CN216923101U

CN216923101U - Hollow harmonic speed reducer and robot joint

Info

Publication number: CN216923101U
Application number: CN202220592829.5U
Authority: CN
Inventors: 祝汉歧; 王倩; 李鹏; 梁佳华
Original assignee: Beijing Siling Robot Technology Co ltd
Current assignee: Beijing Siling Robot Technology Co ltd
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2022-07-08
Anticipated expiration: 2032-03-17

Abstract

The present disclosure provides a hollow type harmonic reduction gear, it includes: a wave generator; a flexible gear; a rigid wheel; the output flange is connected with the rigid wheel and used for outputting driving force outwards; one end of the hollow shaft is fixed to the output flange, and the other end of the hollow shaft penetrates through the wave generator; the flexible gear is fixed on the torque sensor, a crossed roller bearing is arranged between the torque sensor and the rigid gear, and the torque sensor is used for detecting the torque of the driving force output outwards by the rigid gear; wherein a first bearing is arranged between the wave generator and the hollow shaft so that the wave generator and the hollow shaft rotate mutually. The present disclosure also provides a robot joint.

Description

Hollow harmonic speed reducer and robot joint

Technical Field

The disclosure belongs to the technical field of robots, and particularly relates to a hollow harmonic speed reducer and a robot joint.

Background

The harmonic reducer has the advantages of large transmission speed ratio, high bearing capacity, high transmission precision, small volume, light weight, stable motion and the like, and is widely applied to the fields of aviation, aerospace, energy, robots and the like. The cooperative robot with the torque sensor is a development trend of robots in recent years, and the current force-controlled mechanical arm mainly has two development directions, namely a force-controlled mechanical arm with six-dimensional force at the tail end, and a force-controlled mechanical arm formed by modular joints integrating the torque sensor. In order to integrate the torque sensor, the modularized joint or the combined harmonic reducer is used, so that the whole volume of the joint is larger; or a modular harmonic reducer is used, but at the same time the cross roller bearing volume and the deep groove ball bearing volume are sacrificed, affecting the life of the modular joint.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, the present disclosure provides a hollow type harmonic speed reducer and a robot joint.

According to an aspect of the present disclosure, there is provided a hollow type harmonic speed reduction device capable of being used for torque detection, including:

a wave generator for receiving a driving force and generating rotation;

a flexible gear deformed by rotation of the wave generator;

the rigid gear is matched with the flexible gear and is used for outputting driving force;

the output flange is connected with the rigid wheel and used for outputting driving force outwards;

one end of the hollow shaft is fixed to the output flange, and the other end of the hollow shaft penetrates through the wave generator; and

the flexible gear is fixed on the torque sensor, a crossed roller bearing is arranged between the torque sensor and the rigid gear, and the torque sensor is used for detecting the torque of the driving force output outwards by the rigid gear;

wherein a first bearing is arranged between the wave generator and the hollow shaft so that the wave generator and the hollow shaft rotate mutually.

According to the hollow type harmonic speed reducing device of at least one embodiment of the present disclosure, the cross roller bearing includes a cross roller bearing outer ring, a cross roller bearing inner ring, and a cross roller, the cross roller bearing inner ring is connected with one of the rigid wheel or the torque sensor, and the cross roller bearing outer ring is connected with the other of the rigid wheel or the torque sensor.

According to the hollow type harmonic speed reducer device of at least one embodiment of the present disclosure, a seal is provided between the cross roller bearing inner ring and the cross roller bearing outer ring, the seal being used for sealing the cross roller bearing.

According to this hollow type harmonic speed reduction device of at least one embodiment of this disclosure, the flexbile gear passes through flexbile gear mounting panel and torque sensor fixed connection, and the flexbile gear with set up the friction part between the torque sensor, the friction part be used for increasing the flexbile gear with coefficient of friction between the torque sensor.

According to the hollow type harmonic speed reducer device of at least one embodiment of the present disclosure, sealing flanges are provided on both sides of the first bearing.

