CN211820584U - Joint force feedback speed reducer - Google Patents
Joint force feedback speed reducer Download PDFInfo
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- CN211820584U CN211820584U CN202020383546.0U CN202020383546U CN211820584U CN 211820584 U CN211820584 U CN 211820584U CN 202020383546 U CN202020383546 U CN 202020383546U CN 211820584 U CN211820584 U CN 211820584U
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Abstract
The utility model relates to a joint force feedback reduction gear relates to a rotation joint. Its purpose possesses speed reduction transmission and force feedback function in order to provide a joint force feedback reduction gear simultaneously, is fit for using in the higher occasion of requirement to robot safety, and compact structure, and it is convenient to maintain. The utility model relates to a joint force feedback reduction gear is including detecting the flange, flexible external gear, cross roller bearing, interior tooth steel wheel, flexible bearing and oval cam, the outer lane of detecting the flange is connected with cross roller bearing's outer lane, the inner circle and the flexible external gear coaxial coupling of detecting the flange, cross roller bearing's inner circle and interior tooth steel wheel's rim fixed connection, the internal thread of interior tooth steel wheel meshes with the external screw thread of flexible external gear mutually, flexible external gear inboard cup joints the outside at oval cam through flexible bearing.
Description
Technical Field
The utility model relates to a rotation joint technical field especially relates to a joint force feedback reduction gear.
Background
In industrial robot equipment, articulated robots account for a very high proportion, wherein a relatively common implementation is to use a reducer as a rotary joint. On the other hand, the robot is paid more and more attention to safety, the demand of robot force perception has become a necessary function of a mainstream factory, the robot based on the force perception function of the force sensor has the characteristics of high sensitivity and quick response, and the robot based on the joint torque sensor has a more complete detection function, so that the robot becomes the direction of industry development.
The existing joint speed reducer cannot meet the industry trend of robot safety requirements due to the fact that the existing joint speed reducer does not have force sensing capability. The sensor can not be used alone in the field, and must be matched with the sensor for use. The moment sensor only has one-dimensional detection capability and does not have motion constraint capability beyond the detection dimension, so that the moment sensor cannot be used independently.
Aiming at the safety requirement of the robot, a joint reducer and a torque sensor are simultaneously used in the existing scheme, and the reducer and the sensor which are separately selected and matched need necessary bearing structures for connection, so that the size and the weight are often larger.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a joint force feedback reduction gear possesses speed reduction transmission and force feedback function simultaneously, is fit for using in the higher occasion of the safety requirement to the robot, and compact structure, and it is convenient to maintain.
The utility model relates to a joint force feedback reduction gear, including detecting the flange, flexible external gear, cross roller bearing, internal tooth steel wheel, flexible bearing and oval cam, the outer lane of detecting the flange is connected with cross roller bearing's outer lane, the inner circle and the flexible external gear coaxial coupling of detecting the flange, and cross roller bearing's inner circle and internal tooth steel wheel's rim fixed connection, the internal thread of internal tooth steel wheel meshes with the external screw thread of flexible external gear mutually, and flexible external gear inboard cup joints the outside at oval cam through flexible bearing.
The utility model relates to a joint force feedback reduction gear, wherein flexible external gear can carry out elastic deformation under the effect of external force.
The utility model relates to a joint force feedback reduction gear, wherein one side of detecting the flange is provided with connecting rod installation position.
The utility model relates to a joint force feedback reduction gear, wherein there is the tooth number difference between internal tooth steel wheel and the flexible external gear.
The utility model relates to a joint force feedback reduction gear, wherein the pivot of elliptical cam, the detection axle that detects the flange, the pivot of cross roller bearing are same axis.
The utility model relates to a joint force feedback reduction gear, wherein cross roller bearing and flexible bearing fix on the shell.
The utility model relates to a joint force feedback reduction gear, wherein flexible bearing installs between outer gear inboard and oval cam.
The utility model relates to a joint force feedback reduction gear lies in with prior art difference, the utility model relates to a joint force feedback reduction gear realizes force feedback through introducing the detection flange in the reduction gear constitutes the subassembly, makes it possess speed reduction transmission and force feedback function simultaneously. The utility model relates to a joint force feedback reduction gear utilizes cross roller bearing to connect the internal tooth steel wheel simultaneously, detects the flange and switches over to the flexbile gear external gear again, and output flange and base flange do not need to increase extra non-detection axle restraint to detecting the flange for cross roller bearing's interior outer lane respectively, are fit for very much using the higher occasion of robot safety requirement, and compact structure, and it is convenient to maintain.
The joint force feedback reducer of the present invention will be further described with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of a joint force feedback reducer of the present invention;
fig. 2 is a side view of a joint force feedback reducer of the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
the notation in the figures means: 1-crossed roller bearings; 2-detecting a flange; 3-an internal gear steel wheel; 4-a compliant bearing; 5-an elliptical cam; 6-Flexible external gear.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
As shown in fig. 1-3, the joint force feedback speed reducer of the present invention is a solid of revolution structure, and includes a detection flange 2, a flexible external gear 6, a crossed roller bearing 1, an internal tooth steel wheel 3, a flexible bearing 4, and an elliptical cam 5.
