Harmonic reducer of flexible gear structure convenient for integrated threading of sensor

Abstract

The utility model discloses a harmonic reducer of a flexible gear structure convenient for integrated threading of a sensor. The harmonic reducer comprises a harmonic reducer assembly, an adjusting gasket, the sensor, a cross bearing and connecting fasteners among all the parts. The harmonic reducer assembly is composed of a rigid gear, a flexible gear, a wave generator and a pressing ring. The cross bearing is connected with the flexible gear and the adjusting shim, is fastened through the connecting fastener, and serves as a supporting piece and a transmission piece of the harmonic reducer; the adjusting gasket is assembled between the cross bearing and the rigid wheel, is fastened through the connecting fastener and is used for adjusting a gap; the sensor is attached to the surface of the outer cylinder wall or the surface of the inner cylinder wall of the flexible gear and connected with a wire, and the wire is led out of the harmonic reducer through a threading structure of the flexible gear and the cross bearing, connected with an external monitoring system and used for monitoring the state change of the harmonic reducer in the working process.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical drive technical field, through the optimization flexible gear structure, design threading feature, the lead -out of sensor integration is convenient, thereby under the feedback of external monitoring system, monitor the state change in the working process of harmonic reducer, get the performance information of harmonic reducer in time. BACKGROUND

[0002] Harmonic reducer is a new type of gear transmission mechanism, the commonly used component is rigid gear (abbreviation 'hard wheel') with internal gear, flexible gear (abbreviation 'flexible wheel') with external gear and wave generator (abbreviation 'wave generator') with oval contour line three big pieces constitute, because it has the advantages of wide speed ratio range, stable transmission, high efficiency, high precision, large load bearing, is widely used in robot, aerospace, medical equipment and other industries.

[0003] With the development of robot industry, the market demand of harmonic reducer is increasing, but the requirement of its performance index is also higher and higher, therefore need to detect the state in the working process of harmonic reducer, especially the state of flexible wheel. SUMMARY

[0004] For the state monitoring of performance index in the working process of harmonic reducer, the utility model provides a kind of flexible wheel structure's harmonic reducer for the lead -out of sensor integration.

[0005] The technical scheme adopted in the utility model example is:

[0006] A kind of flexible wheel structure's harmonic reducer for the threading of sensor integration, including harmonic reducer assembly, adjusting washer, sensor, cross bearing and the connecting fastener between each part.

[0007] The harmonic reducer assembly is used as reduction gear mechanism, and its characteristics are:

[0008] Preferably, the harmonic reducer assembly includes rigid wheel, flexible wheel, wave generator and pressure ring.

[0009] Preferably, the rigid wheel is rigid gear with internal gear, and the flexible wheel is thin-walled piece with external gear;The rigid wheel and flexible wheel have the same modulus, and the number of rigid wheel teeth is more than the number of flexible wheel teeth by 2.

[0010] Preferably, the wave generator is composed of elliptical cam, flexible bearing, baffle and connecting fastener.

[0011] Preferably, the flexible wheel is assembled in the rigid wheel, the wave generator is assembled in the flexible wheel, and the pressure ring is assembled at the bottom of the flexible wheel.

[0012] Preferably, during the operation of the harmonic reducer, the rigid wheel serves as a fixed part, the flexible wheel serves as an output part, the wave generator serves as an input part, and the compression ring serves as a fixed part of the flexible wheel and the cross bearing.

[0013] Preferably, the bottom flange surface of the flexible wheel is designed with a slotted structure for leading out the sensor wire.

[0014] Preferably, the compression ring is designed with a slotted structure for leading out the sensor wire.

[0015] Preferably, the slotted structures of the flexible wheel and the compression ring are installed in the same direction during assembly.

[0016] The adjusting washer serves as an adjusting part for adjusting the threading gap of the sensor wire, characterized in that:

[0017] Preferably, the adjusting washer is assembled between the rigid wheel and the cross bearing to adjust the threading gap of the sensor wire.

[0018] Preferably, the adjusting washer is fastened with the connecting fastener to the rigid wheel and the cross bearing.

[0019] The cross bearing serves as a support part and a transmission part for supporting and transmitting the motion of the harmonic reducer assembly.

[0020] Preferably, the cross bearing has an inner ring connected to the flexible wheel, compressed by the compression ring, and fastened with the connecting fastener, and an outer ring connected to the adjusting washer and fastened with the connecting fastener.

[0021] Preferably, the threading feature of the cross bearing is installed opposite to the slotted structure of the flexible wheel for leading out the sensor wire.

[0022] Preferably, the inner ring of the cross bearing serves as an output end during the operation of the harmonic reducer, and the outer ring of the cross bearing serves as a fixed end during the operation of the harmonic reducer.

