Harmonic reducer and industrial robot

Abstract

The present application relates to a harmonic reducer and an industrial robot. The harmonic reducer includes: a flexspline; a rigid pulley cooperating with the flexspline; an input force detection module disposed on the flexspline for measuring a first load on the flexspline; an output force detection module disposed on the rigid pulley for measuring a second load on the rigid pulley; and a control module for determining the input force of the flexspline based on the first load and the output force of the rigid pulley based on the second load to determine whether the ratio between the input force and the output force is within a threshold range. The harmonic reducer can provide real-time feedback on load changes during transmission during operation to assist the robot motion control system in making error corrections and improving control accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of reducers, and in particular to a harmonic reducer and an industrial robot. Background Art

[0002] Harmonic reducers are an integral part of industrial robots, installed at joints to improve torque conversion. The input is connected to the motor, and the output is connected to the robotic arm. Based on the reduction ratio design, the reducer achieves deceleration and torque increase. However, due to internal friction, component clearances, and assembly tolerances, the actual transmission efficiency of the reducer is often lower than the expected design value. The specific extent of the deviation can only be determined through separate testing with appropriate test equipment. However, after the reducer is assembled on the robot, deviations often persist after assembly due to external factors or assembly errors. This can lead to insufficient output force or mismatches between input and output when the robot is in use, affecting the robot's motion control accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a harmonic reducer and an industrial robot, which can provide real-time feedback on load changes during the transmission process during operation to assist the robot motion control system in making error corrections and improve control accuracy.

[0004] In a first aspect, an embodiment of the present application provides a harmonic reducer, the harmonic reducer comprising:

[0005] Flexspline;

[0006] a rigid wheel, cooperating with the flexible wheel;

[0007] An input force detection module, provided on the flexspline, for measuring a first load of the flexspline;

[0008] An output force detection module, provided on the rigid wheel, for measuring a second load of the rigid wheel;

[0009] The control module determines an input force of the flexible pulley according to the first load and an output force of the rigid pulley according to the second load, so as to determine whether a ratio between the input force and the output force is within a threshold range.

[0010] In a possible implementation, the control module includes:

[0011] a wireless module, electrically connected to the input force detection module and the output force detection module, and configured to obtain force value signals of the first load and the second load;

[0012] The acquisition and generation module is electrically connected to the wireless module, and is used to obtain the force value signal and convert the force value signal to output the input force of the flexible pulley and the output force of the rigid pulley.

[0013] In a possible implementation, a rigid bearing is further included, wherein the rigid bearing connects the rigid wheel and the flexible wheel, and the wireless module includes a first wireless group and a second wireless group.

[0014] The first wireless group includes a first transmitting end and a first receiving end, the first transmitting end is arranged on the flexible pulley, the first receiving end is arranged on the rigid bearing, the first transmitting end is electrically connected to the input force detection module, and the first receiving end is electrically connected to the acquisition and generation module;

[0015] The second wireless group includes a second transmitting end and a second receiving end, the second transmitting end is arranged on the rigid wheel, the second receiving end is arranged on the rigid bearing, the second transmitting end is electrically connected to the output force detection module, and the second receiving end is electrically connected to the acquisition and generation module.

[0016] In one possible implementation, the rigid bearing has an inner ring and an outer ring, an inner sidewall of the inner ring is opposite to an outer sidewall of the flexspline, and is respectively provided with a first recessed portion and a second recessed portion opposite to each other, the first receiving end is provided in the first recessed portion, and the first transmitting end is provided in the second recessed portion;

[0017] The inner side wall of the outer ring is opposite to the outer side wall of the rigid wheel, and is respectively provided with a third recessed portion and a fourth recessed portion relative to each other. The second receiving end is provided in the third recessed portion, and the second transmitting end is provided in the fourth recessed portion.