According to the hollow type harmonic speed reduction device of at least one embodiment of the present disclosure, a second bearing is provided between the wave generator and the flexspline mounting plate, and the second bearing is provided inside a cavity of the flexspline.

According to the hollow type harmonic speed reducing device of at least one embodiment of the present disclosure, the position of the inner ring of the second bearing and the wave generator is kept fixed, and the position of the outer ring of the second bearing and the flexspline mounting plate is kept fixed.

According to the hollow type harmonic speed reducer device of at least one embodiment of the present disclosure, the wave generator forms a first inner ring shoulder, and one end of the inner ring of the second bearing is restrained by the first inner ring shoulder; the wave generator is provided with a bearing limiting part, and the other end of the inner ring of the second bearing is limited by the bearing limiting part.

According to the hollow harmonic reduction gear of at least one embodiment of the present disclosure, the flexspline mounting plate forms a first outer ring shoulder, and one end of the outer ring of the second bearing is limited by the first outer ring shoulder; and a bearing outer ring pressing plate is arranged on the flexible gear mounting plate, and the other end of the outer ring of the second bearing is limited by the bearing outer ring pressing plate.

According to this hollow type harmonic decelerator of at least one embodiment of this disclosure, still include the support flange, the support flange is fixed in torque sensor, wave generator with set up the second bearing between the support flange.

According to the hollow type harmonic speed reducing device of at least one embodiment of the present disclosure, the position of the inner ring of the second bearing and the position of the wave generator are kept fixed, and the position of the outer ring of the second bearing and the position of the support flange are kept fixed.

According to the hollow type harmonic speed reducer device of at least one embodiment of the present disclosure, the wave generator forms a second inner ring shoulder, and one end of the inner ring of the second bearing is restrained by the second inner ring shoulder; the wave generator is provided with a bearing limiting part, and the other end of the inner ring of the second bearing is limited by the bearing limiting part.

According to the hollow type harmonic speed reducer device of at least one embodiment of the present disclosure, the support flange forms a second outer ring shoulder, and one end of the outer ring of the second bearing is limited by the second outer ring shoulder; and a bearing outer ring pressure plate is arranged on the support flange, and the other end of the outer ring of the second bearing is limited by the bearing outer ring pressure plate.

According to the hollow harmonic speed reducer device of at least one embodiment of this disclosure, the bearing outer ring clamp plate forms into cyclic annular part to along the axial of bearing outer ring clamp plate seted up two at least dysmorphism holes, wherein, dysmorphism hole includes circular port and the circular arc shape hole that communicates with the circular port.

According to the hollow type harmonic speed reducing device of at least one embodiment of the present disclosure, the rigid ring is integrally formed with the crossed roller bearing inner ring.

According to the hollow type harmonic speed reducer apparatus of at least one embodiment of the present disclosure, the hollow shaft is integrally formed with the output flange.

According to another aspect of the present disclosure, there is provided a robot joint including the hollow type harmonic reduction device described above.

The robot joint according to at least one embodiment of the present disclosure further includes a driving device connected to the wave generator, the driving device being configured to provide a driving force.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a hollow type harmonic speed reducer device according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural view of a hollow type harmonic speed reducer device according to another embodiment of the present disclosure.

FIG. 3 is a schematic structural view of a bearing outer race clamp plate according to one embodiment of the present disclosure.

Fig. 4 is a schematic structural diagram of a robot joint according to an embodiment of the present disclosure.

Description of the reference numerals

10 hollow harmonic speed reducer

20 robot joint

110 flexible gear

120 rigid wheel

130 wave generator

140 flexible gear mounting plate

150 output flange

160 crossed roller bearing

161 crossed roller bearing inner ring

162 crossed roller bearing outer ring

163 cross roller

164 seal

170 torque sensor

180 friction member

190 hollow shaft

200 first bearing

210 second bearing

220 sealing flange

230 support flange

240 bearing limit part

250 bearing outer ring pressing plate

251 a profiled aperture.