[0023] The sensor is attached to the outer or inner cylinder wall of the flexible wheel to monitor the state change of the flexible wheel during operation and obtain timely feedback performance information, characterized in that:

[0024] Preferably, according to the monitoring requirements, the sensor can be attached to the outer or inner cylinder wall of the flexible wheel.

[0025] Preferably, the sensor is attached to the outer cylinder wall of the flexible wheel, and the wire is led out along the outer cylinder wall of the flexible wheel, through the slotted structure of the flexible wheel and the threading feature of the cross bearing, and connected to the external monitoring system.

[0026] Preferably, the sensor is attached to the flexible gear inner cylinder wall, and the wire is along the flexible gear inner cylinder wall, through the compression ring and the flexible gear slot structure, the cross bearing threading feature, thereby leading out and connecting with the external monitoring system.

[0027] The utility model optimizes the flexible gear structure, utilizes the existing structure characteristics of cross bearing, realizes the wire leading out of the sensor integrated on the flexible gear, makes the wire connected with the external monitoring system, thereby realizing the monitoring of the state change in the working process of harmonic reducer, and obtaining the performance information of harmonic reducer in time. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Harmonic reducer overall structure schematic view.

[0029] Figure 2 Harmonic reducer assembly schematic view.

[0030] Figure 3 Flexible gear structure schematic view.

[0031] Figure 4 Adjustment gasket structure schematic view.

[0032] Figure 5 Compression ring structure schematic view.

[0033] Figure 6 Cross bearing structure schematic view.

[0034] Figure 7 Flexible gear and compression ring assembly schematic view.

[0035] Figure 8 Flexible gear, compression ring and cross bearing assembly schematic view.

[0036] Figure 9 Sensor attached to flexible gear outer cylinder wall wire leading out schematic view.

[0037] Figure 10 Sensor attached to flexible gear inner cylinder wall wire leading out schematic view. DETAILED DESCRIPTION

[0038] In order to make the technical field technician better understand the utility model technical scheme, the utility model is described in detail in combination with the drawings and the embodiment:

[0039] The utility model discloses a kind of harmonic reducer of flexible wheel structure for facilitating sensor integrated threading, including harmonic reducer assembly, adjusting washer, sensor, cross bearing and the connecting fastener between each part. The harmonic reducer assembly is composed of rigid wheel, flexible wheel, wave generator and pressure ring, realize the effect of reducing motor speed, increasing motor torque;The cross bearing is connected with the flexible wheel, the adjusting washer, and is fastened by the connecting fastener, as the support and transmission part of harmonic reducer;The adjusting washer is assembled between the cross bearing and the rigid wheel, and is fastened by the connecting fastener, for adjusting gap;The sensor is pasted to flexible wheel outer cylinder wall surface or inner cylinder wall surface, and is connected with wire, the wire is led out harmonic reducer by the threading structure of flexible wheel and cross bearing, and is connected with external monitoring system, for monitoring the state change of harmonic reducer working process. The utility model optimizes flexible wheel structure, utilizes the existing structural features of cross bearing, realizes the wire leading-out of sensor integrated on flexible wheel, so that wire is connected with external monitoring system, to realize the state change in the working process of harmonic reducer, and timely get the performance information of feedback harmonic reducer.

[0040] As Figure 1 The utility model discloses a kind of harmonic reducer of flexible wheel structure for facilitating sensor integrated threading, including harmonic reducer assembly 1, adjusting washer 2, cross bearing 3, sensor and connecting fastener 6.

[0041] The harmonic reducer assembly 1 includes rigid wheel 12, flexible wheel 13, wave generator 11 and pressure ring 14.

[0042] The cross bearing 3 is fixed with flexible wheel 13 by pressure ring 14, and is fastened together by the connecting fastener 6, and cross bearing 3 is the support and transmission part of the harmonic reducer assembly 1.

[0043] The adjusting washer 2 is used for adjusting gap, and is assembled between the cross bearing 3 and the rigid wheel 12, and is fastened by the connecting fastener 6.

[0044] The sensor is pasted to the outer cylinder wall or inner cylinder wall of the flexible wheel 13, and is connected with external wire;

[0045] The cross bearing 3, flexible wheel 13 and pressure ring 14 all have threading feature structure, and can realize the external wire leading-out of the sensor.

