Harmonic reducer assembly module

Abstract

The utility model discloses a harmonic reducer assembly module. The harmonic reducer assembly module comprises a driving part, the speed reducer is connected with the output end of the driving part, and the output end of the speed reducer and the output end of the driving part face a first direction; the magnetic weaving part is connected with the output end of the driving part, the output end of the magnetic weaving part faces a first direction, and the output end of the magnetic weaving part is far away from the output end of the driving part; wherein a torsion sensor is fixedly installed in the middle of the output end of the magnetic weaving part, one end of the torsion sensor is arranged in the magnetic weaving part in a penetrating mode, and a plurality of flexible pieces are fixedly installed on the side wall of the other end of the torsion sensor. According to the harmonic reducer assembly module, the magnetic braiding part is combined with the torsion sensor, and the plurality of flexible sheets are arranged on the side wall of the torsion sensor, so that torque information can be accurately detected in real time, and a basis for precise control is provided for equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to harmonic reducer technical field, concretely relates to a harmonic reducer assembly module. BACKGROUND

[0002] As a kind of high-precision transmission device, harmonic reducer is widely used in industrial robot, aerospace, medical equipment and other fields due to its high reduction ratio, high torque capacity, high transmission accuracy and compact structure design.The traditional harmonic reducer assembly is usually composed of wave generator, flexspline and rigid wheel, and its working principle is that the elastic deformation of wave generator makes flexspline realize wave transmission in rigid wheel, so as to complete power transmission and deceleration function.

[0003] However, in actual application, in order to realize higher precision force control and motion control, torque detection and flexible feedback gradually become the key requirement of high-end application.But due to the lack of feedback mechanism, system cannot adjust itself according to load change and torque change, resulting in insufficient dynamic response capability, unable to adjust the performance of transmission system in real time, affect motion accuracy and stability, difficult to realize more efficient performance optimization and energy utilization under different working conditions. UTILITY MODEL CONTENT

[0004] In order to overcome the above shortcomings, the utility model aims at providing a harmonic reducer assembly module, which combines magnetic encoding part with torque sensor, and installs multiple flexible sheets on the side wall of torque sensor, so as to detect torque information in real time and accurately, and provide the basis for precise control of equipment.

[0005] Technical scheme: the utility model provides a harmonic reducer assembly module, which comprises:

[0006] Drive part;

[0007] The output end of the reducer is connected with the output end of the drive part, and the output end of the drive part is connected with the output end of the drive part.

[0008] Magnetic encoding part connected with the output end of the drive part, the output end of the magnetic encoding part is towards the first direction, and the output end of the magnetic encoding part is away from the output end of the drive part.

[0009] Wherein, the middle position of the output end of the magnetic encoding part is fixedly installed with torque sensor, one end of the torque sensor is arranged in the magnetic encoding part, and the other end of the torque sensor is fixedly installed with multiple flexible sheets on the side wall.

[0010] Further, multiple flexible sheets are uniformly and interval distributed.

[0011] Further, multiple flexible sheets are made of spring sheet.

[0012] Further, the speed reducer comprises a first transmission shaft, a wave generator, a flexible gear and a steel gear;

[0013] The first transmission shaft is connected with the output end of the driving part, the wave generator is sleeved on the first transmission shaft, the flexible gear is sleeved on the outer wall of the wave generator, and the inner wall of the flexible gear is in abutment with the outer wall of the wave generator, and the outer wall of the flexible gear is in meshing connection with the inner wall of the steel gear through connecting teeth.

[0014] Further, the magnetic encoding part comprises a second transmission shaft, a magnetic encoding inner rotor, a magnetic encoding stator and a magnetic encoding outer rotor;

[0015] The second transmission shaft is connected with the first transmission shaft, the magnetic encoding inner rotor is sleeved on the second transmission shaft, the magnetic encoding outer rotor is sleeved on the magnetic encoding inner rotor, and the magnetic encoding outer rotor is separated from the magnetic encoding inner rotor, the magnetic encoding stator is sleeved on the second transmission shaft, and the magnetic encoding outer rotor and the magnetic encoding inner rotor are rotatably installed on the magnetic encoding stator towards the output end side of the magnetic encoding part.

[0016] Further, the first transmission shaft and the second transmission shaft are connected through a shaft coupling.

[0017] Further, a flange is fixedly installed on the end portion of the second transmission shaft away from the first transmission shaft.

[0018] The utility model discloses a harmonic reducer assembly module has the advantages that:

[0019] (1) the harmonic reducer assembly module of the utility model integrates the design of driving part, speed reducer, magnetic encoding part, torsion sensor and other components, simplifies system installation and layout, and real-time monitoring of the torque of the output end is realized through the torsion sensor, which helps to optimize control accuracy and system performance.

