CN218523006U - Harmonic reducer, joint module and cooperative robot - Google Patents
Harmonic reducer, joint module and cooperative robot Download PDFInfo
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- CN218523006U CN218523006U CN202222444240.3U CN202222444240U CN218523006U CN 218523006 U CN218523006 U CN 218523006U CN 202222444240 U CN202222444240 U CN 202222444240U CN 218523006 U CN218523006 U CN 218523006U
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Abstract
The utility model relates to a harmonic speed reducer ware, set up in the inside of the casing of joint module, the harmonic speed reducer ware includes the drive assembly wave generator, the flexbile gear, rigid wheel and moment determine module, the harmonic speed reducer ware is when using, the wave generator is located the through-hole, the pore wall butt of the through-hole that the outer peripheral face of wave generator and flexbile gear were seted up, the cross-section of flexbile gear is oval by circular deformation, the second tooth meshing of first tooth and the outer peripheral face of flexbile gear, thereby when the wave generator rotates in succession, the shape of flexbile gear constantly changes, make the meshing state of second tooth and first tooth also constantly change, by nibbling, the meshing, nibble out, throw off, nibble into … … again, go on in cycles and the beginning. Through the pore wall laminating of contact and through-hole, can contact the moment that detects the flexbile gear, when the harmonic speed reducer ware received external force influence, the moment of flexbile gear changed, and the staff can react to different moments according to the testing result of moment determine module to flexbile gear moment, control harmonic speed reducer ware, facilitates the use, the utility model discloses still relate to a joint module and cooperation robot.
Description
Technical Field
The utility model relates to a mechanical transmission technical field especially relates to harmonic speed reducer ware, joint module and collaborative robot.
Background
The harmonic reducer comprises a wave generator, a flexible gear and a rigid gear, and is a device which can make the flexible gear generate controllable elastic deformation through the wave generator and is meshed with the rigid gear to transfer motion. The existing harmonic reducer is difficult to feed back the torque information of the harmonic reducer in real time when in work, so that the harmonic reducer cannot react to different torque information in time, and the use of the harmonic reducer is influenced.
SUMMERY OF THE UTILITY MODEL
On the basis, the harmonic reducer is necessary to solve the problem that the existing harmonic reducer is difficult to feed back the torque information of the harmonic reducer in real time when in work, so that the harmonic reducer cannot react to different torque information in time to influence the use of the harmonic reducer, and the harmonic reducer is provided.
An embodiment of the present application provides a harmonic reducer ware, harmonic reducer ware is used for setting up in the inside of the casing of joint module, and harmonic reducer ware includes:
a drive assembly;
the section of the wave generator is oval, the driving assembly is connected with the wave generator, and the driving assembly drives the wave generator to rotate;
the flexible gear is used for being connected with the joint module, the flexible gear can flexibly deform and is provided with a through hole, the wave generator is positioned in the through hole, and the outer peripheral surface of the wave generator is abutted to the hole wall of the through hole;
the rigid wheel is used for being connected with the joint module, the inner wall of the rigid wheel is provided with a plurality of first teeth which are arranged along the circumferential direction of the inner wall, and the first teeth are meshed with a plurality of second teeth which are arranged along the circumferential direction of the outer peripheral surface and are arranged on the outer peripheral surface of the flexible wheel; and
the moment detection assembly is used for being connected with the joint module and comprises at least one contact, and the contact is attached to the hole wall of the through hole and used for detecting the moment of the flexible gear.
