Harmonic reducer with torque sensor

Abstract

The harmonic reducer with the torque sensor comprises a wave generator, a flexible gear and a steel wheel, the flexible gear is sleeved outside the wave generator, the steel wheel is sleeved outside the flexible gear, the flexible gear and the steel wheel are in staggered tooth transmission, one side of the steel wheel is further connected with the torque sensor through a crossed roller bearing, and the other side of the steel wheel is connected with the harmonic reducer. The crossed roller bearing comprises a bearing inner ring and a bearing outer ring which are connected in a sleeved mode and arranged in a rotating mode, the steel wheel is fixed to the bearing inner ring, the torque sensor comprises an elastic base body, a signal conditioning module and a strain gauge, an outer ring of the elastic base body is fixed to the bearing outer ring, and an inner ring of the elastic base body is fixed to the flexible gear. Torque information of the output end of the joint motor can be accurately detected through the torque sensor, meanwhile, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, the inner ring of the torque sensor is fixed to the flexible gear and driven by the flexible gear, the overall structure is compact, and operation is stable.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motor structures, and in particular relates to a harmonic reducer with a torque sensor. Background Art

[0002] The joint motor is a mechatronic device consisting of a motor and a reducer. Its working principle is based on the synergy of the motor and the reducer to achieve high-precision movement. The joint motor is mainly composed of a motor body, a reducer, a bearing, a controller component, a casing and other parts. The controller component is used to detect information such as the motor speed and the speed of the reducer output end, and to accurately control the motor; however, most of the existing joint motors do not have the function of detecting torque information at the output end (reducer output end). Even if a small number of joint motors are equipped with torque sensors, the size of the joint motor will increase, which cannot meet the needs of miniaturization. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a harmonic reducer with a torque sensor, which has a compact structure and can improve the control accuracy of the shutdown motor.

[0004] In order to achieve the above-mentioned utility model purpose, the utility model adopts the following technical solutions:

[0005] A harmonic reducer with a torque sensor comprises a wave generator, a flexible pulley and a steel wheel, wherein the flexible pulley is sleeved outside the wave generator, the steel wheel is sleeved outside the flexible pulley, and under the drive of the wave generator, the flexible pulley and the steel wheel are staggered in transmission, one side of the steel wheel is also connected to a torque sensor through a cross roller bearing, the cross roller bearing comprises a bearing inner ring and a bearing outer ring which are sleeved and rotatably arranged with each other, the steel wheel is fixed to the bearing inner ring, and a sealing ring is further provided between the steel wheel and the bearing outer ring, the torque sensor comprises an elastic matrix, a signal conditioning module and a strain gauge, the outer ring of the elastic matrix is ​​fixed to the bearing outer ring, and the inner ring of the elastic matrix is ​​fixed to the flexible pulley.

[0006] As a preferred solution: the outer ring of the elastic base is an outer flange, the inner ring of the elastic base is an inner flange, the two are connected by a strain beam, and the strain gauge is arranged on the strain beam.

[0007] As a preferred solution: a sealing ring is further provided between the end faces of the outer flange and the outer ring of the bearing in contact.

[0008] As a preferred solution: there are multiple strain beams, which are arranged at equal intervals along the circumference, and grooves are provided between adjacent strain beams, and the signal conditioning module is embedded in the grooves.

[0009] As a preferred solution: the wave generator includes an elliptical hub for fixing to the motor shaft and a thin-walled bearing sleeved outside the elliptical hub, and the flexible wheel is sleeved outside the thin-walled bearing.

[0010] As a preferred solution: a T-shaped shaft is also fixed to the outside of the torque sensor, and the T-shaped shaft includes an integrally formed intermediate tube and a connecting plate, the connecting plate is arranged at one end of the intermediate tube, and a through hole connected to the intermediate tube is also provided in the middle of the connecting plate, and the intermediate tube passes through the harmonic reducer and the torque sensor.

[0011] As a preferred solution: the connection disk is also provided with a wire hole, and the wire of the signal conditioning module passes through the wire hole.

[0012] As a preferred solution: the end surface of the outer flange is provided with a circle of convex edges near the periphery, and the outer side wall of the connecting plate abuts against the inner wall of the convex edges.

[0013] The harmonic reducer of the utility model is connected to a torque sensor via a bearing, and the outer ring of the torque sensor is used as the output end. The torque information of the output end of the joint motor can be accurately detected through the torque sensor. At the same time, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible wheel and driven by the flexible wheel. The overall structure is compact and the operation is stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0015] Figure 1 and Figure 2 It is a schematic diagram of the explosion structure of the utility model at two different angles;

[0016] Figure 3 It is a schematic diagram of the structure of the elastic matrix of the utility model;

[0017] Figure 4 It is a schematic diagram of the cross-sectional structure of the utility model.

[0018] The accompanying drawings are marked as follows: 7, intermediate tube; 73, connecting plate; 80, elliptical hub; 81, thin-walled bearing; 82, flexible wheel; 83, steel wheel; 84, sealing ring; 85, bearing inner ring; 86, bearing outer ring; 9, torque sensor; 91, inner flange; 92, strain beam; 93, outer flange; 94, groove; 95, signal conditioning module; 96, strain gauge; 97, wire. DETAILED DESCRIPTION

[0019] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0020] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0023] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0025] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0026] like Figures 1 to 4 A harmonic reducer with a torque sensor shown in the figure includes a wave generator, a flexible wheel 82 and a steel wheel 83. The flexible wheel 82 is sleeved outside the wave generator, and the steel wheel 83 is sleeved outside the flexible wheel 82. Under the push of the wave generator, the flexible wheel 82 and the steel wheel 83 are driven by staggered teeth. The wave generator includes an elliptical hub 80 for fixing to the motor shaft and a thin-walled bearing 81 sleeved outside the elliptical hub 80, and the flexible wheel 82 is sleeved outside the thin-walled bearing 81.

