
10. The harmonic reducer with force sensing function of claim 1, wherein: the harmonic reducer with the force sensing function further comprises a motor, wherein the motor is provided with a stator and a rotor;
the outer side of the torque sensor is arranged on a stator of the motor, and the input end of the input shaft is in driving connection with a rotor of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911275206.4A CN111005988A (en) | 2019-12-12 | 2019-12-12 | Harmonic reducer with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911275206.4A CN111005988A (en) | 2019-12-12 | 2019-12-12 | Harmonic reducer with force sensing function |
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| Publication Number | Publication Date |
|---|---|
| CN111005988A true CN111005988A (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911275206.4A Pending CN111005988A (en) | 2019-12-12 | 2019-12-12 | Harmonic reducer with force sensing function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
| CN113715014A (en) * | 2021-09-22 | 2021-11-30 | 哈尔滨工业大学 | Large-torque integrated driving joint suitable for deep-sea robot |
| CN114370487A (en) * | 2022-01-24 | 2022-04-19 | 王瑞松 | Harmonic reducer and transmission device |
| CN114688231A (en) * | 2021-09-30 | 2022-07-01 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| CN115199724A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| WO2023108528A1 (en) * | 2021-12-13 | 2023-06-22 | 上海非夕机器人科技有限公司 | Speed reducer, reduction drive system, and robot joint and robot comprising reduction drive system |
-
2019
- 2019-12-12 CN CN201911275206.4A patent/CN111005988A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
| CN113715014A (en) * | 2021-09-22 | 2021-11-30 | 哈尔滨工业大学 | Large-torque integrated driving joint suitable for deep-sea robot |
| CN113715014B (en) * | 2021-09-22 | 2023-11-21 | 哈尔滨工业大学 | High-torque integrated driving joint suitable for deep sea robot |
| CN114688231A (en) * | 2021-09-30 | 2022-07-01 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| CN115199724A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
| WO2023108528A1 (en) * | 2021-12-13 | 2023-06-22 | 上海非夕机器人科技有限公司 | Speed reducer, reduction drive system, and robot joint and robot comprising reduction drive system |
| CN114370487A (en) * | 2022-01-24 | 2022-04-19 | 王瑞松 | Harmonic reducer and transmission device |
| CN114370487B (en) * | 2022-01-24 | 2023-12-12 | 王瑞松 | Harmonic speed reducer and transmission device |
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