[0018] In a possible implementation, the input force detection module includes a plurality of first strain gauges uniformly arranged along the circumference of the outer side wall of the flexible pulley, the plurality of first strain gauges are connected to form a first bridge group, and the first bridge group is radio-connected to the wireless module.

[0019] In a possible implementation, the output force detection module includes a plurality of strain gauge groups uniformly arranged along the circumference of the rigid wheel, the plurality of strain gauge groups are connected to form a second bridge group, and the second bridge group is radio-connected to the wireless module.

[0020] In a possible implementation, the rigid wheel has elastic beams uniformly arranged along the circumference, and the strain gauge group is provided on the elastic beams.

[0021] The strain gauge group includes a second strain gauge and a third strain gauge that are arranged in opposite directions. Along the axial direction of the rigid wheel, the second strain gauge and the third strain gauge are respectively arranged on both sides of the elastic beam.

[0022] In a possible implementation, the rigid wheel includes a first body and a second body connected to each other, the first body is configured as an annular columnar structure, and the second body is circumferentially connected to the outer side wall of the first body.

[0023] The second body is provided with a plurality of slots arranged along the circumferential direction and penetrating along the axial direction, and the connection between two adjacent slots forms the elastic beam.

[0024] In a possible implementation, the elastic beam is provided with a fifth recess and a sixth recess at two opposite ends along the axial direction, and the second strain gauge and the third strain gauge are respectively provided at the bottom of the fifth recess and the bottom of the sixth recess.

[0025] In a possible implementation, the acquisition and generation module is disposed on a side wall of the fifth recessed portion or a side wall of the sixth recessed portion.

[0026] In a possible implementation, the outer side wall of the second body is provided with a seventh recessed portion arranged along the circumferential direction, and the seventh recessed portion is used to dispose the wireless module.

[0027] In a possible implementation, the acquisition and generation module and the wireless module are connected via a wire.

[0028] The second body is provided with a lead hole, and one of the fifth recessed portion and the sixth recessed portion is connected to the fourth recessed portion through the lead hole. The lead passes through the lead hole to connect the acquisition and generation module and the wireless module.

[0029] In a second aspect, an embodiment of the present application further provides an industrial robot, comprising: a joint, a robotic arm, and a reducer located between the joint and the robotic arm, wherein the reducer is any harmonic reducer as described above.

[0030] According to the harmonic reducer and industrial robot provided in the embodiments of the present application, the harmonic reducer includes an input force detection module and an output force detection module, respectively disposed on the flexspline and the rigid pulley, and electrically connected to the control module. This allows the input and output force detection of the harmonic reducer to be completed without requiring the harmonic reducer to be separately disposed in a detection device. That is, after the harmonic reducer is assembled on the robot, the various modules provided above enable the industrial robot to obtain the actual transmission load of the harmonic reducer at any time, thereby obtaining feedback on the actual force, and determining whether the harmonic reducer has assembly errors that result in insufficient output force or mismatch between input and output. This allows for real-time feedback of the transmission load during operation, assisting the robot motion control system in making error corrections and improving control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In addition, in the drawings, the same reference numerals are used for the same components, and the drawings are not drawn according to the actual scale.

[0032] Figure 1 A schematic cross-sectional structure diagram of a harmonic reducer provided in an embodiment of the present application is shown, wherein the direction indicated by arrow X is the axial direction, and the direction indicated by arrow Y is the radial direction;

[0033] Figure 2 Show Figure 1 A partial enlarged view of part A;

[0034] Figure 3 A schematic diagram of the flexible pulley structure of a harmonic reducer provided in an embodiment of the present application is shown;

[0035] Figure 4 A schematic diagram of a partial structure of a rigid wheel of a harmonic reducer provided in an embodiment of the present application is shown;

[0036] Figure 5 A top view of a rigid wheel of a harmonic reducer provided in an embodiment of the present application is shown.