[0027] One side of the steel wheel 83 is also connected to a torque sensor 9 through a cross roller bearing. The cross roller bearing includes a bearing inner ring 85 and a bearing outer ring 86 which are mutually sleeved and rotatably arranged. The steel wheel 83 is fixed to the bearing inner ring 85, and a sealing ring 84 is provided between the steel wheel 83 and the bearing outer ring 86. The torque sensor 9 includes an elastic matrix, a signal conditioning module 95 and a strain gauge 96. The outer ring of the elastic matrix is ​​fixed to the bearing outer ring 86, the inner ring of the elastic matrix is ​​fixed to the flexible wheel 82, and a sealing ring is provided between the outer ring of the elastic matrix and the end face in contact with the bearing outer ring 86.

[0028] The harmonic reducer of the utility model is connected to a torque sensor via a bearing, and the outer ring of the torque sensor is used as the output end. The torque information of the output end of the joint motor can be accurately detected through the torque sensor. At the same time, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible wheel and driven by the flexible wheel. The overall structure is compact and the operation is stable.

[0029] like Figure 3As shown, the outer ring of the elastic base is an outer flange 93, and the inner ring of the elastic base is an inner flange 91, and the two are connected by a strain beam 92, and the strain gauge 96 is arranged on the strain beam 92. There are multiple strain beams 92, and they are arranged at equal intervals along the circumference. A groove 94 is provided between adjacent strain beams 92, and the signal conditioning module 95 is embedded in the groove 94. The above structure makes the torque sensor itself smaller in size and convenient for use in the joint motor.

[0030] A T-shaped shaft is also fixed to the outside of the torque sensor 9, and the T-shaped shaft includes an integrally formed intermediate tube 7 and a connecting plate 73, the connecting plate 73 is arranged at one end of the intermediate tube 7, and a through hole communicating with the intermediate tube 7 is also arranged in the middle of the connecting plate, and the intermediate tube 7 passes through the harmonic reducer and the torque sensor. The above structure facilitates the connection of the line at the torque sensor end to the motor controller end through the T-shaped shaft.

[0031] The connecting plate 73 is also provided with a wire hole 731, and the wire 97 of the signal conditioning module 95 passes through the wire hole 731. The end face of the outer flange 93 is provided with a circle of convex edges near the periphery, and the outer wall of the connecting plate 73 abuts against the inner wall of the convex edge. The above structure makes the overall structure of the torque sensor compact, and the T-shaped shaft is connected to the end face of the torque sensor smoothly, which is convenient for connecting the output end of the joint motor with other structures.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0033] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A harmonic reducer with a torque sensor, comprising a wave generator, a flexible wheel (82) and a steel wheel (83), wherein the flexible wheel (82) is sleeved outside the wave generator, and the steel wheel (83) is sleeved outside the flexible wheel (82), and under the drive of the wave generator, the flexible wheel (82) and the steel wheel (83) are staggered in transmission, characterized in that: One side of the steel wheel (83) is also connected to a torque sensor (9) via a cross roller bearing. The cross roller bearing comprises a bearing inner ring (85) and a bearing outer ring (86) which are mutually sleeved and rotatably arranged. The steel wheel (83) is fixed to the bearing inner ring (85), and a sealing ring (84) is also provided between the steel wheel (83) and the bearing outer ring (86). The torque sensor (9) comprises an elastic matrix, a signal conditioning module (95) and a strain gauge (96). The outer ring of the elastic matrix is ​​fixed to the bearing outer ring (86), and the inner ring of the elastic matrix is ​​fixed to the flexible wheel (82).

2. A harmonic reducer with a torque sensor according to claim 1, characterized in that: The outer ring of the elastic base is an outer flange (93), and the inner ring of the elastic base is an inner flange (91), and the two are connected via a strain beam (92), and the strain gauge (96) is arranged on the strain beam (92).

3. A harmonic reducer with a torque sensor according to claim 2, characterized in that: A sealing ring is also provided between the end surfaces of the outer flange (93) and the bearing outer ring (86) that are in contact with each other.

4. A harmonic reducer with a torque sensor according to claim 2, characterized in that: There are a plurality of strain beams (92) which are arranged at equal intervals along the circumference; a groove (94) is provided between adjacent strain beams (92); and the signal conditioning module (95) is embedded in the groove (94).

5. The harmonic reducer with a torque sensor according to claim 1, characterized in that: The wave generator comprises an elliptical hub (80) for fixing to a motor shaft and a thin-walled bearing (81) sleeved outside the elliptical hub (80), and the flexible wheel (82) is sleeved outside the thin-walled bearing (81).

6. A harmonic reducer with a torque sensor according to claim 2, characterized in that: A T-shaped shaft is also fixed to the outside of the torque sensor (9), the T-shaped shaft comprising an integrally formed intermediate tube (7) and a connecting disk (73), the connecting disk (73) being arranged at one end of the intermediate tube (7), a through hole communicating with the intermediate tube (7) being also arranged in the middle of the connecting disk, the intermediate tube (7) passing through the harmonic reducer and the torque sensor.

7. A harmonic reducer with a torque sensor according to claim 6, characterized in that: The connection plate (73) is also provided with a wire hole (731), and the wire (97) of the signal conditioning module (95) passes through the wire hole (731).

8. The harmonic reducer with a torque sensor according to claim 6, characterized in that: The end surface of the outer flange (93) is provided with a convex edge near the periphery, and the outer wall of the connecting plate (73) abuts against the inner wall of the convex edge.

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