260 power end housing

270 driving device

271 rotating shaft

272 stator

273 rotor

280 brake

290 brake housing

300 third bearing

310 high-speed side encoder

311 high-speed side encoder magnetic ring

312 high-speed side encoder reading head

320 low speed side encoder

321 low-speed side encoder mounting plate

322 low speed side encoder magnetic ring

323 low speed side encoder reading head

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality among the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., "in the sidewall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a hollow type harmonic speed reducer device according to an embodiment of the present disclosure. Fig. 2 is a schematic structural view of a hollow type harmonic speed reducer device according to another embodiment of the present disclosure.

As shown in fig. 1, the present disclosure provides a hollow-type harmonic reduction apparatus 10, which can be used for torque measurement, including: a flexspline 110, a rigid spline 120, a wave generator 130, and an output flange 150.

According to the preferred embodiment of the present disclosure, when the hollow type harmonic speed reducer apparatus 10 is used, the wave generator 130 is configured to receive the driving force generated by the driving means of the robot joint and to rotate. Wherein the wave generator 130 can be connected to the driving device through a transmission shaft, or the wave generator 130 is directly connected to the driving device. Preferably, the wave generator 130 of the present disclosure forms an integrated component with the transmission shaft, and the wave generator 130 is directly connected with the driving device, so as to reduce the size of the hollow type harmonic speed reducer 10, and make the structure more compact.

The flexible gear 110 is fixedly connected with an inner flange of the torque sensor 170 through the flexible gear mounting plate 140, and the inner flange of the torque sensor 170 is the end with the smaller diameter of the torque sensor 170; the flexspline 110 is deformed by the rotation of the wave generator 130, that is, the flexspline 110 can be deformed when the wave generator 130 rotates. The rigid gear 120 is engaged with the flexible gear 110, and the rigid gear 120 is used to output a driving force.

The wave generator 130 includes a cam and a flexible bearing, an outer sidewall of the cam is connected to an inner ring of the flexible bearing, an outer ring of the flexible bearing is connected to an inner sidewall of the flexible gear 110, and an outer sidewall of the flexible gear 110 is engaged with an inner sidewall of the rigid gear 120, so that the rigid gear 120, the flexible gear 110 and the wave generator 130 are connected, and the rigid gear 120, the flexible gear 110 and the wave generator 130 form a harmonic reducer.

The flexspline 110 of the hollow harmonic reduction gear 10 of the present disclosure is fixed, and the driving force is output through the rigid spline 120. Those skilled in the art will appreciate that the hollow type harmonic speed reducer apparatus 10 of the present disclosure may also fix the rigid gear 120 and output power to the outside through the flexible gear 110.

According to a preferred embodiment of the present disclosure, the output flange 150 is fixedly coupled to one end of the rigid wheel 120 by a screw, so that the driving force is output outward through the output flange 150. And a seal may be provided between the output flange 150 and the ring gear 120 to enable the harmonic reducer to be located within the sealed space. Preferably, the sealing portion may be selected as an O-ring.

According to the preferred embodiment of the present disclosure, the hollow type harmonic speed reducer apparatus 10 includes the torque sensor 170, and the torque sensor 170 is used to detect the torque of the driving force output from the rigid gear 120, and in the present disclosure, the torque sensor 170 is capable of detecting the torque between the flexspline 110 and the crossed roller bearing outer ring, which is the output torque on the low speed side of the harmonic speed reducer. The inner flange of the torque sensor 170 is fixedly connected with the flexspline 110 through the screw and the flexspline mounting plate 140, the friction member 180 is arranged between the flexspline 110 and the torque sensor 170, and the friction member 180 is used for increasing the friction coefficient between the flexspline 110 and the torque sensor 170, so that the transmission torque of the driving force is increased, the safety factor of the whole hollow harmonic speed reducer 10 is improved, and the relative sliding between the flexspline 110 and the torque sensor 170 is prevented.

