WO2010142318A1 - Dispositif permettant de mesurer un couple - Google Patents

Dispositif permettant de mesurer un couple Download PDF

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Publication number
WO2010142318A1
WO2010142318A1 PCT/EP2009/057037 EP2009057037W WO2010142318A1 WO 2010142318 A1 WO2010142318 A1 WO 2010142318A1 EP 2009057037 W EP2009057037 W EP 2009057037W WO 2010142318 A1 WO2010142318 A1 WO 2010142318A1
Authority
WO
WIPO (PCT)
Prior art keywords
circular spline
torque
housing
spline
measuring
Prior art date
Application number
PCT/EP2009/057037
Other languages
English (en)
Inventor
Torgny BROGÅRDH
Original Assignee
Abb Technology Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Technology Ab filed Critical Abb Technology Ab
Priority to PCT/EP2009/057037 priority Critical patent/WO2010142318A1/fr
Publication of WO2010142318A1 publication Critical patent/WO2010142318A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/108—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving resistance strain gauges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
    • G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
    • G01L3/1457—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving resistance strain gauges

Definitions

  • the present invention relates to a device for measuring torque transmitted to an output shaft by a harmonic drive gear assembly. Further, the invention relates to the use of such a device for measuring the torque transmitted to an output shaft by a harmonic drive gear driven by a synchronous motor. The present invention further relates to the use of such a device for measur- ing the torque transmitted to an output shaft of a harmonic drive gear connected to an arm of an industrial robot.
  • the invention is also useful in other types of applications in which it is of interest to measure the torque transmitted to an output shaft by a harmonic drive gear, such as CNC machines, airplanes, and industrial process control equipment.
  • a harmonic drive gear is typically used for high gearing reduction. Very high gear reduction ratios are possible in a small volume and at very low weight.
  • the mechanism has three basic components: a wave generator, a flex spline, and a circular spline.
  • the wave generator has an elliptic shape.
  • the flex spline is like a shallow cup. The sides of the cup are thin, which results in significant flexibility of the walls and low stiffness of the gear. Teeth are positioned radially around the outside of the flex spline.
  • the flex spline fits tightly over the wave generator, so that when the wave generator is rotated, the flex spline deforms to the shape of a rotating ellipse but does not rotate with the wave generator.
  • the circular spline is a rigid circular ring with teeth on the inside.
  • the flex spline and wave generator are placed inside the circular spline, meshing the teeth of the flex spline and the circular spline. Because the flex spline has an elliptical shape, its teeth only actually mesh with the teeth of the circular spline in two regions on opposite sides of the flex spline.
  • the key to the design of the harmonic drive is that there are fewer teeth on the flex spline than there are on the circular spline. This means that for every full rotation of the wave generator, the flex spline rotates a slight amount backward relative to the circular spline. Thus the rotation action of the wave generator results in a much slower rotation of the flex spline in relation to the circular spline.
  • the harmonic drive gear further includes a housing.
  • the circular spline is mounted in the housing and thus the flex spline rotates relative the housing.
  • a motor shaft is connected to the wave generator and the flex spline is mounted to an output shaft that is connected to the robot arm.
  • the harmonic drive gear is very compliant compared to other compact gear boxes, giving the robot low stiffness and a low mechanical bandwidth.
  • One way to improve this situation is to introduce torque sensors on the output shafts of the harmonic drive gear and include a torque feedback in a model-based controller. This has been made in order to make the robot more ro- bust and sensitive at interactions and in order to increase the safety of the robot by sensor redundancy.
  • the torque sensors used are of a traditional wheel type with three beams having at least one strain gauge each.
  • Figure 1 shows an outline of a state of the art torque sensor 1 for measurements of torque transmitted to an output shaft.
  • the output shaft is divided into two sections 2a and 2b, and the torque sensor is arranged between the two shaft sections.
  • the shaft section 2a is driven by the low speed side of a harmonic drive gear and the shaft section 2b is connected to a robot arm.
  • the torque sensor 1 includes an outer ring 4 mechanically connected to the shaft section 2a and an inner ring 5 mechanically connected to the shaft section 2b.
