Strain wave gear system, transmission element for same, robot arm, and method for measuring a torque

A technology of gear system and strain wave, which is applied in the direction of manipulators, measuring devices, transmission devices, etc., can solve the problems of wave generator rotation position interference, etc., and achieve the effect of eliminating interference excitation

Active Publication Date: 2021-03-23
SCHAEFFLER TECH AG & CO KG
View PDF16 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] Solutions known from the prior art for measuring the torque of strain wave gear systems result in a torque signal that depends on and is disturbed by the rotational position of the wave generator

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Strain wave gear system, transmission element for same, robot arm, and method for measuring a torque
  • Strain wave gear system, transmission element for same, robot arm, and method for measuring a torque
  • Strain wave gear system, transmission element for same, robot arm, and method for measuring a torque

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0042] figure 1 A first preferred embodiment of an elastic transmission element according to the invention of a strain wave gear system is shown. The elastic transmission element (also called flexspline) has the shape of a flanged bush such that it has a bush-shaped portion 01 and an adjoining annular or flange-shaped portion 02 . External tooth 03 ( Figure 6 shown) is formed on the bush-shaped portion 01, the outer teeth engaging with the inner teeth (not shown) of the outer ring of the strain wave gear system.

[0043] In this first embodiment, four strain gauges 04 are arranged on the annular portion 02 of the elastic transmission element, which together extend completely circumferentially around the elastic transmission element. Four strain gauges 04 form a closed circumference on the axial sides of the elastic transmission element. In this first embodiment, since four strain gauges 04 are arranged laterally on the annular portion 02 of the elastic transmission element...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention first relates to an elastic transmission element of a strain wave gear system. Such strain wave gear systems are also referred to as harmonic drives. The elastic transmission element isalso referred to as a flexspline and has an outer toothing (03). The elastic transmission element is equipped with at least one expansion measuring strip (04) for measuring a mechanical strain on theelastic transmission element. According to the invention, the expansion measuring strip (04) extends or the multiple expansion measuring strips (04) extend, at least as a whole, about the circumference of a lateral surface or an axial lateral face of the elastic transmission element. The invention additionally relates to a strain wave gear system, to a robot arm, and to a method for measuring a torque on the elastic transmission element according to the invention.

Description

technical field [0001] The invention firstly relates to an elastic transmission element of a strain wave gear system. Such strain wave gearing systems are also known as harmonic drives or harmonic gearing. The elastic transmission element is also called a flexible spline and has external teeth. The elastic transmission element also has at least one strain gauge for measuring the mechanical strain of the elastic transmission element. The invention also relates to a strain wave gear system and a robotic arm, as well as a method for measuring the torque on the elastic transmission element according to the invention. Background technique [0002] The article "A joint torque sensing technique for robots with harmonic drives" by Hashimoto, M. et al. (Proceedings of IEEE International Conference on Robotics and Automation, No. 2, pp. 1034-1039, April 1991) describes a method for Method for measuring torque in strain wave gear systems. An expanding measuring tape arranged on the...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01L3/14B25J9/10F16H49/00
CPCG01L3/1457F16H49/001B25J9/1025F16H2049/003
Inventor延斯·海姆约亨·达美劳泉雅人
OwnerSCHAEFFLER TECH AG & CO KG