The torque sensor 170 includes an elastic component and a strain detection component, the elastic component is used for detecting a torque between an inner flange and an outer flange of the torque sensor 170, and outputs a detection torque through the strain detection component, the torque is a torque of the rigid wheel 120 outputting a driving force outwards, and in the present disclosure, the outer flange of the torque sensor 170 is one end of the torque sensor 170 with a larger diameter.

According to a preferred embodiment of the present disclosure, a cross roller bearing 160 is disposed between the torque sensor 170 and the rigid wheel 120, the cross roller bearing 160 including a cross roller bearing outer ring 162, a cross roller bearing inner ring 161, and cross rollers 163.

Wherein, the outer flange of the torque sensor 170 may be connected with the cross roller bearing outer ring 162 by screws, and a sealing portion is provided between the cross roller bearing outer ring 162 and the outer flange of the torque sensor 170, so that a sealing connection is formed between the cross roller bearing outer ring 162 and the outer flange of the torque sensor 170. More preferably, the torque sensor 170 may be integrally formed with the cross roller bearing outer ring 162.

Preferably, the crossed roller bearing inner ring 161 is fixedly connected with the rigid wheel 120 through screws, and a sealing portion is provided between the crossed roller bearing inner ring 161 and the rigid wheel 120, so that a sealing connection is formed between the crossed roller bearing inner ring 161 and the rigid wheel 120. Preferably, the sealing portion may be selected to be an O-ring seal.

It should be understood by those skilled in the art that the rigid wheel 120 and the crossed roller bearing inner ring 161 may also form an integrated component, so that the hollow type harmonic speed reducer apparatus is more compact.

On the other hand, the rigid wheel 120 may also be connected to the cross roller bearing outer ring 162, and in this case, the torque sensor 170 is connected to the cross roller bearing inner ring 161, and the structure is similar to that described above, and the detailed description of the present disclosure is omitted.

Preferably, a sealing member 164 is disposed between the inner ring 161 and the outer ring 162 of the cross roller bearing to ensure the sealing performance of the cross roller bearing 160 as a whole, prevent dust and foreign materials from entering the flexspline 110, the rigid spline 120 and the wave generator 130, and also enable grease in the harmonic reducer to lubricate the cross roller bearing.

According to a preferred embodiment of the present disclosure, the hollow type harmonic speed reduction device 10 includes a hollow shaft 190. One end of the hollow shaft 190 is fixed to the output flange 150 by a screw, and the other end of the hollow shaft 190 passes through the wave generator 130 and is disposed outside the wave generator 130. It will be appreciated by those skilled in the art that the hollow shaft 190 and the output flange 150 may also form an integral component.

Preferably, the hollow shaft 190 has a hollow structure inside, and when the hollow type harmonic reduction device 10 is used, the hollow shaft 190 at least partially penetrates through a joint of the robot, so that various cables for the robot can pass through the inside of the hollow shaft 190 to protect the cables.

As shown in fig. 1, according to one embodiment of the present disclosure, a first bearing 200 is disposed between the wave generator 130 and the hollow shaft 190, and the hollow shaft 190 is used to support the first bearing 200 such that mutual rotation occurs between the wave generator 130 and the hollow shaft 190.

Preferably, the first bearing 200 at least partially overlaps the wave generator 130 in the axial direction, and sealing flanges 220 are provided on both sides of the first bearing 200, so that the overall structure of the hollow-type harmonic speed reduction device 10 is more compact.

The second bearing 210 is disposed between the wave generator 130 and the flexspline mounting plate 140, and the second bearing 210 is disposed inside the cavity of the flexspline 110, so that the overall structure of the hollow harmonic speed reducer 10 is more compact. The second bearing 210 may be used to bear an axial force generated by rotation of the wave generator 130 to maintain the position of the wave generator 130.