  • the inner and outer rings are connected to each other via three beams 6 provided with strain gauges 7. When a torque is transmitted through the sensor the beams 6 will bend and the strain gauges 7 will measure a strain which is proportional to the shaft torque and thus the torque from the gear.
  • the main shortcomings of this measurement sys- tern are:
  • the two shaft sections must be accurately in line to avoid cyclic disturbance stress on the strain sensors and thus measurement disturbance. 5) The sensor assembly is costly to manufacture.
  • the object of the present invention is to provide an improved device for measuring torque transmitted to an output shaft by a harmonic drive gear, which alleviated the drawbacks mentioned above.
  • the invention is characterized in that the device comprises at least one sensor arranged for measuring forces between the circular spline and the housing, and a computing unit configured to receive the measurements from the sensor and, based thereon, to calculate the transmitted torque.
  • At least one force sensor is integrated into the harmonic drive gear. Further, the sensor is integrated into the stationary side of the harmonic drive gear. This will give the following advantages over the prior art torque measurement device: lower cost, more robust, more compact actuator, measurements at an infinite number of shaft revolutions are possible, and the device can easily be combined with a torque limiter.
  • the device comprises at least one connecting element arranged between the circular spline and the housing and the sensor is positioned on the connecting element.
  • One end of the connecting element is directly or indirectly mechanically connected to the circular spline and the opposite end is directly or indirectly mechanically connected to the housing.
  • the connecting element will be exerted to strain because of the torque transmitted from the housing to the flex spline and then to the output shaft.
  • the connect- ing element is equipped with at least one sensor which makes it possible to measure the transmission of torque between the circular spline gear teeth and the flex spline gear teeth.
  • the device com- prises at least three sensors arranged for measuring the force between the circular spline and the housing and at least three connecting elements arranged between the circular spline and the housing, and each connecting element is provided with at least one of said sensor.
  • This embodiment with at least three sensors makes the torque measurement more accurate. With two sensors on each connecting element, it will be possible to measure six degrees of freedom, three force components and three torque components of the transmission between the circular spline gear teeth and the flex spline gear teeth.
  • the senor is a strain gauge arranged for measuring strains between the circular spline and the housing.
  • Stain gauges are made of metal or semiconductor material, and are standard for this type of meas- urement.
  • the device comprises a bearing ring fixedly connected to the housing and arranged between the circular spline and the housing, and said sensor is arranged for measuring tangential forces between the circular spline and the bearing ring.
  • This bearing ring is also beneficial to absorb the radial force radiation generated by the wave generator and that may disturb the measurement at least at low rotational speeds.
  • At least one connecting element including said sensor is arranged between the circular spline and the bearing ring, and the connecting element is connected to the circular spline via an overload release ele- ment arranged to mechanically disconnect the circular spline from the bearing when the transmitted torque is larger than a mechanically predefined value.
  • the overload release element comprises a mechanical coupling for coupling to the circular spline and a spring acting on the mechanical coupling, and the spring constant is selected such that the mechanical coupling will be released when the transmitted torque is larger than said mechanically predefined value.
  • the harmonic drive gear assembly includes a rotatable wave generator
  • the device comprises a compensation module including a table with com- pensation values for compensation of torque ripple caused by the wave generator rotation, and the compensation values are stored as a function of the motor angle
  • the compensation table is configured to receive measured values of the motor angle and to select a compensation value in dependence on the motor an- gle
  • the computing unit is configured to receive the compensation value and to subtract the compensation values subtracted from calculated transmitted torque to form torque values.
  • Fig. 1 shows a prior art device for measuring torque transmitted to an output shaft.
  • Figs. 2a-b show a device for measuring torque transmitted to an output shaft according to a first embodiment of the invention.
  • Fig. 3 shows a device for measuring torque transmitted to an output shaft according to a second embodiment of the invention.
  • Fig. 4 shows a device including a bearing for measuring torque transmitted to an output shaft according to a third embodiment of the invention.
  • Fig. 5 shows an example of a device for measuring torque including a torque limiter.
  • Fig. 6 shows the harmonic drive concept integrated in a special motor concept to obtain a magnetically driven wave generator.