[0037] Description of reference numerals:

[0038] 1. Support plate; 2. Flexible wheel; 3. Rigid bearing; 4. First wireless group; 411. Second receiving end; 412. Second transmitting end; 5. Acquisition generation module; 6. Output force detection module; 611. Second strain gauge; 612. Third strain gauge; 7. Flexible bearing; 8. Input shaft; 9. Output plate; 10. Input force detection module; 101. First strain gauge; 11. Second wireless group; 111. First receiving end; 112. First transmitting end; 12. Rigid wheel; 121. First body; 122. Second body; 122a. Slot; 122b. Seventh recess; 122c. Lead hole; 13. Elastic beam; 131. Fifth recess; 132. Sixth recess. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] Figure 1 A schematic diagram of the cross-sectional structure of a harmonic reducer provided in an embodiment of the present application is shown, wherein the direction indicated by the arrow X is the axial direction, and the direction indicated by the arrow Y is the radial direction, which will not be emphasized separately later.

[0041] See also Figure 1 The present invention provides a harmonic reducer, a type of reduction gear, comprising three basic components: a fixed internally toothed rigid wheel 12, a flexspline 2 (i.e., a thin-walled elastic sleeve whose base is connected to the driven shaft, forming a toothed ring on the busbar at the beginning of the flexspline 2), and a wave generator that causes radial deformation of the flexspline 2. The harmonic reducer can be applied to industrial robots or other high-precision, miniaturized applications, such as small aerospace vehicles and electronic dogs developed to meet daily life needs. This is not specifically limited here.

[0042] This application takes the application of a harmonic reducer in an industrial robot as an example to explain in detail the specific scheme of the harmonic reducer. The harmonic reducer is used to be installed at the joint of the robot to provide high torque conversion. Its input end is connected to the motor and its output end is connected to the robotic arm. Based on the design of the reduction ratio, the harmonic reducer achieves deceleration and torque increase. The wave generator includes an input shaft 8 connected to the motor. The cross section of the input shaft 8 is elliptical, and the part is used to fit tightly with the inner ring of the flexible wheel 2 of the annular cylindrical structure. The rigid wheel of the annular cylindrical structure is sleeved on the outer wall of the flexible wheel 2, and the differential tooth transmission is realized between the two by setting meshing gears.

[0043] The flexspline 2 and the rigid wheel 12 are connected via a rigid bearing 3, and the flexspline 2 and the input shaft 8 are connected via a flexible bearing 7. The harmonic reducer also includes a support disc 1 and an output disc 9 with a thin flange structure. The inner sides of the support disc 1 and the output disc 9 cooperate with bearings to support the input shaft 8. The outer edges are provided with countersunk holes that fit the flexspline 2, and screws are passed through the countersunk holes to fix the flexspline 2 to the rigid bearing 3. The support disc 1 and the output disc 9 are used together to support the input shaft 8 to prevent skewing. In addition, the flanges of the support disc 1 and the flexspline 2 are fastened and locked to the outer ring of the rigid bearing 3 by the same screw, and the output disc 9 and the rigid wheel 12 are fastened and locked to the inner ring of the rigid bearing 3 by the same screw.

[0044] Optionally, an annular groove is provided on the surface of the side where the support disc 1 contacts the flexible wheel 2 , and a built-in sealing ring is used for sealing.

[0045] The flexible spline 2 is a thin-walled cylindrical structure with a flange, susceptible to radial deformation. The portion of the flexible spline 2, located away from the support disc 1 in the axial direction X, is provided with a plurality of first teeth evenly spaced along the circumference on its outer side. The rigid spline 12 is an annular cylindrical structure as a whole, with a plurality of second teeth evenly spaced along the circumference on its inner sidewall. The first and second teeth partially mesh to achieve transmission.