The outer ring of the detection flange 2 is connected with the outer ring of the crossed roller bearing 1 with high rigidity through bolts, the inner ring of the detection flange 2 is coaxially connected with the flexible external gear 6, and the flexible external gear 6 can elastically deform under the action of external force. The other side of the detection flange 2 is provided with a connecting rod installation position which can be connected with a connecting rod, so that the one-dimensional torque detection function is realized.
The inner ring of the crossed roller bearing 1 is fixedly connected with the rim of the inner-tooth steel wheel 3 through a bolt, the inner thread of the inner-tooth steel wheel 3 is meshed with the outer thread of the flexible outer gear 6, and the number of teeth between the inner-tooth steel wheel 3 and the flexible outer gear 6 is different.
The inner side of the flexible external gear 6 is sleeved on the outer side of the elliptical cam 5 through the flexible bearing 4, and the flexible bearing 4 is installed between the inner side of the external gear and the elliptical cam 5. The elliptical cam 5 is a wave generator, and the elliptical cam 5 can rotate through external structural constraint.
The rotating shaft of the elliptical cam 5, the detecting shaft of the detecting flange 2 and the rotating shaft of the crossed roller bearing 1 are the same axis.
The utility model relates to a joint force feedback decelerator specifically slows down and power detection mode as follows:
decelerating: the external gear steel wheel is fixed, when the elliptical cam 5 inputs high rotational motion, the elliptical cam 5 drives the flexible external gear 6 to periodically deform and roll on the internal gear steel wheel 3, and due to the fact that the number difference exists between the teeth of the flexible external gear 6 and the teeth of the internal gear steel wheel 3, the flexible external gear 6 actually rotates in a speed reduction mode, and speed reduction transformation of relative input motion is formed.
Force feedback: according to the transmission flexible external gear 6, the speed reduction rotation is realized, the rotation is transmitted to the fixedly connected detection flange 2, the rotation is transmitted to the output connecting rod by the detection flange 2, and the deformation is converted into a transmitted torque force value through the inside in the whole process to feed back a force signal to the outside.
The utility model relates to a joint force feedback reduction gear realizes force feedback through introducing detection flange 2 in the reduction gear constitutes the subassembly, makes it possess speed reduction transmission and force feedback function simultaneously. The utility model relates to a joint force feedback reduction gear utilizes crossed roller bearing 1 to connect internal tooth steel wheel 3 simultaneously, detects flange 2 and switches over the flexbile gear external gear again, and output flange and base flange are crossed roller bearing 1's interior outer lane respectively, need not increase extra non-detection axle restraint to detecting flange 2, and especially adapted uses in the higher occasion of robot safety requirement, and compact structure, and it is convenient to maintain.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A joint force feedback speed reducer is characterized in that: including detecting the flange, flexible external gear, cross roller bearing, internal tooth steel wheel, flexible bearing and oval cam, the outer lane that detects the flange is connected with cross roller bearing's outer lane, the inner circle and the flexible external gear coaxial coupling that detect the flange, cross roller bearing's inner circle and the rim fixed connection of internal tooth steel wheel, the internal thread of internal tooth steel wheel meshes with the external screw thread of flexible external gear mutually, flexible external gear inboard cup joints the outside at oval cam through flexible bearing.
2. A joint force feedback reduction gear according to claim 1, wherein: the flexible external gear can elastically deform under the action of external force.
3. A joint force feedback reduction gear according to claim 1, wherein: and a connecting rod mounting position is arranged on one side of the detection flange.
4. A joint force feedback reduction gear according to claim 1, wherein: and a tooth number difference exists between the internal tooth steel wheel and the flexible external gear.
5. A joint force feedback reduction gear according to claim 1, wherein: the rotating shaft of the elliptical cam, the detection shaft of the detection flange and the rotating shaft of the crossed roller bearing are the same axis.
6. A joint force feedback reduction gear according to claim 1, wherein: the crossed roller bearing and the flexible bearing are fixed on the shell.
7. A joint force feedback reduction gear according to claim 1, wherein: the flexible bearing is installed between the inner side of the external gear and the elliptical cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020383546.0U CN211820584U (en) | 2020-03-23 | 2020-03-23 | Joint force feedback speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020383546.0U CN211820584U (en) | 2020-03-23 | 2020-03-23 | Joint force feedback speed reducer |
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| Publication Number | Publication Date |
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| CN211820584U true CN211820584U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020383546.0U Active CN211820584U (en) | 2020-03-23 | 2020-03-23 | Joint force feedback speed reducer |
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| CN (1) | CN211820584U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111365435A (en) * | 2020-03-23 | 2020-07-03 | 珞石（山东）智能科技有限公司 | Joint force feedback speed reducer |
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2020
- 2020-03-23 CN CN202020383546.0U patent/CN211820584U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111365435A (en) * | 2020-03-23 | 2020-07-03 | 珞石（山东）智能科技有限公司 | Joint force feedback speed reducer |
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