  • Fig. 7 shows an example of a device for measuring torque of a harmonic drive integrated in a special motor concept to obtain a magnetically driven wave generator.
  • Fig. 8 shows a device for measuring torque transmitted to an output shaft according to another embodiment of the invention with a circular spline inside the flex spline.
  • Fig. 9 shows an example of how a device for measuring torque can be used in a servo actuator with a magnetically driven wave generator with a circular spline inside the flex spline.
  • Fig. 10 shows an example of how torque disturbances can be electronically compensated.
  • Fig. 1 1 outlines the integration of a low cost capacitive encoder into a servo actuator.
  • Fig. 12 exemplifies electrode patterns that can be used on en- coder rings.
  • Figure 1 shows a prior art device for measuring torque transmitted to an output shaft as described above.
  • Figures 2a-b shows a device for measuring torque according to an embodiment of the invention.
  • the device is integrated into a harmonic drive gear assembly.
  • the device and the harmonic drive gear assembly are mounted in a gear box housing 10.
  • Figure 2a shows the device and harmonic drive gear assembly inside the housing 10
  • figure 2b shows an exploded view of the device and harmonic drive gear assembly without the hous- ing.
  • the harmonic drive gear assembly has three basic components: a wave generator (not shown), a flex spline 12 provided with gear teeth 14, and a circular spline 16 provided with gear teeth 18.
  • the wave generator is arranged to rotate with high speed and is driven by a motor.
  • the flex spline 12 fits tightly over the wave generator, so that when the wave generator is rotated, the flex spline deforms to the shape of a rotating ellipse but does not rotate with the wave generator.
  • the flex spline 12 and the wave generator are placed inside the circular spline 16, meshing the teeth of the flex spline and the circular spline.
  • the flex spline 12 is mounted to an output shaft 20, which for example is connected to a robot arm.
  • the device is configured to measure the torque transmitted to the output shaft 20 of the harmonic drive gear via the flex spline 12.
  • the device comprises at least one sensor arranged for measuring forces between the circular spline 16 and the housing 10. The forces measured are tangential, axial and/or radial forces.
  • the device comprises six sensors 22a, 22b arranged for measuring the force between the circular spline 16 and the housing 10.
  • the sensors are, for example, strain gauges.
  • the device further comprises a computing unit 23 configured to receive the measurements from the sensor and, based thereon, to calculate the transmitted torque.
  • the computing unit can be any type of unit capable of executing mathematical calculations, such as a processor or an FPGA.
  • the robot controller can be used as the computing unit.
  • the calculations used for determining the torque based on the received measurements are the same as used in a state of the art six-degrees-of-freedom force sensor.
  • the measurement of the six strain gauge resistances gives six signals that are transformed by a calibration matrix to three force components and three torque components.
  • the torque component equal to the transmitted gear torque is used for control of the motor.
  • Other components can be used for fault detection and diagnosis.
  • the measured signals can be averaged to obtain the torque.
  • the device includes three connecting elements 24 in the form of beams arranged between the circular spline 16 and the housing 10.
  • the sensors 22a, 22b are positioned on the beams 24.
  • the beams 24 are on one side mounted on the gear box housing 10 and on the opposite side mounted on the circular spline 16.
  • the beams 24 will bend because of the torque transmitted from the housing 10 to the flex spline 12 and then to the output shaft 20.
  • the circular spline 16 is part of the torque measuring device, but of course an extra ring for the beams 24 can be mounted on the circular spline. However, this will give a less weight effective solution.
  • each beam 24 is equipped with two strain gauges 22a and 22b, which means that it will be possible to measure all six degrees of freedom (3 force components and 3 torque compo- nents) of the transmission between the circular spline gear teeth 18 and the flex spline gear teeth 14.
  • Figure 3 shows a variant of the arrangement of the connecting elements 30 joining the circular spline 16 with the gear box housing (not shown in the figure).
  • the connecting elements 30 are elongated and form cantilevers.
  • the connecting elements 30 are in this case adapted to the measurement of torque when having a rigid circular spline 16.