Preferably, the inner ring of the second bearing 210 remains fixed in position with the wave generator 130 and the outer ring of the second bearing 210 remains fixed in position with the flexspline mounting plate 140.

The four sides of the second bearing 210 are all fixed, enabling full axial positioning of the second bearing 210, at which point harmonic axial forces of the wave generator 130 can be applied to the second bearing 210 and borne by the second bearing 210. On the other hand, the second bearing 210 may also be set in an axially floating state, and a small elastic member is used to offset the machining error, so that the features of simple installation, low cost, high reliability and long service life may be achieved.

Specifically, the positions of both ends of the inner ring of the second bearing 210 are restricted, and the positions of both ends of the outer ring of the second bearing 210 are restricted.

Structurally, the wave generator 130 is formed with a first inner ring shoulder, by which one end of the inner ring of the second bearing 210 is limited; the wave generator 130 is provided with a bearing stopper 240, and the other end of the inner ring of the second bearing 210 is stopped by the bearing stopper 240. Preferably, the bearing position limiter 240 may be selected from a snap spring and the like.

For the outer ring of the second bearing 210, the flexspline mounting plate 140 forms a first outer ring shoulder, and one end of the outer ring of the second bearing 210 is limited by a second outer ring shoulder; the flexspline mounting plate 140 is provided with a bearing outer ring pressing plate 250, and the other end of the outer ring of the second bearing 210 is limited by the bearing outer ring pressing plate 250. Preferably, the bearing outer ring pressure plate 250 may be fixed to the flexspline mounting plate 140 by a fastening element or by gluing.

As shown in fig. 2, according to another embodiment of the present disclosure, a first bearing 200 is disposed between the wave generator 130 and the hollow shaft 190, and the hollow shaft 190 is used to support the first bearing 200 such that mutual rotation occurs between the wave generator 130 and the hollow shaft 190.

Preferably, the first bearing 200 at least partially overlaps the wave generator 130 in the axial direction, and sealing flanges 220 are provided at both sides of the first bearing 200 connected to the wave generator 130, so that the overall structure of the hollow type harmonic speed reduction device 10 is more compact.

According to another embodiment of the present disclosure, as shown in fig. 2, the hollow type harmonic speed reducer apparatus 10 includes a support flange 230, and the support flange 230 may be fixed to the torque sensor 170, outside the torque sensor 170. For example, the support flange 230 may at least partially surround the torque sensor 170. Preferably, a second bearing 210 is disposed between the wave generator 130 and the support flange 230, and the second bearing 210 may be used to receive an axial force generated by rotation of the wave generator 130 to maintain the position of the wave generator 130.

The four sides of the second bearing 210 are all fixed, achieving full axial positioning of the second bearing 210, at which point harmonic axial forces of the wave generator 130 can be applied to the second bearing 210 and borne by the second bearing 210. On the other hand, the second bearing 210 may also be set in an axially floating state, and a small elastic member is used to offset the machining error, so that the features of simple installation, low cost, high reliability and long service life may be achieved.

Structurally, the wave generator 130 is formed with a second inner ring shoulder, and one end of the inner ring of the second bearing 210 is limited by the second inner ring shoulder; the wave generator 130 is provided with a bearing stopper 240, and the other end of the inner ring of the second bearing 210 is stopped by the bearing stopper 240. Preferably, the bearing position limiter 240 may be selected from a snap spring and the like.

For the outer ring of the second bearing 210, the support flange 230 forms a second outer ring shoulder, and one end of the outer ring of the second bearing 210 is limited by the second outer ring shoulder; the bearing outer ring pressing plate 250 is arranged on the supporting flange 230, and the other end of the outer ring of the second bearing 210 is limited by the bearing outer ring pressing plate 250. Preferably, the bearing outer ring pressure plate 250 may be fixed to the support flange 230 by means of fastening elements or gluing.

FIG. 3 is a schematic structural view of a bearing outer ring platen according to an embodiment of the present disclosure.