[0020] (2) the uniform interval distribution of the flexible sheet can avoid the failure or damage of the torsion sensor caused by uneven stress, improve the reliability of the module, and the uniformly distributed flexible sheet can more efficiently cope with dynamic load changes.

[0021] (3) the flexible sheet is made of spring sheet, has high elasticity and durability, can maintain good buffering performance for a long time, and the use of spring sheet reduces the risk of fatigue damage caused by long-time work.

[0022] (4) the basic function of the harmonic reducer is realized through the wave generator, the flexible gear and the steel gear, and the harmonic reducer has high speed reduction ratio and high torque output capacity, the close cooperation of the flexible gear and the wave generator and the meshing design of the flexible gear and the steel gear make the whole speed reduction system have small volume and high space utilization rate, in addition, the design of gear meshing ensures the accuracy of transmission.

[0023] (5) The magnetic coding part is combined with the driving part, the transmission demand of high precision and high efficiency can be met, the independent design and separated installation among the magnetic coding inner rotor, the magnetic coding outer rotor and the magnetic coding stator ensure the high-precision position signal output, the non-contact rotation of the magnetic coding outer rotor and the magnetic coding inner rotor reduces the friction, and the durability and the measurement precision are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present application in any way. In addition, the shapes and scale sizes of the components in the drawings are only illustrative and are used to help understand the present application, and are not specifically limited to the shapes and scale sizes of the components of the present application. Those skilled in the art can select various possible shapes and scale sizes according to specific circumstances to implement the present application under the guidance of the present application. In the drawings:

[0025] Figure 1 A cross-sectional view of the harmonic reducer assembly module of the present application;

[0026] Figure 2 A front view of the harmonic reducer assembly module of the present application.

[0027] In the drawings: X, first direction; 1, driving part; 2, reducer; 21, first transmission shaft; 22, wave generator; 23, flexspline; 24, steel wheel; 3, magnetic coding part; 31, second transmission shaft; 32, magnetic coding inner rotor; 33, magnetic coding stator; 34, magnetic coding outer rotor; 4, torsion sensor; 5, flexible sheet; 6, shaft coupling; 7, flange. DETAILED DESCRIPTION

[0028] The present application will be further illustrated below in conjunction with the drawings and specific embodiments.

[0029] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. The embodiments will be described below according to the overall structure of the present application.

[0030] As Figure 1 andFigure 2 The utility model discloses a harmonic reducer assembly module, including:

[0031] Driving part 1,

[0032] The reducer 2 of output end connection with driving part 1, the output end of reducer 2 all are towards first direction X with the output end of driving part 1,

[0033] Magnetic encoding part 3 of output end connection with driving part 1, the output end of magnetic encoding part 3 is towards first direction X, and the output end of magnetic encoding part 3 is away from the output end of driving part 1 and is arranged,

[0034] Among them, the middle position of the output end of the magnetic encoding part 3 is fixedly installed with a torsion sensor 4, one end of the torsion sensor 4 is provided in the magnetic encoding part 3, and a plurality of flexible sheets 5 are fixedly installed on the other end side wall of the torsion sensor 4.

[0035] By the above structure, the harmonic reducer assembly module comprises a driving part 1, a reducer 2, a magnetic encoding part 3 and a torsion sensor 4, which is compact in structure and reasonable in function distribution. The driving part 1 serves as a power source, and its output end is directed towards the first direction X and connected with the reducer 2. The reducer 2 receives power from the driving part 1 and realizes speed reduction and torque increase through the harmonic transmission principle, and its output end is also directed towards the first direction X and consistent with the output direction of the driving part 1.

[0036] The magnetic encoding part 3 is installed at the output end position of the driving part 1 and used for monitoring the angle and speed of the output shaft, and its output end is away from the driving part 1 and keeps the same direction with the output end of the driving part 1. The torsion sensor 4 is fixedly installed at the middle position of the output end of the magnetic encoding part 3, one end of the torsion sensor 4 is provided in the magnetic encoding part 3 and used for measuring the torque change in the power transmission process, and a plurality of flexible sheets 5 are fixedly installed on the other end side wall of the torsion sensor 4. The flexible sheets 5 will be slightly deformed when bearing the torque, and the torsion sensor 4 can convert the deformation into an electrical signal to realize high-precision measurement of the torque.