  • Two sensors 32 such as strain gauges, are mounted for sensing the bending of the connecting elements 30 and the connecting elements have a shape that reduces the sensitivity of the strain gauge with respect to the ra- dial forces from the wave generator.
  • FIG. 4 shows the circular spline 16 as an inner ring being connected by means of bearing balls or bearing cylinders to an outer bearing ring 40. There is a gap 42 between the inner ring 16 and the outer ring 40, which can thus rotate in relation to each other.
  • the circular spline ring 16 and the outer ring 40 together form a bearing.
  • Connecting elements 44 with sensors 46 are mounted between the circular spline ring 16 and the outer ring 40.
  • One end of the connecting element 44 is fixedly connected to the circular spline ring 16 and the other end is fixedly connected to the outer ring 40.
  • the sensors 46 are arranged for measuring tangential forces between the circular spline and the bearing ring.
  • the outer ring 40 is fixedly connected to the gear box housing (not shown in the figure).
  • the connecting elements 44 need only to transmit the gear output torque and the strain gauges 46 will measure only the gear output torque without any disturbance from the wave generator or from residual forces because of friction be- tween the gear teeth 18 and 14.
  • Figure 5 shows an example of a device for measuring torque including a torque limiter.
  • the torque limiter includes an overload release element 50 that is integrated with a connecting element 52 joining the circular spline ring 16 and the outer bearing ring 40.
  • the connecting element 52 is connected to the circular spline 16 via the overload release element 50.
  • the overload release element 50 is arranged to mechanically disconnect the circular spline 16 from the outer bearing ring 40 when the transmitted torque is larger than a mechanically predefined value.
  • the overload release element 50 comprises a mechanical coupling for coupling to the circular spline.
  • the mechanical coupling includes a ball 54 and the circular spline is provided with a groove 56 designed for receiving the ball.
  • the ball 54 is mounted on a pin 58, which can slide in a hole on the connecting element 52.
  • the overload release element 50 further comprises a spring 56 acting on the ball 54.
  • the spring constant for the spring 56 is selected such that the mechanical coupling will be released when the torque transmitted from the circular spline 16 to the outer bearing ring 40 is larger than the mechanically predefined value.
  • the force measurement is, for example, made with a strain gauge 59.
  • the bearing comprises an inner bearing ring in the form of the circular spline 16, an outer bearing ring 40, and a ball 60 arranged between the inner and outer bearing ring.
  • the outer bearing ring 40 is fixed to the gear box housing (not shown).
  • the gear teeth of the circular spline 16 are made directly on the inner surface, but could of course be made on a separate ring mounted on the bearing.
  • FIG. 6 shows the harmonic drive concept integrated in a special motor generating a rotating magnetic field that deforms a magnetic wave generator.
  • a motor is known from the patent US005497041 .
  • a wave generator 70 is composed of a com- pliant ring with magnets and between this ring and a stator coil setup 72 a circular spline 74 and a flex spline 75 are mounted.
  • the stator coil setup 72 will generate a rotating magnetic field, which will change the shape of the compliant ring 70 giving a magnetically driven wave generator.
  • the advantage with this concept is that it is possible to obtain a very compact servo actuator since no motor shaft is needed.
  • Figure 7 shows one solution to this problem where the circular spline arrangement of figure 3 is used in a servo actuator design based on the same idea as in figure 5.
  • Figure 7 shows a cross section through a servo actuator including an electromagneti- cally directly driven harmonic drive gear assembly.
  • Magnets 80 are mounted on the inside of a flex spline 12 and an inner stator 82 generates a rotating magnetic field to obtain wave generator movements of the magnets 80.
  • the circular spline 16 is fixed via beams 30 to a housing 84 of the servo actuator, and sensors 32, such as strain gauges, are connected to a computing unit (not shown) via wires 86. Since no high speed shaft is needed, only bearings 88 for the low output speed are needed. In applications where the shaft angle accuracy is important a capacitive en- coder 90 can be added.
  • the harmonic drive gear assembly is mounted on a hollow output shaft 91 having a face plate 92 for mounting to the part that is driven by the servo actuator
  • Figure 8 shows that it will also be possible to integrate the torque measuring device according to the invention with a circular spline arrangement (98 or 99) when the circular spline is inside the flex spline.