[0046] The harmonic reducer also includes an input force detection module 10, an output force detection module 6, and a control module. The input force detection module 10 is disposed on the flexspline 2 and is used to measure a first load on the flexspline 2. The output force detection module 6 is disposed on the rigid pulley 12 and is used to measure a second load on the rigid pulley 12. The control module determines the input force of the flexspline 2 based on the first load and the output force of the rigid pulley 12 based on the second load to determine whether the ratio of the input force to the output force is within a threshold range. By respectively disposing the input force detection module 10 and the output force detection module 6 on the flexspline 2 and the rigid pulley 12, and electrically connecting the input force detection module 10 and the output force detection module 6 to the control module, the input and output force detection of the harmonic reducer can be completed without the harmonic reducer being separately disposed in the detection equipment. That is, after the harmonic reducer is assembled on the robot, the various modules set up above enable the industrial robot to obtain the actual transmission load of the harmonic reducer at any time to obtain feedback of the actual force, so as to determine whether there is an assembly error in the harmonic reducer that leads to insufficient output force or mismatch between input and output, thereby realizing real-time feedback of the transmission load during operation, assisting the robot motion control system to make error correction and improve control accuracy.

[0047] Optionally, the control module can be electrically connected to an external computer to calculate and display the results of the test, and to assist in error correction by controlling the robot's motion to ensure that the input force and output force match, that is, the ratio between the two is within a threshold range. This threshold range can, for example, be within a certain fluctuation range of the desired reduction ratio, where values ​​within this fluctuation range do not result in insufficient output force and theoretically allow the input force and output force to match, and is not specifically limited here.

[0048] It is understandable that the specific operation methods and steps for assisting the robot motion control to make error correction based on the feedback results so that the ratio of input force to output force is within the threshold range will not be described in detail here.

[0049] In an optional embodiment, the control module includes a wireless module electrically connected to the input force detection module 10 and the output force detection module 6 for acquiring force signals of the first load and the second load; and an acquisition and generation module 5 electrically connected to the wireless module for acquiring the force signals and converting them to output the input force of the flexspline 2 and the output force of the rigid pulley 12. The wireless module and acquisition and generation module 5 are configured to minimize interference with the movement and strength of the rigid pulley 12, the flexspline 2, and the rigid bearing 3 while utilizing the limited space within the harmonic reducer. Wireless transmission and acquisition are used to monitor and provide feedback on the actual input and output data of the harmonic reducer, so that the presence of assembly errors and other issues can be determined based on the data.

[0050] Optional, see Figure 2 The wireless module includes a first wireless group 4 and a second wireless group 11. The first wireless group 4 includes a first transmitting end 112 and a first receiving end 111. The first transmitting end 112 is set on the flexible pulley 2, and the first receiving end 111 is set on the rigid bearing 3. The first transmitting end 112 is electrically connected to the input force detection module 10, and the first receiving end 111 is electrically connected to the acquisition and generation module 5. The second wireless group includes a second transmitting end 412 and a second receiving end 411. The second transmitting end 412 is set on the rigid pulley 12, and the second receiving end 411 is set on the rigid bearing 3. The second transmitting end 412 is electrically connected to the output force detection module 6, and the second receiving end 411 is electrically connected to the acquisition and generation module 5. This ensures that the wireless module can accurately and stably obtain the corresponding data measured by the input force detection module 10 and the output force detection module 6, and the wireless transmission method will not affect the deceleration operation of the harmonic reducer.

[0051] In one specific embodiment, the rigid bearing 3 comprises an inner ring and an outer ring. The inner sidewall of the inner ring opposes the outer sidewall of the flexspline 2 and is provided with first and second opposing recesses, respectively. A first receiving end 111 is disposed in the first recess, and a first transmitting end 112 is disposed in the second recess. The inner sidewall of the outer ring opposes the outer sidewall of the rigid wheel 12 and is provided with third and fourth opposing recesses, respectively. A second receiving end 411 is disposed in the third recess, and a second transmitting end 412 is disposed in the fourth recess. By placing the corresponding transmitting and receiving components of the wireless group in opposite recesses, the relative motion between the flexspline and the rigid wheel is not affected, while ensuring good wireless transmission performance and high accuracy. This optimizes the design of the harmonic reducer within a limited space and ensures transmission accuracy.