[0037] The whole module outputs power through the driving part 1, reduces the speed and increases the torque through the reducer 2, and then transmits to the magnetic encoding part 3 and the torsion sensor 4. The magnetic encoding part 3 detects the angle and speed information of the output shaft in real time. The torsion sensor 4 senses the torque change through the flexible sheets 5 and outputs a signal. The torsion sensor 4 captures the angle change of the flexible sheets 5, and the host computer can issue a command to control the servo motor according to the angle change, so as to control the driving part 1. Through the above design, the utility model realizes high-speed reduction, high-precision output and high-sensitivity torque detection, is simple in structure, powerful in function and widely applicable to integrated precision control systems.

[0038] Preferably, the uniform and spaced distribution of the flexible pieces 5 can ensure the symmetry and uniformity of the stress. During the torque transmission and detection process, the uniformly distributed flexible pieces 5 can balance the stress in all directions, thereby reducing the error caused by uneven stress and improving the measurement accuracy of the torque sensor 4. At the same time, the above structure can also reduce local fatigue and loss, and improve the service life of the flexible pieces 5 and the reliability of the system. Specifically, the plurality of flexible pieces 5 are all made of spring pieces. The flexible pieces 5 made of spring piece material can provide higher elasticity and deformation recovery capability, ensuring that they can quickly respond when stressed and quickly recover to their original state after unloading. Therefore, the spring pieces can enhance the sensing sensitivity of the torque sensor 4 to small torque changes, while reducing the risk of plastic deformation or fatigue failure caused by long-term use. In addition, the spring pieces have excellent durability and fatigue resistance, further improving the stability and reliability of the harmonic reducer assembly module.

[0039] In the embodiment, the reducer 2 includes a first transmission shaft 21, a wave generator 22, a flexspline 23, and a steel wheel 24. The first transmission shaft 21 is connected with the output end of the driving part 1, so that the power generated by the driving part 1 can be directly transmitted to the core part of the reducer 2, ensuring the efficiency of power transmission, reducing the intermediate transmission link, and reducing energy loss and improving transmission efficiency. The wave generator 22 is one of the key components of the harmonic reducer and is sleeved on the first transmission shaft 21. Through the wave generator 22, the driving part 1 can generate controllable wave deformation during transmission, thereby driving the flexspline 23. The wave generator 22 also has high reduction ratio and torque output capability, and its close cooperation with the first transmission shaft 21 makes the transmission process more stable, reducing vibration and noise. The flexspline 23 is in contact with the outer wall of the wave generator 22, and drives the flexspline 23 to roll on the steel wheel 24 by using the deformation generated by the wave generator 22. The close cooperation of the flexspline 23 and the outer wall of the wave generator 22 ensures the effective transmission of power and can increase the torque output through the deformation of the wave generator 22, effectively enhancing the overall transmission efficiency of the harmonic reducer assembly module. The connection between the flexspline 23 and the steel wheel 24 adopts the meshing mode of connecting teeth, and provides an efficient force transmission path. The meshing of the connecting teeth can achieve more stable transmission effect, reducing the sliding friction and energy loss between the gears, and improving the work efficiency. Through the gear meshing, the steel wheel 24 can withstand higher load, further improving the torque output capability and load capacity of the reducer 2.

[0040] In this embodiment, the magnetic encoding part 3 includes a second transmission shaft 31, a magnetic encoding inner rotor 32, a magnetic encoding stator 33, and a magnetic encoding outer rotor 34. The second transmission shaft 31 is connected with the first transmission shaft 21 so that the power of the driving part 1 can be directly transmitted to the magnetic encoding part 3, realizing the close coupling of the transmission chain, reducing the loss in the process of energy transmission, and ensuring that the magnetic encoding part 3 can synchronously perceive and process the output signal of the harmonic reducer, improving the response speed and precision of the overall system. The magnetic encoding part 3 can detect the torque at the output end of the magnetic encoding part 3 according to the difference in the rotation angle of the magnetic encoding inner rotor 32 and the magnetic encoding outer rotor 34. Specifically, the magnetic encoding inner rotor 32 is sleeved on the second transmission shaft 31, so that it can accurately synchronize the motion state of the second transmission shaft 31, and the rotation signal of the transmission shaft is captured through the magnetic encoding inner rotor 32, realizing accurate monitoring of the angular displacement or rotational speed of the output shaft. The magnetic encoding outer rotor 34 is sleeved on the magnetic encoding inner rotor 32 but remains separated, avoiding friction and mechanical interference caused by direct contact through a gap, and the non-contact structure can achieve higher signal sensitivity while reducing wear and prolonging the service life of the components. The magnetic encoding outer rotor 34 can perceive the change of the magnetic field of the magnetic encoding inner rotor 32 and convert it into effective signal output. The magnetic encoding stator 33 is sleeved on the second transmission shaft 31 and works cooperatively with the magnetic encoding inner rotor 32 and the magnetic encoding outer rotor 34. The magnetic encoding stator 33 is sleeved on the second transmission shaft 31 and serves as a support component for the rotation of the magnetic encoding inner rotor 32 and the magnetic encoding outer rotor 34. The magnetic encoding inner rotor 32 and the magnetic encoding outer rotor 34 jointly act on the side of the magnetic encoding stator 33, so that the magnetic encoding part 3 can accurately capture the magnetic field change caused by rotational motion, realizing high-precision angular displacement or rotational speed detection. The magnetic encoding outer rotor 34 and the magnetic encoding inner rotor 32 are rotatably installed on the magnetic encoding stator 33 towards the output end of the magnetic encoding part 3, thereby ensuring that the detection data can be quickly transmitted to the output end, shortening the signal processing path and improving the data transmission efficiency.