  • the upper left drawing shows a circular spline 100 with outer gear teeth 104 and connecting elements 106 including sensors 108, such as strain gauges.
  • Further strain gauges 109 are arranged on the inside of the circular spline 100.
  • the strain gauges 109 are optional to measure the angle of the wave generator, which is interesting using a magnetic wave generator as in figures 7 and 9.
  • the strain gauges 109 will measure the angle of the magnetic wave generator, which can be use for a servo loop of the high speed side of the gear box.
  • the lower left drawing shows the arrangement with the sensors mounted on connecting elements 1 10 connecting the outer circular spline ring 102 with an inner ring 1 12 connected to the gear box housing.
  • the circular spline arrangement 99 is shown inside the flex spline 12.
  • the flex spline 12 has in this case inner gear teeth, which are not shown in the figure.
  • Figure 9 shows how circular spline assemblies 98 and 99 can be used in a servo actuator with a magnetically driven wave gen- erator.
  • the circular spline assembly 98 is inserted inside the flex spline 12.
  • magnets 128 deforming the flex spline are mounted on the outside of the flex spline 12.
  • Kevlar can be used.
  • the wave motion of the flex spline 12 is ob- tained by means of a rotating magnetic field generated by the stator 124.
  • a circular spline 104 is mounted on the gear box housing 84 via connecting elements 130 containing sensors 108, such as strain gauges. 120 and 121 are low speed bearings, 90 a capacitive high resolution encoder and 122 the mounting flange of the servo actuator.
  • Figure 10 shows an example of how torque disturbances can be electronically compensated.
  • the main disturbance on the strain measurements is the radial force pulsations generated by the wave generator at a frequency of two times the revolution rate. To compensate for this disturbance, either a filtering can be made, or the modeled torque error can be subtracted from the calculated torque.
  • the strain gauges 22 are connected to a measurement unit 202 including an A/D converter.
  • the meas- urement unit sends the measurement values of the resistances to a computing unit 204, which includes a calibration table used to calculate the transmitted torque Tcalc.
  • the torque ripple caused by the wave generator rotation is stored in a compensation table 208.
  • Compensation values Tcomp are selected as a function of the motor angle Am, which is measured by a resolver or an encoder or is predicted from the motor current control.
  • the motor angle Am is the same as the wave generator angle.
  • the compensation values Tcomp are subtracted from calculate transmitted torque Tcalc to form torque values Tcontrol used for the motor control.
  • the values in the compensation table 208 are obtained when calibrating the actuator. This calibration can be made by system identification methods, or simply by logging the calculated torque Tcalc at constant torque when the motor shaft is turned at least one revolution.
  • Figure 1 1 outlines the integration of a low cost capacitive encoder into the servo actuator.
  • the bearing 800 controls the accuracy of the rotation of the flex spline and the assembly flange the idea in figure 1 1 is to make use of the precision of a bearing 800 for the mounting of capacitive encoder rings.
  • the ring 940 with the transmitter electrodes is mounted on the outer bearing ring and the ring 950 with the receiver electrodes is mounted on the inner bearing ring via a distance precision element 960.
  • the precision element 960 determines the distance between the encoder rings, which should be less than 25 micrometers.
  • the receiver signals are connected to the meas- urement electronics via large surface electrodes on the rotating encoder ring 970 and the fixed transmission ring 970.
  • the electrode ring 970 is hold by the ring 980.
  • a cable protection tube 720 is fixed to the output flange and rotates via the bearing 735 relative the housing 710.
  • Figure 12 exemplifies electrode patterns that can be used on the encoder rings.
  • the transmitter electrodes 1020 connected to the transmitter phases (r,s,t) via the lines 1050, 1060 and 1070 are located on the fixed transmitter encoder ring 940.
  • the encoder ring 950 is equipped with the electrodes 1010, all connected to the line 1030 and the large surface electrode 1040 transmitting the received signals to the transmission ring 970 having an identical electrode as 1040.
  • the elec- trode pattern has been drawn as for a linear encoder.
