CN217481890U - Harmonic reducer with sensing function - Google Patents

Abstract

The utility model discloses a harmonic reducer with sensing function, which comprises a shell, a rigid gear, a flexible gear, a wave generator, a four-point contact bearing, a cushion block, a load block and a crossed roller bearing; the loading block is sleeved with a crossed roller bearing, the crossed roller bearing is arranged on the inner side of the shell, the loading block is coaxially connected with the pad, and the pad is coaxially connected with the flexible gear in a threaded manner; the flexible gear deformation part is sleeved outside the four-point contact bearing, the four-point contact bearing is installed on a wave generator, the wave generator is arranged in the flexible gear, and the external teeth of the flexible gear and the internal teeth of the rigid gear are arranged correspondingly; a plurality of sensing modules are arranged on the outer end face of the rigid wheel; each sensing module all includes the sensor groove, and the wire guide has been seted up in the outside of sensor groove, and the sensor inslot is equipped with the resistance foil gage, and the signal line of the resistance foil gage of each sensing module is worn out and is coupled into half-bridge circuit from the wire guide that corresponds, and the dependent variable of each resistance foil gage is followed half-bridge circuit output with the signal of telecommunication mode. The utility model discloses can make the harmonic speed reducer ware have sensing function.

Description

Harmonic reducer with sensing function

Technical Field

The utility model relates to a harmonic speed reducer ware with sensing function belongs to harmonic speed reducer ware technical field.

Background

The harmonic reducer has the advantages of high precision and strong performance, and is currently applied to the fields of lunar vehicles, robots, artificial satellites, missiles, rockets, space manipulators and the like.

Among them, robots have been widely used in various industries, and with the progress of science and technology, people gradually prefer miniaturized robots having multiple functions, and the degree of intelligence of the robots depends on the application of various sensors in the robots, so that the present application provides a harmonic reducer having a sensing function in order to miniaturize the robots.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome not enough among the prior art, provide a harmonic speed reducer ware with sensing function, can make harmonic speed reducer ware have sensing function.

In order to achieve the purpose, the utility model is realized by adopting the following technical scheme:

the utility model provides a harmonic reducer with sensing function, which comprises a shell, a rigid gear, a flexible gear, a wave generator, a four-point contact bearing, a cushion block, a load block and a crossed roller bearing;

one end of the load block is sleeved with a crossed roller bearing, the crossed roller bearing is arranged on the inner side of the shell, the other end of the load block is coaxially connected with a cushion block, and the cushion block is coaxially connected with a flexible gear in a threaded manner;

the flexible gear deformation part is sleeved outside the four-point contact bearing, the four-point contact bearing is installed on the wave generator, the wave generator is arranged in the flexible gear, and the external teeth on the flexible gear deformation part are arranged corresponding to the internal teeth of the rigid gear;

a plurality of sensing modules are arranged on the outer end face of the rigid wheel;

each sensing module all includes the sensor tank, and the wire guide has been seted up in the outside of sensor tank, is equipped with the resistance foil gage in the sensor tank, and the signal line of the resistance foil gage of each sensing module wears out and couples into half-bridge circuit from the wire guide that corresponds, and the dependent variable of each resistance foil gage is followed half-bridge circuit output with electric signal mode.

Further, the number of the sensing modules is 6.

Further, the sensing modules are arranged on the outer end face of the rigid wheel at equal intervals in the same circumferential direction.

Further, the wire guides are arranged coaxially with the corresponding sensor slots.

Furthermore, the sensor groove is concave, and the upper port is big, and the lower port is little.

Furthermore, the harmonic reducer with the sensing function comprises two oppositely arranged framework oil seals;

the two framework oil seals are respectively arranged on the outer side between the outer ring and the inner ring of the crossed roller bearing.

Furthermore, the harmonic reducer with the sensing function comprises a plurality of 0-shaped sealing rings;

each 0-type sealing ring is arranged at each assembly sealing position.

Further, the rigid wheel is fixed on an outer ring of the crossed roller bearing through a screw.

Compared with the prior art, the utility model discloses the beneficial effect who reaches:

the utility model has compact structure, and can reduce the size of the harmonic reducer; the utility model has the advantages that the flexible gear is protected by the load block and the cushion block, the running stability of the flexible gear is enhanced, and the motion precision of the harmonic reducer is improved; the utility model discloses a set up multiunit sensing module, make the harmonic speed reducer ware have sensing function.