When the harmonic reducer is used, the wave generator is positioned in the through hole, the outer peripheral surface of the wave generator is abutted against the hole wall of the through hole formed in the flexible gear, the flexible gear can be flexibly deformed, and the cross section of the wave generator is elliptical, so that the wave generator is arranged in the through hole of the flexible gear, and the shape of the through hole is forced to be deformed from a circle to an ellipse after the outer peripheral surface of the wave generator is abutted against the hole wall of the through hole, namely the cross section of the flexible gear is deformed from the circle to the ellipse. Referring to fig. 3, since the inner wall of the rigid gear has the first teeth, which are engaged with the second teeth on the outer circumferential surface of the flexible gear, when the cross-section of the flexible gear is deformed from a circular shape to an elliptical shape, the driving assembly drives the wave generator to rotate, and along with the rotation of the wave generator, the second teeth near the major axis of the flexible gear are engaged with the first teeth of the circular rigid gear, and the second teeth on the minor axis of the flexible gear are completely disengaged from the first teeth of the circular rigid gear. When the wave generator continuously rotates, the shape of the flexible gear is continuously changed, so that the meshing state of the second teeth and the first teeth is also continuously changed, and the meshing, the disengagement and the re-meshing of … … are carried out in cycles. Referring to fig. 4, since the torque detection assembly includes at least one contact, the contact is attached to the hole wall of the through hole, so that the torque of the flexible gear can be detected through the contact, when the harmonic reducer is affected by an external force, the torque of the flexible gear changes, and a worker can control the harmonic reducer to react to different torques according to a detection result of the torque detection assembly on the torque of the flexible gear, thereby facilitating use.
In one embodiment, the flexbile gear comprises an installation part and a deformation part which are connected, the size of the installation part is larger than that of the deformation part along the radial direction of the deformation part, the installation part is used for being connected with the joint module, the deformation part can flexibly deform, and the peripheral surface of the deformation part is provided with a second tooth.
In one embodiment, the deformation part comprises a first part and a second part which are integrally formed, the first part is connected with the mounting part, the first part is provided with second teeth, and the outer peripheral surface of the wave generator is abutted with the hole wall of the first part; the contact is attached to the hole wall of the second portion and used for detecting the moment of the flexible gear.
In one embodiment, the torque detection assembly further comprises a fixed base, the fixed base is used for being connected with the joint module, and the contact is connected with the outer peripheral surface of the fixed base and protrudes out of the base along the radial direction of the fixed base.
In one embodiment, the number of the contacts is multiple, and the multiple contacts are uniformly arranged at intervals along the circumference of the fixed base.
In one embodiment, the torque sensing component is a torque sensor.
In one embodiment, the driving assembly comprises a rotor and a stator, the rotor is connected with the wave generator and used for driving the wave generator to rotate, and the stator is used for being connected with the joint module.
In one embodiment, the drive assembly is a frameless brushless motor.
An embodiment of the present application still provides a joint module, and the joint module includes casing and the arbitrary harmonic speed reducer ware in above-mentioned embodiment, and the harmonic speed reducer ware is used for setting up in the inside of the casing of joint module.
An embodiment of the present application further provides a cooperative robot, where the cooperative robot includes a robot body and the joint module in the above embodiment, and the joint module is installed on the robot body.
Drawings
FIG. 1 is a schematic diagram illustrating a connection relationship between a harmonic reducer and a joint module according to an embodiment;
FIG. 2 is an enlarged view of the structure of the area A in FIG. 1;
FIG. 3 is a schematic structural view of the wave generator, the flexible gear and the rigid gear of FIG. 1 rotating 0 °, 90 °, 180 ° and 360 °;
FIG. 4 is a schematic view of the connection between the flexspline and the torque sensing assembly of FIG. 1;
FIG. 5 is a schematic structural view of the torque sensing assembly of FIG. 1;
fig. 6 is a schematic structural view of another torque detection assembly shown in fig. 1.
Description of reference numerals:
a harmonic speed reducer 100;
a drive assembly 110; a mover 111; a stator 112;
a wave generator 120;
a flexible gear 130; a through hole 101; a mounting portion 131; a deformation portion 132; a first portion 1321; a second portion 1322;
a rigid wheel 140;
a torque detection assembly 150; a stationary base 151; a contact 152;
a joint module 200; a housing 210; a connecting portion 220; a support part 230.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element 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" 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 invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1 to 4, an embodiment of the present application provides a harmonic reducer 100, the harmonic reducer 100 is configured to be disposed inside a housing 210 of a joint module 200, and the harmonic reducer 100 includes a driving assembly 110, a wave generator 120, a flexible gear 130, a rigid gear 140, and a torque detection assembly 150.