  • the electrodes form a circular ring pattern on the encoder rings and the electrodes are situated on the surfaces of the rings facing each other.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Retarders (AREA)

Abstract

L'invention concerne un dispositif permettant de mesurer un couple transmis à un arbre de sortie (20) par un ensemble de transmission à démultiplication harmonique comprenant un boîtier (10), une cannelure circulaire (16) montée dans le boîtier et une cannelure souple (12) montée sur l'arbre de sortie. Le dispositif comprend au moins un capteur (22a-b) agencé pour mesurer les forces entre la cannelure circulaire et le boîtier et une unité de calcul conçue pour recevoir les mesures provenant du capteur et, sur la base de celle-ci, pour calculer le couple transmis.
PCT/EP2009/057037 2009-06-08 2009-06-08 Dispositif permettant de mesurer un couple WO2010142318A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/057037 WO2010142318A1 (fr) 2009-06-08 2009-06-08 Dispositif permettant de mesurer un couple

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Application Number Priority Date Filing Date Title
PCT/EP2009/057037 WO2010142318A1 (fr) 2009-06-08 2009-06-08 Dispositif permettant de mesurer un couple

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WO2010142318A1 true WO2010142318A1 (fr) 2010-12-16

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Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105422792A (zh) * 2015-12-24 2016-03-23 苏州绿的谐波传动科技有限公司 一种带应变片的谐波减速器
CN105889417A (zh) * 2016-06-15 2016-08-24 苏州绿的谐波传动科技有限公司 一种轻量型精密谐波减速器
WO2016156388A1 (fr) * 2015-04-02 2016-10-06 Atlas Copco Industrial Technique Ab Outil de puissance avec compensation de couple de sortie et procédé s'y rapportant
CN106246811A (zh) * 2016-07-25 2016-12-21 苏州绿的谐波传动科技有限公司 谐波减速器
JP2017124465A (ja) * 2016-01-13 2017-07-20 キヤノン株式会社 駆動機構、ロボットアーム及びロボット装置
EP3219449A3 (fr) * 2016-03-18 2017-10-11 Kabushiki Kaisha Yaskawa Denki Robot et capteur de couple
WO2017195420A1 (fr) * 2016-05-09 2017-11-16 ソニー株式会社 Capteur de couple et actionneur à force contrôlable
CN109139856A (zh) * 2018-10-15 2019-01-04 南京信息工程大学 一种兼具传感功能的礼帽型谐波减速器
WO2019044116A1 (fr) * 2017-08-29 2019-03-07 日立オートモティブシステムズ株式会社 Réducteur de vitesse d'engrenage à ondes et actionneur de mécanisme de liaison pour moteur à combustion interne
CN110044543A (zh) * 2018-01-15 2019-07-23 上海华依科技集团股份有限公司 扭矩传感器标定装置
CN110316109A (zh) * 2018-03-28 2019-10-11 本田技研工业株式会社 电动车辆
WO2020074040A1 (fr) 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Réducteur harmonique et élément de transmission approprié ainsi que bras robotisé et procédé pour mesurer un couple
WO2020074039A1 (fr) 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Réducteur harmonique et élément de transmission élastique approprié et bras robotisé et procédé de montage d'une jauge extensométrique
CN111121669A (zh) * 2020-01-19 2020-05-08 天津大学 一种用于精密减速器检测仪中多功能角度校准装置及方法
DE102018130970A1 (de) 2018-12-05 2020-06-10 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe sowie Roboterarm
WO2021104948A1 (fr) * 2019-11-30 2021-06-03 Agile Robots AG Joint de bras mécanique
CN113074235A (zh) * 2021-03-25 2021-07-06 永康市双智工贸有限公司 一种机器人谐波减速器关节的应力测量装置