Drawings

FIG. 1 is a cross-sectional view of an embodiment of a harmonic reducer with a sensing function according to the present invention;

FIG. 2 is a front view of an embodiment of the harmonic reducer with sensing function of the present invention;

in the figure:

1. rigid wheel, 2 flexible wheel, 3 wave generator, 4, four-point contact bearing, 5 sensor groove, 6 wire guide hole, 7, 0 type sealing ring, 8, load block, 9 cushion block, 10, skeleton oil seal, 11, cross roller bearing.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Example 1

The present embodiment provides a harmonic reducer having a sensing function.

The harmonic reducer of the embodiment comprises a shell, a rigid gear 1, a flexible gear 2, a wave generator 3, a four-point contact bearing 4, a cushion block 9, a load block 8 and a crossed roller bearing 11.

Referring to fig. 1, one end of the load block 8 is sleeved with a cross roller bearing 11, the cross roller bearing 11 is installed inside the housing, and the outer ring of the cross roller bearing 11 is fixed on the rigid wheel 1 by a screw. In application, on one hand, the bearing clearance of the crossed roller bearing 11 is adjustable, the installation is simple, and the disassembly and the maintenance are convenient; on the other hand, the crossed roller collars of the crossed roller bearing 11 are capable of providing a load stiffness in each direction that is 3-4 times that of conventional bearings.

Referring to fig. 1, the other end of the load block 8 is coaxially connected with the cushion block 9 through a coaxial thread, and the cushion block 9 is coaxially connected with the flexible gear 2 through a coaxial thread. In the application, the load block 8 and the cushion block 9 are fixed in the flexible gear 2 through the same screw, so that the load block 8 and the flexible gear 2 are coaxial, wherein the load block 8 can bear the output load of the flexible gear 2, the cushion block 9 can protect the bottom of the flexible gear, the damage of overlarge torque to the flexible gear is prevented, the running stability of the flexible gear is enhanced, and the motion precision of the harmonic reducer is further improved.

Referring to fig. 1, the flexible gear 2 is partially sleeved outside a four-point contact bearing 4, the four-point contact bearing 4 is installed on a wave generator 3, the wave generator 3 is arranged in the flexible gear 2, and external teeth on the flexible gear 2 are arranged corresponding to internal teeth of the rigid gear 1. In application, when the wave generator rotates to work, the wave generator forces the flexible gear to generate elastic deformation and take an elliptical shape, so that the external teeth on the deformation part at the long axis of the flexible gear are inserted into the internal tooth grooves of the rigid gear to be in a complete meshing state; and the outer teeth at the short shaft of the flexible gear are not contacted with the corresponding inner teeth completely and are in a disengaged state. The engaging or disengaging state is between the engaging and disengaging processes. When the wave generator rotates continuously, the flexible gear is forced to deform continuously, so that the external teeth and the corresponding internal teeth change respective working states continuously in the processes of meshing, meshing and disengaging, so-called staggered tooth movement is generated, and the movement transmission of the wave generator and the flexible gear is realized.

The sources of strain in harmonic reducers are mainly the torque transmitted by the flexspline 2, which is the target signal of measurement, and the deformation caused by the rotation of the wave generator, which is the interference signal. The traditional single sensor is difficult to measure accurately, and 6 groups of sensing modules are equidistantly arranged in the same circumferential direction on the outer end surface of the rigid wheel 1 in the embodiment, namely, the circumferential included angle between two adjacent groups of sensing modules is 60 degrees.

Referring to fig. 2, each sensing module includes a sensor slot 5, a wire guide hole 6 is correspondingly formed in the outer side of the sensor slot 5, in application, the wire guide hole 6 is coaxially disposed with the corresponding sensor slot 5, and the wire guide hole 6 is vertically disposed under the corresponding sensor slot 5.

In addition, the sensor slot is set to be a concave structure with a large upper port and a small lower port, resistance strain gauges which are vertically crossed are arranged in the sensor slot 5, signal wires of the resistance strain gauges penetrate out of corresponding wire holes 6 and are coupled to form a half-bridge circuit, and strain quantities of the resistance strain gauges are output from the half-bridge circuit in an electric signal mode.

