Torque limiting device, speed reducer with torque protection function and joint module
By setting pressure rings and steel balls on both sides of the steel wheel of the harmonic reducer and using disc springs to provide friction protection, the problem of damage to the harmonic reducer under overload or impact is solved, and the torque protection function is realized.
Patent Information
- Application Number
- CN202520211750.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-02-11
AI Technical Summary
Existing harmonic reducers are prone to damage under overload or impact conditions and lack an effective torque protection mechanism.
Pressure rings and steel balls are installed on both sides of the steel wheel of the reducer. Disc springs are used to provide downward pressure, so that the steel wheel and steel balls form a whole. When the friction is exceeded, slippage occurs to protect the flexible wheel. The combination of flexible materials and crossed roller bearings improves accuracy and rigidity.
It effectively prevents the flexible wheel from being damaged by overload or impact, protects the reducer, avoids damage when the robotic arm hits an obstacle, and achieves torque protection function.
Smart Images
Figure CN223923646U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, specifically, it relates to a torque limiting device, the speed reducer with torque protection function and joint module. BACKGROUND
[0002] The joint module is a highly integrated robot joint assembly, which integrates key components such as frameless motor, speed reducer, sensor (such as encoder, temperature sensor, force sensor, etc.), driver and controller, and forms a modular joint system.
[0003] The harmonic reducer mainly comprises a wave generator, a flexible gear, a steel gear and a cross roller bearing. When the wave generator is installed in the inner circle of the flexible gear, the flexible gear will be elastically deformed due to the shape of the wave generator and become an oval shape, so that the teeth at both ends of the long axis are fully engaged with the steel gear, and the teeth at both ends of the short axis are fully disengaged with the steel gear. When the wave generator rotates continuously, the continuous change of the phase of the long axis and the short axis of the flexible gear causes the deformation of the flexible gear to be a continuous simple harmonic wave in the circumference, so that the flexible gear rotates in the opposite direction of the wave generator at a low speed. The flexible gear is periodically extruded and deformed in the speed reducer, and its wall thickness is relatively thin, so that it is easy to cause damage to the speed reducer under the impact of a large load (such as impact, impact when the joint module is not powered on). Therefore, it is necessary to provide a joint module torque limiting device to realize the torque protection function of the joint module. SUMMARY
[0004] In view of the defects in the prior art, the utility model aims to provide a torque limiting device, a speed reducer with torque protection function and a joint module with torque protection function.
[0005] The utility model is realized through the following technical schemes:
[0006] According to the first aspect of the utility model, a joint module torque limiting device is provided, which comprises:
[0007] A first pressure ring is arranged on one side of the steel gear of the speed reducer; a plurality of first steel balls are arranged between the first pressure ring and the steel gear;
[0008] A second pressure ring is arranged on the other side of the steel gear; a plurality of second steel balls are arranged between the second pressure ring and the steel gear;
[0009] The output flange, the first compression ring, the steel wheel, the second compression ring, the first steel ball, the second steel ball and the output flange form an integral whole, and a disc spring is arranged between the output flange and the second compression ring, and the disc spring is used for providing a pressing force to generate a friction force between the steel wheel and the first steel ball and the second steel ball.
[0010] Further, the first compression ring and the steel wheel are provided with first recesses on opposite surfaces, and the first recesses are used for accommodating the first steel ball; and the second compression ring and the steel wheel are provided with second recesses on opposite surfaces, and the second recesses are used for accommodating the second steel ball.
[0011] Further, a gasket is arranged between the disc spring and the output flange, and the gasket is used for adjusting the compression distance of the disc spring and adjusting the output protection torque.
[0012] Further, the steel wheel is externally sleeved with a steel wheel outer sleeve, and a constraint ring is sleeved on the outside of the steel wheel outer sleeve.
[0013] Further, a plurality of screws are arranged on the first compression ring, and the screws pass through the constraint ring and the output flange in sequence.
[0014] Further, the steel wheel outer sleeve is made of a flexible material.
[0015] Further, a cross roller bearing is arranged on the outside of the constraint ring, and an outer shell is arranged on the outside of the cross roller bearing, and steps are arranged on the constraint ring and the outer shell, the steps ensure that the cross roller bearing is in a preset position and provide a pre-pressing action, and ensure the accuracy and rigidity of the cross roller bearing.
[0016] Further, a hollow shaft is arranged in the output flange, and the hollow shaft is used for being connected with a double encoder.
[0017] According to the second aspect of the utility model, a speed reducer with torque protection function is provided, which comprises the joint module torque limiting device of the first aspect.
[0018] According to the third aspect of the utility model, a joint module with torque protection function is provided, which comprises the joint module torque limiting device of the first aspect or the speed reducer of the third aspect.