WO2021148068A1 (fr) 2020-01-22 2021-07-29 Schaeffler Technologies AG & Co. KG Procédé de contrôle d'un assemblage d'au moins trois jauges de déformation et engrenage à ondes de déformation
EP3882488A1 (fr) * 2020-03-19 2021-09-22 Harmonic Drive SE Dispositif formant transmission à démultiplication harmonique pourvu de capteur intégré
WO2021193244A1 (fr) * 2020-03-24 2021-09-30 住友重機械工業株式会社 Dispositif d'engrenage de type à engrènement souple
JP2021173387A (ja) * 2020-04-30 2021-11-01 株式会社ハーモニック・ドライブ・システムズ トルク検出機構を備えた波動歯車装置
WO2021239317A1 (fr) * 2020-05-27 2021-12-02 Siemens Aktiengesellschaft Dispositif d'entraînement, bras de robot et procédé de mesure de couple
DE102020128602A1 (de) 2020-10-30 2022-05-05 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe und elastisches Übertragungselement hierfür
US11391351B2 (en) 2015-07-07 2022-07-19 Harmonic Drive Systems Inc. Rotation transmission mechanism provided with strain wave gearing
US20230182325A1 (en) * 2021-12-10 2023-06-15 Coretronic Mems Corporation Joint actuator of robot
DE102023100473B3 (de) 2023-01-11 2024-02-29 Harmonic Drive Se Lagereinheit mit integriertem Sensor
US12029516B2 (en) 2021-02-11 2024-07-09 Mako Surgical Corp. Robotic manipulator comprising isolation mechanism for force/torque sensor
DE102014210513B4 (de) 2013-12-03 2024-09-19 Hyundai Motor Company Verfahren zum Messen der Drehmomentabgabe eines Wellgetriebes

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DE102014210513B4 (de) 2013-12-03 2024-09-19 Hyundai Motor Company Verfahren zum Messen der Drehmomentabgabe eines Wellgetriebes
WO2016156388A1 (fr) * 2015-04-02 2016-10-06 Atlas Copco Industrial Technique Ab Outil de puissance avec compensation de couple de sortie et procédé s'y rapportant
US10639771B2 (en) 2015-04-02 2020-05-05 Atlas Copco Industrial Technique Ab Power tool with output torque compensation and method therefor
CN107530870A (zh) * 2015-04-02 2018-01-02 阿特拉斯·科普柯工业技术公司 带有输出扭矩补偿的动力工具及其使用方法
US11441650B2 (en) * 2015-07-07 2022-09-13 Harmonic Drive Systems Inc. Rotation transmission mechanism provided with strain wave gearing
US11391351B2 (en) 2015-07-07 2022-07-19 Harmonic Drive Systems Inc. Rotation transmission mechanism provided with strain wave gearing
CN105422792A (zh) * 2015-12-24 2016-03-23 苏州绿的谐波传动科技有限公司 一种带应变片的谐波减速器
JP2017124465A (ja) * 2016-01-13 2017-07-20 キヤノン株式会社 駆動機構、ロボットアーム及びロボット装置
EP3219449A3 (fr) * 2016-03-18 2017-10-11 Kabushiki Kaisha Yaskawa Denki Robot et capteur de couple
WO2017195420A1 (fr) * 2016-05-09 2017-11-16 ソニー株式会社 Capteur de couple et actionneur à force contrôlable
US11397119B2 (en) 2016-05-09 2022-07-26 Sony Corporation Torque sensor and power control actuator
CN105889417A (zh) * 2016-06-15 2016-08-24 苏州绿的谐波传动科技有限公司 一种轻量型精密谐波减速器
CN106246811A (zh) * 2016-07-25 2016-12-21 苏州绿的谐波传动科技有限公司 谐波减速器
JP2019039547A (ja) * 2017-08-29 2019-03-14 日立オートモティブシステムズ株式会社 波動歯車減速機、及び内燃機関用リンク機構のアクチュエータ
WO2019044116A1 (fr) * 2017-08-29 2019-03-07 日立オートモティブシステムズ株式会社 Réducteur de vitesse d'engrenage à ondes et actionneur de mécanisme de liaison pour moteur à combustion interne
CN110044543B (zh) * 2018-01-15 2024-01-30 上海华依科技集团股份有限公司 扭矩传感器标定装置
CN110044543A (zh) * 2018-01-15 2019-07-23 上海华依科技集团股份有限公司 扭矩传感器标定装置
CN110316109A (zh) * 2018-03-28 2019-10-11 本田技研工业株式会社 电动车辆