[0052] Optionally, the first, second, third, and fourth recessed portions may be inwardly concave groove structures disposed at corresponding positions. The grooves may be square, circular, or the like, and are not specifically limited herein. Furthermore, while providing a location for the wireless group to pair up the transmitter and receiver without occupying additional space and affecting transmission accuracy, in order to minimize the impact of the recessed portions on the strength of the corresponding components, the maximum depth of the recessed portions may not be too high, preferably not exceeding 5 mm, and is not specifically limited herein.

[0053] It can be understood that the acquisition and generation module 5 includes a power distribution unit and a signal acquisition unit. The power distribution unit can be electrically connected to an external power supply to supply power to each internal module for real-time monitoring of input force and output force, which will not be described in detail here.

[0054] When the harmonic reducer is operating, screws pass through the outer ring of the rigid bearing 3, the flexspline 2, and the support disk 1 to secure and lock the drive. An external motor drives the input shaft 8 to rotate. The rotation of the elliptical shoulder of the input shaft 8 drives the roller inside the flexible bearing 7 to roll, causing the outer ring of the flexible bearing 7 to deform. This in turn compresses the teeth of the flexspline 2, causing the flexspline 2 to deform. This results in meshing of the flexspline 2 and the rigid wheel 12, generating a differential transmission. Simultaneously, the deformation of the flexspline 2 measured by the input force detection module 10 generates a first load, which is output as an electrical signal. The differential force of the flexspline 2's teeth causes the rigid wheel 12 to rotate, driving the inner ring of the rigid bearing 3 and the output disk 9 to rotate. The end face of the output disk 9 is connected to a load via screws. This load force is transmitted to the elastic beam 13 of the rigid wheel 12, causing deformation. The force value (second load) measured by the output force detection module 6 is then output as an electrical signal. The real-time input and output forces of the harmonic reducer can be obtained under continuous motion.

[0055] The specific structure of the harmonic reducer provided in the embodiment of the present application is further described in detail below with reference to the accompanying drawings.

[0056] See also Figure 3 and Figure 4 The specific structure of the harmonic reducer provided by the present application is as follows:

[0057] The input force detection module 10 includes multiple first strain gauges 101 evenly distributed along the circumference of the outer wall of the flexspline 2. These first strain gauges 101 are connected to form a first bridge group, which is wirelessly connected to the wireless module. By utilizing the multiple first strain gauges 101 evenly distributed along the outer wall of the flexspline 2, and by utilizing the flexspline and input shaft, and circumferentially constrained by the rigid pulley 12, the first strain gauges 101 located at the rotational angle where the flexspline 2 and the rigid pulley 12 mesh, detect the compressive force acting on the flexspline 2 at this moment, thereby measuring a first load and outputting the corresponding input force.

[0058] It is understood that the first strain gauges 101 are arranged in an even number of two along the circumference of the outer wall of the flexspline 2, and the number of first strain gauges 101 provided is adjustable. Specifically, the greater the number of first strain gauges 101 provided, the smaller the angle between adjacent first strain gauges 101, and the higher the accuracy of the first load measured during rotation, which is beneficial for the accuracy of input and output force measurements. During production, adaptive adjustments can be made based on actual needs and are not specifically limited here.

[0059] Optionally, the first strain gauge 101 is attached to the outer surface of the flexspline 2. This structure does not occupy too much space in the radial direction Y, thereby ensuring the stability of the harmonic reducer operation. Furthermore, the input force detection module 10 can also be other components capable of measuring the first load, and is not specifically limited here.