The wave generator 120 has an elliptical cross-section, the driving unit 110 is connected to the wave generator 120, and the driving unit 110 drives the wave generator 120 to rotate. The flexible gear 130 is used for being connected with the joint module 200, the flexible gear 130 can flexibly deform, the flexible gear 130 is provided with a through hole 101, the wave generator 120 is located in the through hole 101, and the peripheral surface of the wave generator 120 is abutted to the hole wall of the through hole 101. The rigid gear 140 is used for connecting with the joint module 200, the rigid gear 140 is sleeved on the outer circumferential surface of the flexible gear 130, and the inner wall of the rigid gear 140 is provided with first teeth (not shown) which are meshed with second teeth (not shown) on the outer circumferential surface of the flexible gear 130. The moment detection assembly 150 is used for being connected with the joint module 200, the moment detection assembly 150 comprises at least one contact 152, and the contact 152 is attached to the hole wall of the through hole 101 and used for detecting the moment of the flexible wheel 130.
When the harmonic reducer 100 is used, the wave generator 120 is positioned in the through hole 101, the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101 formed in the flexible gear 130, and the flexible gear 130 can be flexibly deformed, and the wave generator 120 is installed in the through hole 101 of the flexible gear 130 because the cross section of the wave generator 120 is elliptical, so that the shape of the through hole 101 is forced to be deformed from a circular shape to an elliptical shape after the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101, that is, the cross section of the flexible gear 130 is deformed from a circular shape to an elliptical shape. Referring to fig. 3, since the inner wall of the rigid gear 140 has first teeth, which are engaged with the second teeth on the outer circumferential surface of the flexible gear 130, when the cross-section of the flexible gear 130 is deformed from a circular shape to an elliptical shape, the driving assembly 110 drives the wave generator 120 to rotate, and as the wave generator 120 rotates, the second teeth near the major axis of the flexible gear 130 are engaged with the first teeth of the circular rigid gear 140, and the second teeth on the minor axis of the flexible gear 130 are completely disengaged from the first teeth of the circular rigid gear 140. When the wave generator 120 continuously rotates, the shape of the flexspline 130 is changed continuously, so that the engagement state of the second teeth and the first teeth is also changed continuously, and the engagement, the disengagement, and the re-engagement … … are performed repeatedly. Referring to fig. 4, since the torque detection assembly 150 includes at least one contact 152, and the contact 152 is attached to the hole wall of the through hole 101, the torque of the flexspline 130 can be detected through the contact 152, when the harmonic reducer 100 is affected by an external force, the torque of the flexspline 130 changes, and a worker can control the harmonic reducer 100 to react to different torques according to a detection result of the torque detection assembly 150 on the torque of the flexspline 130, thereby facilitating use.
In this embodiment, when the harmonic reducer 100 is not interfered by an external force, the deformation of the hole wall of the through hole 101 detected by the contact 152 changes according to a specific deformation rule; when the harmonic reducer 100 is interfered by external force, the deformation of the hole wall of the through hole 101 is in and out of the specific deformation rule, the deformation of the hole wall of the through hole 101 is detected through the contact 152 of the torque detection assembly 150, and the detection result is transmitted to the mobile terminal (for example, a computer and the like), after the mobile terminal receives the detection result, the deformation rule is automatically compared with the deformation rule under the normal condition, the difference between the actual deformation and the deformation under the normal condition is obtained, the operation such as signal processing and data analysis is carried out on the difference, the magnitude of the received external force can be obtained, when the external force is received by different magnitudes, the harmonic reducer 100 is controlled to make different reactions, and the harmonic reducer 100 is convenient to use.
In one embodiment, the flexible wheel 130 is a deformable metal material, so that it can be flexibly deformed.
In other embodiments, the flexible wheel 130 may be made of other deformable materials as long as the flexible deformation can be generated.
Referring to fig. 2-4, in an embodiment, the flexspline 130 includes a mounting portion 131 and a deformation portion 132 connected to each other, along a radial direction of the deformation portion 132, a size of the mounting portion 131 is larger than a size of the deformation portion 132, the mounting portion 131 is used for connecting with the joint module 200, the deformation portion 132 can be flexibly deformed, and second teeth are disposed on an outer circumferential surface of the deformation portion 132.