WO2020074040A1 (fr) 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Réducteur harmonique et élément de transmission approprié ainsi que bras robotisé et procédé pour mesurer un couple
WO2020074039A1 (fr) 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Réducteur harmonique et élément de transmission élastique approprié et bras robotisé et procédé de montage d'une jauge extensométrique
CN112543863A (zh) * 2018-10-10 2021-03-23 舍弗勒技术股份两合公司 应变波齿轮系统及其传动元件、机械臂和测量扭矩的方法
CN112543863B (zh) * 2018-10-10 2022-12-20 舍弗勒技术股份两合公司 应变波齿轮系统及其传动元件、机械臂和测量扭矩的方法
DE102018125079B4 (de) 2018-10-10 2023-12-28 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe und Übertragungselement hierfür sowie Roboterarm und Verfahren zum Messen eines Drehmomentes
DE102018125079A1 (de) * 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe und Übertragungselement hierfür sowie Roboterarm und Verfahren zum Messen eines Drehmomentes
DE102018125078A1 (de) * 2018-10-10 2020-04-16 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe und elastisches Übertragungselement hierfür sowie Roboterarm und Verfahren zum Anordnen eines Dehnungsmessstreifens
US11874191B2 (en) 2018-10-10 2024-01-16 Schaeffler Technologies AG & Co. KG Strain wave gear and transmission element for same, robotic arm and method for measuring a torque
CN109139856A (zh) * 2018-10-15 2019-01-04 南京信息工程大学 一种兼具传感功能的礼帽型谐波减速器
DE102018130970A1 (de) 2018-12-05 2020-06-10 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe sowie Roboterarm
JP7402338B2 (ja) 2019-11-30 2023-12-20 アジャイル ロボッツ アーゲー メカニカルアームジョイント
WO2021104948A1 (fr) * 2019-11-30 2021-06-03 Agile Robots AG Joint de bras mécanique
CN111121669A (zh) * 2020-01-19 2020-05-08 天津大学 一种用于精密减速器检测仪中多功能角度校准装置及方法
WO2021148068A1 (fr) 2020-01-22 2021-07-29 Schaeffler Technologies AG & Co. KG Procédé de contrôle d'un assemblage d'au moins trois jauges de déformation et engrenage à ondes de déformation
JP2023506872A (ja) * 2020-01-22 2023-02-20 シェフラー テクノロジーズ アー・ゲー ウント コー． カー・ゲー 少なくとも３つのひずみゲージを備えるアセンブリをチェックするための方法及びストレイン・ウェーブ・ギア
EP3882488A1 (fr) * 2020-03-19 2021-09-22 Harmonic Drive SE Dispositif formant transmission à démultiplication harmonique pourvu de capteur intégré
EP4130512A4 (fr) * 2020-03-24 2023-07-05 Sumitomo Heavy Industries, LTD. Dispositif d'engrenage de type à engrènement souple
WO2021193244A1 (fr) * 2020-03-24 2021-09-30 住友重機械工業株式会社 Dispositif d'engrenage de type à engrènement souple
JP2021173387A (ja) * 2020-04-30 2021-11-01 株式会社ハーモニック・ドライブ・システムズ トルク検出機構を備えた波動歯車装置
WO2021239317A1 (fr) * 2020-05-27 2021-12-02 Siemens Aktiengesellschaft Dispositif d'entraînement, bras de robot et procédé de mesure de couple
DE102020128602A1 (de) 2020-10-30 2022-05-05 Schaeffler Technologies AG & Co. KG Spannungswellengetriebe und elastisches Übertragungselement hierfür
US12029516B2 (en) 2021-02-11 2024-07-09 Mako Surgical Corp. Robotic manipulator comprising isolation mechanism for force/torque sensor
CN113074235A (zh) * 2021-03-25 2021-07-06 永康市双智工贸有限公司 一种机器人谐波减速器关节的应力测量装置
US20230182325A1 (en) * 2021-12-10 2023-06-15 Coretronic Mems Corporation Joint actuator of robot
DE102023100473B3 (de) 2023-01-11 2024-02-29 Harmonic Drive Se Lagereinheit mit integriertem Sensor

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