[0060] The output force detection module 6 includes multiple strain gauge groups evenly spaced around the circumference of the rigid pulley 12. These strain gauge groups are connected to form a second bridge group, which is wirelessly connected to the wireless module. By utilizing the multiple strain gauge groups evenly spaced around the circumference of the rigid pulley 12, and by utilizing the flexspline 2 to cooperate with the rigid pulley 12 and constrain its circumference on the rigid pulley 12, the flexspline 2 can rotate to different angular positions at different times, meshing with the portion of the rigid pulley 12 at that position. The strain gauge groups located in this meshing portion can generate a second load by limiting the deformation force of the flexspline 2, which is then output as a corresponding output force.

[0061] It is understood that the strain gauge groups are arranged in an even number of two per pair around the circumference of the rigid wheel 12, and the number of strain gauge groups provided is adjustable. Specifically, the greater the number of strain gauge groups provided, the smaller the angle between adjacent strain gauge groups, and the higher the accuracy of the second load measured during rotation, which is beneficial for the accuracy of input and output force measurements. During production, adaptive adjustments can be made based on actual needs and are not specifically limited here.

[0062] Optionally, the strain gauge assembly is attached to the rigid wheel 12. This structure does not occupy too much space in the radial direction Y, thereby ensuring the stability of the harmonic reducer operation. In addition, the output force detection module 6 can also be other components capable of measuring the second load, which is not specifically limited here.

[0063] The setting of connecting multiple strain gauges or strain gauge groups to form a bridge group is to facilitate radio connection with the wireless module, so as to ensure the effect of real-time monitoring of force value detection at different rotational engagement positions and improve detection accuracy.

[0064] In an optional embodiment, in a harmonic reducer, the strain gauge group can be installed in the original rigid wheel 12 structure, or the rigid wheel 12 can be improved to install the strain gauge group, which is not specifically limited here. The improved rigid wheel structure is described in detail below.

[0065] See also Figure 4 and Figure 5 The rigid wheel 12 has elastic beams 13 evenly arranged along the circumference. A strain gauge assembly is disposed on the elastic beams 13. The strain gauge assembly includes a second strain gauge 611 and a third strain gauge 612 disposed opposite each other. Along the axial direction X of the rigid wheel 12, the second strain gauge 611 and the third strain gauge 612 are disposed on either side of the elastic beam 13. The elastic beams 13 facilitate the placement of the second strain gauge 611 and the third strain gauge 612 on opposite sides of the elastic beam 13 along the axial direction X. This arrangement allows deformation within the elastic beams 13, thereby improving the accuracy of the strain gauge force measurement. Furthermore, the opposing strain gauges can be used to detect force during both forward and reverse rotation, ensuring a superior detection effect.

[0066] Optionally, the rigid wheel 12 includes a first body 121 and a second body 122 that are interconnected. The first body 121 is configured as an annular columnar structure, and the second body 122 is circumferentially connected to the outer wall of the first body 121. The first body 121 and the second body 122 are integrally formed. The second body 122 is provided with a plurality of slots 122a arranged circumferentially and extending along the axial direction X. The connection between two adjacent slots 122a forms an elastic beam 13. The elastic beam 13 is formed by the slots 122a provided in the rigid body 12. While ensuring that the deformation of the elastic beam 13 can increase the accuracy of strain gauge detection, the strength of the rigid wheel 12 is not reduced when it is combined with the flexspline 2, thereby ensuring operational stability.

[0067] The number of elastic beams 13 provided corresponds to the number of strain gauge groups provided. For design rules, refer to the rules for providing strain gauge groups, which will not be described in detail here.

[0068] It will be appreciated that the elastic beam 13 is provided with a fifth recess 131 and a sixth recess 132 at opposite ends along the axial direction X. The second strain gauge 611 and the third strain gauge 612 are disposed at the bottom of the fifth recess 131 and the bottom of the sixth recess 132, respectively. The provision of the fifth recess 131 and the sixth recess 132 creates an H-shaped cross-section of the elastic beam 13, further enhancing the elastic properties of the elastic beam 13. Furthermore, the distance between the bottoms of the fifth recess 131 and the sixth recess 132 in the axial direction X can be adjusted adaptively based on practical needs and is not specifically limited herein.