Specifically, since the flexspline 130 includes the mounting portion 131 and the deformation portion 132 connected to each other, and the size of the mounting portion 131 is larger than the size of the deformation portion 132 in the radial direction along the radial direction of the deformation portion 132, the mounting portion 131 facilitates the connection of the flexspline 130 with the joint module 200, and the position of the flexspline 130 is fixed by the mounting portion 131. The through hole 101 penetrates through the mounting portion 131 and the deformation portion 132, and the first teeth are engaged with the second teeth on the outer circumferential surface of the deformation portion 132, so that as the wave generator 120 rotates, the second teeth near the major axis of the deformation portion 132 are engaged with the first teeth of the circular rigid gear 140, and the second teeth on the minor axis of the deformation portion 132 are completely disengaged from the first teeth of the circular rigid gear 140. Contact 152 and deformation portion 132's pore wall laminating, then can detect the moment of deformation portion 132 through contact 152, when harmonic reducer ware 100 received external force influence, deformation portion 132's moment changed, and the staff can react to different moments according to the testing result of moment detecting element 150 to deformation portion 132 moment, control harmonic reducer ware 100, facilitates the use.
Referring to fig. 1 and 2, in an embodiment, the joint module 200 further includes a connecting portion 220, and the flexible wheel 130 and the rigid wheel 140 are respectively connected to the joint module 200 through the connecting portion 220.
Referring to fig. 1 and 4, in an embodiment, the deformation part 132 includes a first portion 1321 and a second portion 1322 that are integrally formed, the first portion 1321 is connected to the mounting part 131, the first portion 1321 has second teeth, and an outer peripheral surface of the wave generator 120 abuts against a hole wall of the first portion 1321. The contact 152 engages the wall of the second portion 1322 to detect the torque of the flexspline 130.
Specifically, since the outer peripheral surface of the wave generator 120 abuts against the hole wall of the first portion 1321, the shape of the first portion 1321 and, therefore, the shape of the second portion 1322 are changed when the wave generator 120 is rotated. The contact 152 is attached to the hole wall of the second portion 1322, so that the deformation of the hole wall of the second portion 1322 can be detected, and the moment of the flexspline 130 can be detected. Since the wave generator 120 is engaged with the first teeth of the first portion 1321, and the torque detection assembly is attached to the hole wall of the second portion 1322, the contact 152 can detect the torque condition of the second portion 1322 while the engagement of the first teeth and the second teeth is not affected, so as to know the torque condition of the flexspline 130, and the matching of the rigid spline 140 and the flexspline 130 is not affected.
Referring to fig. 4 and 5, in an embodiment, the torque detection assembly 150 further includes a fixing base 151, a fixing base 151 for connecting with the joint module 200, and a contact 152 connected to an outer peripheral surface of the fixing base 151 and protruding from the fixing base 151 along a radial direction of the fixing base 151.
Specifically, the fixing base 151 is connected to the joint module 200, so that the position of the torque detection assembly 150 is fixed by the fixing base 151, and then the contact 152 abuts against the hole wall of the second portion 1322, so as to detect the torque condition of the flexspline 130, and further respond to different torques.
Referring to fig. 1 and 2, in an embodiment, the joint module 200 further includes a supporting portion 230, and the fixing base 151 is connected to the supporting portion 230 so as to be indirectly connected to the joint module 200, so as to fix the position of the moment detecting assembly 150.
Referring to fig. 5, in an embodiment, the number of the contacts 152 is multiple, and the multiple contacts 152 are uniformly spaced along the circumference of the fixing base 151. Therefore, the plurality of contacts 152 can detect the moment variation conditions of a plurality of positions of the flexible wheel 130 along the circumferential surface of the hole wall, and the detection is more accurate and reliable.
Referring to fig. 5 and fig. 6, in the present embodiment, the number of the contacts 152 is four, and in other embodiments, the number of the contacts 152 may also be 8 or 12.