[0046] The external wire of sensor is led out by the threading feature structure of flexible wheel 13 and cross bearing 3, and is connected with external monitoring system, for monitoring the working state change of the harmonic reducer assembly 1;

[0047] The threading feature on the flexspline 13 is a slot A 132, and the threading feature on the pressure ring 14 is a slot B 142; the cross bearing 3 is provided with a threading feature 31; the slot A 132, the slot B 142 and the threading feature 31 are in the same direction;

[0048] The adjusting washer 2 is assembled on the cross bearing 3, and the first mounting surface A21 and the second mounting surface A22 of the adjusting washer 2 are in contact with the first mounting surface B34 and the second mounting surface B35 of the cross bearing 3 respectively. Then the flexspline 13 is mounted on the cross bearing 3, and the mounting surface C133 of the flexspline 13 is in contact with the third mounting surface 33 of the cross bearing 3. The flexspline 13 and the cross bearing 3 are fixed by using the pressure ring 14, and the shaft diameter surface 141 of the pressure ring 14 is in contact with the inner hole surface 131 of the flexspline 13 and the inner hole surface 32 of the cross bearing. Then the pressure ring 14, the flexspline 13 and the cross bearing 3 are fastened by using the connecting fastener 6. During the installation process, the slot B 142 of the pressure ring 14, the slot A 132 of the flexspline 13 and the threading feature 31 of the cross bearing must be in the same direction, so that the lead wire of the first sensor 4 or the second sensor 5 can be smoothly led out.

[0049] The sensor includes the first sensor 4 and the second sensor 5.

[0050] According to the requirements, the first sensor 4 or the second sensor 5 is attached to the outer cylinder wall or the inner cylinder wall of the flexspline 13, and the second sensor lead wire 51 or the first sensor lead wire 41 is led out through the slot A 132 of the flexspline 13, the slot B 142 of the pressure ring 14 and the threading feature 31 of the cross bearing 3.

[0051] The wave generator 11 is installed in the inner hole of the flexspline 13, and then the rigid wheel 12 is assembled, and the first mounting surface D121 and the second mounting surface D122 of the rigid wheel 12 are in contact with the third mounting surface A23 and the fourth mounting surface A24 of the adjusting washer 2 respectively. The rigid wheel 12, the adjusting washer 2 and the cross bearing 3 are fastened by using the connecting fastener 6.

[0052] The wave generator 11 and the rigid wheel 12 are connected with the motor, and the second sensor lead wire 51 or the first sensor lead wire 41 of the second sensor 5 or the first sensor 4 is connected with the external monitoring system, so as to monitor the state change of the flexspline 13 during the working process of the harmonic reducer, and obtain the performance information of the harmonic reducer in time.

Claims

1. A harmonic reducer of a flexspline structure convenient for sensor-integrated threading, characterized by: The harmonic reducer assembly, adjustment gasket, cross bearing, sensor and connecting fastener are included; The harmonic reducer assembly includes a rigid wheel, a flexible wheel, a wave generator and a pressure ring; The cross bearing is fixed with the flexible wheel through the pressure ring and fastened together through the connecting fastener, and the cross bearing serves as a support and a transmission of the harmonic reducer assembly; The adjustment gasket is used for adjusting the gap, which is assembled between the cross bearing and the rigid wheel and fastened through the connecting fastener; The sensor is attached to the outer cylinder wall or the inner cylinder wall of the flexible wheel, and has an external lead wire connected thereto; The cross bearing, the flexible wheel and the pressure ring all have threading features, which can realize the lead-out of the external lead wire of the sensor; The external lead wire of the sensor is led out through the threading features of the flexible wheel and the cross bearing, and connected with an external monitoring system, which is used for monitoring the working state change of the harmonic reducer assembly.

2. A harmonic reducer of the kind having a flexible gear structure for facilitating sensor integrated threading according to claim 1, characterized in that: The threading feature on the flexible wheel is a slot A, and the threading feature on the pressure ring is a slot B; the cross bearing is provided with a threading feature; the slot A, the slot B and the threading feature are communicated in the same direction.

3. A harmonic reducer of the kind having a flexible gear structure for facilitating sensor integrated threading as claimed in claim 1, characterized in that: The cross bearing has an inner ring and an outer ring; the inner ring is connected with the flexible wheel, pressed through the pressure ring and fastened through the connecting fastener; the outer ring is connected with the adjustment gasket and fastened through the connecting fastener; the inner ring is an output end, and the outer ring is a fixed end.

4. A harmonic reducer of the kind having a flexible gear structure for facilitating sensor integrated threading according to claim 2, characterized in that: The sensor is attached to the outer cylinder wall of the flexible wheel, and the external lead wire thereof is led out along the outer cylinder wall of the flexible wheel, through the slot A and the threading feature of the cross bearing and connected with an external monitoring system.

5. A harmonic reducer of the kind having a flexible gear structure for facilitating sensor integrated threading as claimed in claim 2, wherein: The sensor is attached to the inner cylinder wall of the flexible wheel, and the external lead wire thereof is led out along the inner cylinder wall of the flexible wheel, through the pressure ring, the slot B and the threading feature of the cross bearing and connected with an external monitoring system.

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