[0041] In this embodiment, the first transmission shaft 21 and the second transmission shaft 31 are connected through a coupling 6, which can effectively connect the first transmission shaft 21 and the second transmission shaft 31 and ensure the power transmission between them. The coupling 6 can absorb errors caused by misalignment or axial and radial deviation of the first transmission shaft 21 and the second transmission shaft 31, thereby avoiding vibration and wear of the transmission system and improving the stability and reliability of the transmission. In addition, the application of the coupling 6 also facilitates maintenance and adjustment, making the entire system more flexible and efficient during operation. A flange 7 is fixedly installed on the end of the second transmission shaft 31 away from the first transmission shaft 21, thereby providing additional support and fixation for the transmission shaft. The flange 7 not only provides a stable interface for connecting other components or structures, but also effectively disperses the load generated during transmission, enhancing the compression and torsional resistance of the transmission system. In addition, the flange 7 structure can also ensure the stability of the second transmission shaft 31 under long-term operation, avoiding bearing damage or system failure caused by excessive axial or radial force.

[0042] Thus far, the technical scheme of the utility model has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the utility model is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without deviating from the principles of the utility model, and the technical schemes after these changes or replacements will all fall within the protection scope of the utility model.

Claims

1. A harmonic reducer assembly module, characterized by, Include: Drive part; The output end of the speed reducer connected with the output end of the drive part, the output end of the speed reducer and the output end of the drive part are both towards the first direction; The magnetic coding part connected with the output end of the drive part, the output end of the magnetic coding part is towards the first direction, and the output end of the magnetic coding part is away from the output end of the drive part; Wherein, the middle position of the output end of the magnetic coding part is fixedly installed with a torsion sensor, one end of the torsion sensor is provided in the magnetic coding part, and the other end of the torsion sensor is fixedly installed with a plurality of flexible sheets on the side wall.

2. The harmonic reducer assembly module of claim 1, wherein, Multiple flexible sheets are evenly spaced.

3. The harmonic reducer assembly module of claim 2, wherein, Multiple flexible sheets are made of spring sheets.

4. The harmonic reducer assembly module of claim 1, wherein, The speed reducer includes a first transmission shaft, a wave generator, a flexible wheel and a steel wheel; The first transmission shaft is connected with the output end of the drive part, the wave generator is sleeved on the first transmission shaft, the flexible wheel is sleeved on the outer wall of the wave generator, the inner wall of the flexible wheel is in contact with the outer wall of the wave generator, and the outer wall of the flexible wheel is in mesh connection with the inner wall of the steel wheel through connecting teeth.

5. The harmonic reducer assembly module of claim 4, wherein, The magnetic coding part includes a second transmission shaft, a magnetic coding inner rotor, a magnetic coding stator and a magnetic coding outer rotor; The second transmission shaft is connected with the first transmission shaft, the magnetic coding inner rotor is sleeved on the second transmission shaft, the magnetic coding outer rotor is sleeved on the magnetic coding inner rotor, and the magnetic coding outer rotor is separated from the magnetic coding inner rotor, the magnetic coding stator is sleeved on the second transmission shaft, and the magnetic coding outer rotor and the magnetic coding inner rotor are installed on the magnetic coding stator towards the output end side of the magnetic coding part.

6. The harmonic reducer assembly module of claim 5, wherein, The first transmission shaft and the second transmission shaft are connected through a shaft coupling.

7. The harmonic reducer assembly module of claim 6, wherein, The second transmission shaft is fixedly installed with a flange on the end away from the first transmission shaft.

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