[0069] Likewise, the size and shape of the grooves of the fifth recessed portion 131 and the sixth recessed portion 132 are not specifically limited.

[0070] In an alternative embodiment, based on the aforementioned structure of the elastic beam 13 in the rigid wheel 12, the data acquisition and generation module 5 can be disposed on the sidewall of the fifth recess 131 or the sidewall of the sixth recess 132. Along the radial direction Y, the data acquisition and generation module 5 is disposed on the sidewall of the recess away from the input shaft 8. This ensures that the data acquisition and generation module 5 can be electrically connected to the wireless module without occupying additional space and affecting the operation of the reducer.

[0071] Optionally, the data acquisition and generation module 5 is connected to the receiving end of the wireless module via a lead wire. The outer wall of the second body 122 is provided with a circumferentially arranged seventh recess 122b. Seventh recess 122b is used to accommodate the receiving end of the wireless module, which is connected to the data acquisition and generation module 5 via the lead wire. This placement does not affect the operation of the reducer or the meshing strength between the rigid wheel 12 and the flex spline 2.

[0072] It is understood that the data collection and generation module 5 and the wireless module are connected via wires. The second body 122 is provided with a wire hole 122c. One of the fifth recess 131 and the sixth recess 132 communicates with the seventh recess 122b through the wire hole 122c. The wires pass through the wire hole 122c to connect the data collection and generation module 5 and the wireless module. This internal arrangement of wiring avoids wiring clutter that could affect operation.

[0073] The control module acquires input and output forces through the following steps: The detection circuit formed by the various modules of the external power supply is powered, wirelessly transmitted to the transmitting winding via the coil, and then supplied to the bridge assembly via a voltage-regulated power supply circuit. The force signal measured by the bridge assembly is amplified by an amplifier, converted into a frequency signal, and wirelessly transmitted via the transmitter. The receiving end detects the force signal sent by the transmitter, demodulates the signal, and converts it into a level signal for output. This allows the load on the flexspline and rigid pulley to be continuously monitored at different time intervals, thereby capturing the changes in input and output forces at different moments.

[0074] It is understandable that the set time interval can be every 1s, 2s, 3s..., and is not specifically limited here.

[0075] Optionally, based on the real-time feedback of input and output force changes, the acquisition and generation module 5 may also perform calculations and analysis, i.e., compare the information with preset values ​​to determine whether there is an error. Furthermore, an adjustment module may be included to adjust the ratio of input force to output force based on the judgment result to keep it within a threshold range, which is not specifically limited here.

[0076] In addition, an embodiment of the present application further provides an industrial robot, comprising: a joint, a robotic arm, and a reducer located between the joint and the robotic arm, wherein the reducer is any harmonic reducer as described above.

[0077] It should be noted that the harmonic reducer provided in the embodiment of the present application is not limited to use in equipment in the field of industrial robots, but can also be used in fields such as aerospace that require high-precision control, which will not be repeated here.