As shown in fig. 3, the bearing outer ring pressure plate 250 may be a ring-shaped member, and through holes are provided in the bearing outer ring pressure plate 250 along the circumferential direction thereof so as to mount the bearing outer ring pressure plate 250 to the flexspline mounting plate 140 or to the support flange 230.

In the present disclosure, the hole of the bearing outer ring pressing plate 250 may be a special-shaped hole 251, the special-shaped hole 251 may include a circular hole and an arc-shaped hole communicating with the circular hole, when the fastening element is installed, the fastening element may be made to pass through the circular hole, and by rotating the bearing outer ring pressing plate 250, the fastening element is made to be located in the arc-shaped hole, so as to facilitate the installation of the fastening element.

In the hollow harmonic speed reducer 10 of the present disclosure, the torque sensor 170 is used as a structural member fixed to the flexspline of the harmonic speed reducer, so that the output torque detection function of the harmonic speed reducer is realized, and the structure is compact and the wiring can be performed from the inside.

The present disclosure also provides a robot joint 20, and the robot joint 20 includes the hollow harmonic speed reducer 10.

As shown in fig. 4, according to a preferred embodiment of the present disclosure, the robot joint 20 includes a driving device 270, the driving device 270 is connected with the wave generator 130 of the hollow type harmonic speed reducer 10, and the driving device 270 is used to provide a driving force.

In the present disclosure, the robotic joint 20 includes a power end housing 260, the power end housing 260 at least partially surrounds a drive device 270, and the power end housing 260 is fixedly coupled to the torque sensor 170.

Preferably, the drive device 270 includes a rotating shaft 271, a stator 272, and a rotor 273, the stator 272 being disposed on the power end housing 260, the stator 272 being secured to the power end housing 260, such as by gluing. The rotor 273 is provided to the rotating shaft 271 and rotates in synchronization with the rotating shaft 271, and thus the driving device 270 is formed as a frameless motor.

The robot joint 20 of the present disclosure further includes a brake 280, and the brake 280 is disposed outside the driving device 270, and when the brake 280 is operated, the rotor 273 and the hollow shaft 190 can be kept fixed, so that the robot joint 20 cannot output rotation.

The robotic joint 20 of the present disclosure further includes a brake housing 290, the brake housing 290 may be disposed at the power end enclosure and such that at least a portion of the brake 280 is located inside the brake housing 290.

A third bearing 300 is provided between the brake housing 290 and the hollow shaft 190, and the third bearing 300 is used to support the hollow shaft 190. The position of the inner ring of the third bearing 300 remains fixed with the hollow shaft 190 and the position of the outer ring of the third bearing 300 remains fixed with the brake housing 290.

According to the preferred embodiment of the present disclosure, the robot joint 20 further includes a high-speed side encoder 310, the high-speed side encoder 310 is used for detecting the position and speed of the rotating shaft 271 of the driving device 270, the high-speed side encoder 310 includes a high-speed side encoder magnetic ring 311 and a high-speed side encoder reading head 312, the high-speed side encoder magnetic ring 311 is connected to the rotating shaft 271 of the driving device 270, and the high-speed side encoder reading head 312 is fixed to the power end housing 260, so that parameters such as the position and speed of the rotating shaft 271 can be output through the high-speed side encoder magnetic ring 311.

In the present disclosure, the robot joint 20 further includes a low-speed side encoder 320, and the low-speed side encoder 320 includes a low-speed side encoder mounting plate 321, a low-speed side encoder magnetic ring 322, and a low-speed side encoder reading head 323. The low-speed side encoder magnetic ring 322 is mounted on the hollow shaft 190 through a low-speed side encoder mounting plate 321 and rotates synchronously with the hollow shaft 190; the low side encoder read head 323 can be affixed to the brake housing 290 such that the position and speed of the hollow shaft 190 is obtained by the low side encoder read head 323.