In application, when the wave generator rotates, the major axis of the elliptical cam presses the flexible gear to make the flexible gear deform into a corresponding ellipse, and the major axis of the flexible gear is meshed with the rigid gear to produce periodic strain on the rigid gear. In addition, the resistance strain gauges of every group sensing module are fixed in sensor inslot 5 perpendicularly alternately, then resistance strain gauge deformation, and the strain that the moment of torsion arouses and the strain that deformation arouses can obtain total strain through linear superposition, and convert the measured object physical quantity into the signal of telecommunication through half-bridge circuit, because the resistance strain gauges of two pairwise opposite sensor module produce the ripple signal that has 180 phase differences, consequently, utilize signal superposition can realize offsetting interference signal, accurate measurement target signal, the deformation that arouses by the moment of torsion promptly.

The utility model has compact structure, and can reduce the size of the harmonic reducer; the utility model protects the flexible gear by arranging the load block and the cushion block, enhances the stability of the flexible gear, and improves the motion precision of the harmonic reducer; the utility model discloses a set up multiunit sensing module, make the harmonic speed reducer ware have sensing function.

Example 2

On the basis of embodiment 1, the present embodiment describes in detail the sealing structure of the harmonic reducer

The harmonic reducer with the sensing function of the embodiment comprises two oppositely arranged framework oil seals 10 and a plurality of 0-type sealing rings 7.

Referring to fig. 1, two skeleton oil seals 10 are respectively disposed at outer sides between an outer ring and an inner ring of the crossed roller bearing, so as to prevent foreign matters from entering during operation of the harmonic reducer, prevent loss of lubricating oil, and protect the crossed roller bearing. In addition, each 0-type sealing ring 7 is arranged at each assembly sealing position, so that the matching tightness between each adjacent accessory can be effectively improved.

In application, the outer assembly concave position is arranged on the outer side of the load block, and on the basis of ensuring the overall structural strength of the harmonic reducer, the load block is partially lightened, so that the weight of the device is effectively reduced.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and deformation can be made without departing from the technical principle of the present invention, and these modifications and deformation should also be regarded as the protection scope of the present invention.

Claims (8)

1. A harmonic reducer with a sensing function is characterized by comprising a shell, a rigid gear (1), a flexible gear (2), a wave generator (3), a four-point contact bearing (4), a cushion block (9), a load block (8) and a crossed roller bearing (11);

one end of the load block (8) is sleeved with a crossed roller bearing (11), the crossed roller bearing (11) is installed on the inner side of the shell, the other end of the load block (8) is coaxially connected with a cushion block (9), and the cushion block (9) is coaxially connected with the flexible gear (2) in a threaded manner;

the flexible gear (2) deformation part is sleeved outside the four-point contact bearing (4), the four-point contact bearing (4) is installed on the wave generator (3), the wave generator (3) is arranged in the flexible gear (2), and external teeth on the flexible gear (2) deformation part are arranged corresponding to internal teeth of the rigid gear (1);

a plurality of sensing modules are arranged on the outer end face of the rigid wheel (1);

each sensing module all includes sensor groove (5), and wire guide (6) have been seted up in the outside of sensor groove (5), are equipped with resistance foil gage in sensor groove (5), and the signal line of the resistance foil gage of each sensing module wears out and couples into half-bridge circuit from wire guide (6) that correspond, and the dependent variable of each resistance foil gage is exported from half-bridge circuit with electric signal mode.

2. The harmonic reducer with the sensing function according to claim 1, wherein the number of sensing modules is 6.

3. The harmonic reducer with the sensing function according to claim 1, wherein the sensing modules are arranged equidistantly in the same circumferential direction on the outer end face of the rigid wheel (1).

4. Harmonic reducer with sensing function according to claim 1, characterized in that the wire guides (6) are arranged coaxially with the corresponding sensor slots (5).

5. The harmonic reducer with sensing function according to claim 1, wherein the sensor groove (5) is concave, and has a large upper port and a small lower port.

6. The harmonic reducer with sensing function according to claim 1, characterized by comprising two oppositely arranged skeleton oil seals (10);

two framework oil seals (10) are respectively arranged on the outer side between the outer ring and the inner ring of the crossed roller bearing.

7. A harmonic reducer with a sensing function according to claim 1, characterized by comprising a plurality of type 0 sealing rings (7);

the 0-type sealing rings (7) are arranged at the assembling sealing positions.

8. The harmonic reducer with sensing function according to claim 1, characterized in that the rigid wheel (1) is fixed to the outer ring of the crossed roller bearing (11) by screws.

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