[0078] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0079] It should be readily understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0080] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be in other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0081] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A harmonic reducer, characterized in that: include: Flexspline; a rigid wheel, cooperating with the flexible wheel; An input force detection module, provided on the flexspline, for measuring a first load of the flexspline; An output force detection module, provided on the rigid wheel, for measuring a second load of the rigid wheel; a control module, configured to determine an input force of the flexspline according to the first load and an output force of the rigid pulley according to the second load, so as to determine whether a ratio between the input force and the output force is within a threshold range; The control module includes: a wireless module, electrically connected to the input force detection module and the output force detection module, and configured to obtain force value signals of the first load and the second load; an acquisition and generation module, electrically connected to the wireless module, for acquiring the force value signal and converting the force value signal to output an input force of the flexspline and an output force of the rigid pulley; It also includes a rigid bearing, wherein the rigid bearing connects the rigid wheel and the flexible wheel, and the wireless module includes a first wireless group and a second wireless group; The first wireless group includes a first transmitting end and a first receiving end, the first transmitting end is arranged on the flexible pulley, the first receiving end is arranged on the rigid bearing, the first transmitting end is electrically connected to the input force detection module, and the first receiving end is electrically connected to the acquisition and generation module; The second wireless group includes a second transmitting end and a second receiving end, the second transmitting end is arranged on the rigid wheel, the second receiving end is arranged on the rigid bearing, the second transmitting end is electrically connected to the output force detection module, and the second receiving end is electrically connected to the acquisition and generation module; The rigid bearing has an inner ring and an outer ring, the inner sidewall of the inner ring is opposite to the outer sidewall of the flexible spline, and is respectively provided with a first recessed portion and a second recessed portion opposite to each other, the first receiving end is provided in the first recessed portion, and the first transmitting end is provided in the second recessed portion; The inner side wall of the outer ring is opposite to the outer side wall of the rigid wheel, and is respectively provided with a third recessed portion and a fourth recessed portion relative to each other. The second receiving end is provided in the third recessed portion, and the second transmitting end is provided in the fourth recessed portion.

2. The harmonic reducer according to claim 1, characterized in that: The input force detection module includes a plurality of first strain gauges uniformly arranged along the circumference of the outer side wall of the flexible pulley. The plurality of first strain gauges are connected to form a first bridge group, and the first bridge group is wirelessly connected to the wireless module.

3. The harmonic reducer according to claim 1, characterized in that: The output force detection module includes a plurality of strain gauge groups uniformly arranged along the circumference of the rigid wheel. The plurality of strain gauge groups are connected to form a second bridge group, and the second bridge group is radio-connected to the wireless module.

4. The harmonic reducer according to claim 2, characterized in that: The rigid wheel has elastic beams uniformly arranged along the circumference, and the strain gauge group is arranged on the elastic beams. The strain gauge group includes a second strain gauge and a third strain gauge that are arranged in opposite directions. Along the axial direction of the rigid wheel, the second strain gauge and the third strain gauge are respectively arranged on both sides of the elastic beam.

5. The harmonic reducer according to claim 4, characterized in that: The rigid wheel comprises a first body and a second body connected to each other, wherein the first body is configured as an annular columnar structure, and the second body is circumferentially connected to the outer side wall of the first body. The second body is provided with a plurality of slots arranged along the circumferential direction and penetrating along the axial direction, and the connection between two adjacent slots forms the elastic beam.

6. The harmonic reducer according to claim 5, characterized in that: The elastic beam is provided with a fifth recessed portion and a sixth recessed portion at two opposite ends along the axial direction, and the second strain gauge and the third strain gauge are respectively provided at the bottom of the fifth recessed portion and the bottom of the sixth recessed portion.

7. The harmonic reducer according to claim 6, characterized in that: The collection and generation module is arranged on the side wall of the fifth recessed portion or the side wall of the sixth recessed portion.

8. The harmonic reducer according to claim 7, characterized in that: The outer side wall of the second body is provided with a seventh recessed portion arranged along the circumferential direction, and the seventh recessed portion is used to set the wireless module.

9. The harmonic reducer according to claim 8, characterized in that: The acquisition and generation module and the wireless module are connected via wires. The second body is provided with a lead hole, and one of the fifth recessed portion and the sixth recessed portion is connected to the fourth recessed portion through the lead hole. The lead passes through the lead hole to connect the acquisition and generation module and the wireless module.

10. An industrial robot, characterized in that: include: A joint, a robotic arm, and a reducer located between the joint and the robotic arm, wherein the reducer is a harmonic reducer according to any one of claims 1 to 9.

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