In the description of the present specification, reference to the description of "one embodiment/mode", "some embodiments/modes", "example", "specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" 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 at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. A hollow type harmonic speed reduction device which can be used for torque detection, characterized by comprising:

a wave generator for receiving a driving force and generating rotation;

a flexible gear deformed by rotation of the wave generator;

2. The hollow harmonic reduction device of claim 1 in which the crossed roller bearing comprises a crossed roller bearing outer ring connected with one of the rigid wheel or torque sensor, a crossed roller bearing inner ring connected with the other of the rigid wheel or torque sensor, and crossed rollers.

3. The hollow harmonic speed reduction device of claim 2 in which a seal is provided between the cross roller bearing inner ring and the cross roller bearing outer ring, the seal for sealing the cross roller bearing.

4. The hollow harmonic reduction gear of claim 2 wherein the flexspline is fixedly connected to a torque sensor by a flexspline mounting plate and a friction member is provided between the flexspline and the torque sensor, the friction member being configured to increase the coefficient of friction between the flexspline and the torque sensor.

5. The hollow harmonic reduction gear according to claim 4, wherein sealing flanges are provided on both sides of the first bearing.

6. The hollow harmonic reduction device of claim 5, wherein a second bearing is disposed between the wave generator and the flexspline mounting plate, and the second bearing is disposed inside the cavity of the flexspline.

7. The hollow harmonic reduction apparatus of claim 6, wherein the inner ring of the second bearing remains fixed in position with the wave generator and the outer ring of the second bearing remains fixed in position with the flexspline mounting plate.

8. The hollow harmonic reduction device of claim 7, wherein the wave generator forms a first inner ring shoulder, one end of the inner ring of the second bearing being retained by the first inner ring shoulder; the wave generator is provided with a bearing limiting part, and the other end of the inner ring of the second bearing is limited by the bearing limiting part.

9. The hollow harmonic reduction gear of claim 8 wherein the flexspline mounting plate forms a first outer ring shoulder, one end of the outer ring of the second bearing being retained by the first outer ring shoulder; and a bearing outer ring pressing plate is arranged on the flexible gear mounting plate, and the other end of the outer ring of the second bearing is limited by the bearing outer ring pressing plate.

10. The hollow harmonic reduction gear according to claim 5, further comprising a support flange fixed to the torque sensor, a second bearing being provided between the wave generator and the support flange.

11. The hollow harmonic reduction apparatus of claim 10, wherein the inner ring of the second bearing remains fixed in position with the wave generator and the outer ring of the second bearing remains fixed in position with the support flange.

12. The hollow harmonic reduction device of claim 11, wherein the wave generator forms a second inner ring shoulder, one end of the inner ring of the second bearing being retained by the second inner ring shoulder; the wave generator is provided with a bearing limiting part, and the other end of the inner ring of the second bearing is limited by the bearing limiting part.

13. The hollow harmonic reduction gear of claim 12, wherein the support flange forms a second outer ring shoulder through which an end of the outer ring of the second bearing is retained; and a bearing outer ring pressure plate is arranged on the support flange, and the other end of the outer ring of the second bearing is limited by the bearing outer ring pressure plate.

14. The hollow harmonic speed reducer according to claim 9 or 13, wherein the bearing outer ring pressing plate is formed as an annular member, and at least two irregularly-shaped holes are opened in an axial direction of the bearing outer ring pressing plate, wherein the irregularly-shaped holes include a circular hole and an arc-shaped hole communicating with the circular hole.

15. The hollow harmonic reduction device of claim 2 in which the rigid wheel is integrally formed with the crossed roller bearing inner ring.

16. The hollow harmonic reduction device of claim 1, wherein the hollow shaft is integrally formed with the output flange.

17. A robot joint comprising the hollow type harmonic speed reducer device according to claims 1 to 16.

18. A robot joint according to claim 17, further comprising a drive means connected to the wave generator, the drive means for providing a driving force.