In one embodiment, the torque sensing component 150 is a torque sensor.
In other embodiments, the torque detection assembly 150 may be other detection devices as long as it can detect the torque of the flexible wheel 130.
Referring to fig. 1, in an embodiment, the driving assembly 110 includes a mover 111 and a stator 112, the mover 111 is connected to the wave generator 120 and is used for driving the wave generator 120 to rotate, and the stator 112 is used for being connected to the joint module 200, so that the mover 111 drives the wave generator 120 to rotate, and further the flexspline 130 is deformed, and the engagement state of the first teeth and the second teeth is changed.
In one embodiment, the driving assembly 110 is a frameless brushless motor.
Referring to fig. 1, the present application further provides a joint module 200, in which the joint module 200 includes a housing 210 and a harmonic reducer 100, and the harmonic reducer 100 is disposed inside the housing 210 of the joint module 200.
When the joint module 200 is used, the wave generator 120 is located in the through hole 101, the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101 formed in the flexible gear 130, and the flexible gear 130 can be flexibly deformed, and the wave generator 120 is installed in the through hole 101 of the flexible gear 130 because the cross section of the wave generator 120 is elliptical, so that the shape of the through hole 101 is forced to be deformed from a circular shape to an elliptical shape after the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101, that is, the cross section of the flexible gear 130 is deformed from a circular shape to an elliptical shape. Referring to fig. 3, since the rigid gear 140 is sleeved on the outer circumferential surface of the flexible gear 130, and the inner wall of the rigid gear 140 has a circular first tooth, the first tooth is engaged with a second tooth on the outer circumferential surface of the flexible gear 130, so that when the cross-section of the flexible gear 130 is deformed from a circular shape to an elliptical shape, the driving assembly 110 drives the wave generator 120 to rotate, along with the rotation of the wave generator 120, the second tooth near the major axis of the flexible gear 130 is engaged with the first tooth of the circular rigid gear 140, and the second tooth on the minor axis of the flexible gear 130 is completely disengaged from the first tooth of the circular rigid gear 140. When the wave generator 120 continuously rotates, the shape of the flexspline 130 is changed continuously, so that the engagement state of the second teeth and the first teeth is also changed continuously, and the engagement, the disengagement, and the re-engagement … … are performed repeatedly. Referring to fig. 4, since the torque detection assembly 150 includes at least one contact 152, and the contact 152 is attached to the hole wall of the through hole 101, the torque of the flexspline 130 can be detected through the contact 152, when the harmonic reducer 100 is affected by an external force, the torque of the flexspline 130 changes, and a worker can control the harmonic reducer 100 to react to different torques according to a detection result of the torque detection assembly 150 on the torque of the flexspline 130, thereby facilitating use.
The application also provides a cooperative robot, which comprises a robot body and a joint module 200, wherein the joint module 200 is arranged on the robot body.
When the cooperative robot is used, the wave generator 120 is positioned in the through hole 101, the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101 formed in the flexible gear 130, and the flexible gear 130 can be flexibly deformed, and the wave generator 120 is installed in the through hole 101 of the flexible gear 130 because the cross section of the wave generator 120 is elliptical, so that the shape of the through hole 101 is forced to be deformed from a circular shape to an elliptical shape after the outer peripheral surface of the wave generator 120 abuts against the hole wall of the through hole 101, namely, the cross section of the flexible gear 130 is deformed from a circular shape to an elliptical shape. Referring to fig. 3, since the rigid gear 140 is sleeved on the outer circumferential surface of the flexible gear 130, and the inner wall of the rigid gear 140 has a circular first tooth, the first tooth is engaged with a second tooth on the outer circumferential surface of the flexible gear 130, so that when the cross-section of the flexible gear 130 is deformed from a circular shape to an elliptical shape, the driving assembly 110 drives the wave generator 120 to rotate, along with the rotation of the wave generator 120, the second tooth near the major axis of the flexible gear 130 is engaged with the first tooth of the circular rigid gear 140, and the second tooth on the minor axis of the flexible gear 130 is completely disengaged from the first tooth of the circular rigid gear 140. When the wave generator 120 continuously rotates, the shape of the flexspline 130 is changed continuously, so that the engagement state of the second teeth and the first teeth is also changed continuously, and the engagement, the disengagement, and the re-engagement … … are performed repeatedly. Referring to fig. 4, since the torque detection assembly 150 includes at least one contact 152, and the contact 152 is attached to the hole wall of the through hole 101, the torque of the flexspline 130 can be detected through the contact 152, when the harmonic reducer 100 is affected by an external force, the torque of the flexspline 130 changes, and a worker can control the harmonic reducer 100 to react to different torques according to a detection result of the torque detection assembly 150 on the torque of the flexspline 130, so as to control the cooperative robot to react.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. The utility model provides a harmonic speed reducer ware, harmonic speed reducer ware is used for setting up in the inside of the casing of joint module, its characterized in that, harmonic speed reducer ware includes:
a drive assembly;
the cross section of the wave generator is oval, the driving assembly is connected with the wave generator, and the driving assembly drives the wave generator to rotate;
the flexible gear is used for being connected with the joint module, the flexible gear can be flexibly deformed and is provided with a through hole, the wave generator is positioned in the through hole, and the outer peripheral surface of the wave generator is abutted against the hole wall of the through hole;
the rigid wheel is used for being connected with the joint module, the inner wall of the rigid wheel is provided with a plurality of first teeth which are arranged along the circumferential direction of the inner wall, and the first teeth are meshed with a plurality of second teeth which are arranged along the circumferential direction of the outer peripheral surface and are arranged on the outer peripheral surface of the flexible wheel; and
the moment detection assembly is used for being connected with the joint module, the moment detection assembly comprises at least one contact, and the contact is attached to the hole wall of the through hole and used for detecting the moment of the flexible wheel.
2. The harmonic reducer according to claim 1, wherein the flexspline includes an installation portion and a deformation portion connected to each other, and along a radial direction of the deformation portion, a size of the installation portion is larger than a size of the deformation portion, the installation portion is configured to be connected to the joint module, the deformation portion is capable of being flexibly deformed, and an outer peripheral surface of the deformation portion has the second teeth.
3. The harmonic reducer of claim 2, wherein the deformation portion includes a first portion and a second portion that are integrally formed, the first portion being connected with the mounting portion, the first portion having the second teeth, an outer peripheral surface of the wave generator abutting against a hole wall of the first portion; the contact is attached to the hole wall of the second portion and used for detecting the moment of the flexible gear.
4. The harmonic reducer according to claim 1, wherein the torque detection assembly further comprises a fixing base, the fixing base is configured to be connected to the joint module, and the contact is connected to an outer circumferential surface of the fixing base and protrudes from the fixing base in a radial direction of the fixing base.
5. The harmonic reducer of claim 4 wherein the number of the contacts is plural, and the plural contacts are arranged at regular intervals in a circumferential direction of the stationary base.
6. The harmonic reducer of claim 1 wherein the torque sensing assembly is a torque sensor.
7. The harmonic reducer of claim 1 wherein the drive assembly comprises a mover and a stator, the mover being coupled to the wave generator for driving the wave generator in rotation, and the stator being coupled to the articulation module.
8. The harmonic reducer of claim 7 wherein the drive assembly is a frameless brushless motor.
9. A joint module, characterized in that it comprises a housing and the harmonic reducer of any of the preceding claims 1-8, which is intended to be arranged inside the housing of the joint module.
10. A cooperative robot characterized by comprising a robot body and the joint module of claim 9 above, the joint module being mounted on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222444240.3U CN218523006U (en) | 2022-09-15 | 2022-09-15 | Harmonic reducer, joint module and cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222444240.3U CN218523006U (en) | 2022-09-15 | 2022-09-15 | Harmonic reducer, joint module and cooperative robot |
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| CN218523006U true CN218523006U (en) | 2023-02-24 |
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| CN202222444240.3U Active CN218523006U (en) | 2022-09-15 | 2022-09-15 | Harmonic reducer, joint module and cooperative robot |
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