[0019] Compared with the prior art, the utility model has at least one of the following beneficial effects:
[0020] The utility model discloses a steel wheel's both sides are provided with the compression ring and the steel ball, and the steel wheel both sides are provided on two circles of steel ball, and the disc spring that provides pressure is provided on the compression ring, and the disc spring provides certain down pressure, guarantees that the steel wheel, compression ring, steel ball form a whole, and the power from the flexible wheel is transferred, thereby forming the torque limiter of the steel ball form on the steel wheel. When the stress of the steel wheel exceeds the friction force provided by the down pressure of the disc spring, the steel wheel and the steel ball directly slip, and the transmission fails, prevent the impact, and the load that the joint module is not powered on is impacted too big and is transferred to the flexible wheel, avoid causing the damage of the flexible wheel, thereby, the mechanical torque protection function can protect the speed reducer, prevent the damage of the flexible wheel of the harmonic reducer caused by overload, and prevent the damage of the speed reducer caused by the impact of the mechanical arm / robot to the undetected obstacle, realize the torque protection function of joint module. In addition, because the mechanical torque protection function is adopted, the overload situation can also be prevented when the joint module is not powered on. BRIEF DESCRIPTION OF DRAWINGS
[0021] Other features, objects and advantages of the utility model will become more apparent through reading the detailed description of the non-limiting embodiments with reference to the following drawings:
[0022] Figure 1 It is structural schematic diagram of speed reducer with torque protection function in an embodiment of the utility model;
[0023] Figure 2 It is structural schematic of joint module with torque protection function in an embodiment of the utility model Figure One ;
[0024] Figure 3 It is structural schematic of joint module with torque protection function in an embodiment of the utility model Figure Two ;
[0025] Figure 4 It is sectional structure schematic of joint module with torque protection function in an embodiment of the utility model;
[0026] Corresponding in the drawing mark is: 1-output flange, 2-disc spring, 3-second compression ring, 4-steel wheel outer bushing, 5-steel wheel, 6-first steel ball, 7-restraint ring, 8-crossed roller bearing, 9-first compression ring, 10-flexible wheel, 11-torque sensor, 12-second steel ball, 13-outer pressure cover, 14-outer shell, 15-wave generator, 16-frameless servo motor, 17-sealing ring, 18-inner pressure cover, 19-rotor, 20-stator winding, 21-bearing, 22-double encoder, 23-driving board, 24-tail cover. DETAILED DESCRIPTION
[0027] The utility model will be instructed in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for the person skilled in the art, without departing from the concept of the utility model, a number of variations and improvements can be made. These all belong to the protection scope of the utility model.
[0028] Referring to Figures 1-4 The joint module torque limiting device provided by the utility model, as shown in the figure, comprises a first compression ring 9, a second compression ring 3, an output flange 1 and the like, the first compression ring 9 is arranged on one side of the steel wheel 5 of the speed reducer; a plurality of first steel balls 6 are arranged between the first compression ring 9 and the steel wheel 5; the second compression ring 3 is arranged on the other side of the steel wheel 5; a plurality of second steel balls 12 are arranged between the second compression ring 3 and the steel wheel 5; the output flange 1 is located in the middle of the joint module, the first compression ring 9, the steel wheel 5, the second compression ring 3, the first steel ball 6, the second steel ball 12 and the output flange 1 form an integral whole, a disc spring 2 is arranged between the output flange 1 and the second compression ring 3, and the disc spring 2 is used for providing a pressing force to make the steel wheel 5 generate a friction force between the first steel ball 6 and the second steel ball 12.
[0029] In order to place the steel balls on both sides of the steel wheel 5, in some embodiments, the first compression ring 9 and the steel wheel 5 are each provided with a plurality of first recesses on the opposite surfaces, the plurality of first recesses are arranged in the circumferential direction, and the first recesses are used for accommodating the first steel balls 6; the second compression ring 3 and the steel wheel 5 are each provided with a plurality of second recesses on the opposite surfaces, the plurality of second recesses are arranged in the circumferential direction, and the second recesses are used for accommodating the second steel balls 12. Specifically, the second compression ring 3 is arranged below the disc spring 2, the lower end surface of the second compression ring 3 is provided with the second steel balls 12, the second steel balls 12 are accommodated in the recesses of the lower end surface of the second compression ring 3 and the upper end surface of the steel wheel 5, the first steel balls 6 are arranged at the lower end of the steel wheel 5, and the first compression ring 9 is arranged below the first steel balls 6, and the first steel balls 6 are accommodated in the recesses of the lower end surface of the steel wheel 5 and the upper end surface of the first compression ring 9.
[0030] In the embodiment of the utility model, the output flange 1 is located in the middle position of the upper layer of the speed reducer, the disc spring 2 is arranged in the groove in the middle position of the output flange 1, the upper end of the disc spring 2 is in contact with the groove of the output flange 1, and in some embodiments, a gasket is arranged between the disc spring 2 and the output flange 1, the gasket is used for adjusting the distance of the disc spring 2 being compressed, and the protection torque of the output is adjusted.
[0031] In some embodiments, the steel wheel 5 is sleeved with a steel wheel outer bushing 4, and a constraint ring 7 is sleeved on the outer side of the steel wheel outer bushing 4. The constraint ring 7 is in close contact with the steel wheel outer bushing 4, so that the concentricity of the steel wheel 5 is guaranteed. Meanwhile, when the steel wheel 5 slips, the steel wheel outer bushing 4 can also relatively slide with the steel wheel 5.
[0032] In some embodiments, a plurality of screws are arranged on the lower end surface of the first compression ring 9, and the screws sequentially pass through the constraint ring 7 and the output flange 1, and the gap therebetween is a determined value. The disc spring 2 provides a rated normal pressure under the pressure of the screws, and the first compression ring 9, the constraint ring 7, the steel wheel outer bushing 4, the steel wheel 5, the steel ball, the second compression ring 3, the disc spring 2 and the output flange 1 are fastened together to form an integral whole, and the steel wheel 5 is “suspended” on the two layers of steel balls. The disc spring 2 provides a rated downward pressure, and the steel ball has sufficient friction in the recess in the steel wheel 5, the first compression ring 9 and the second compression ring 3, so that the steel ball and the steel wheel 5 have sufficient friction, thereby forming an integral whole, and the rated torque is output through the output flange 1 to output the power of the flexible wheel. When the output torque exceeds the rated pressure provided by the disc spring 2, the friction provided by the disc spring 2 is insufficient, the steel ball slips with the steel wheel 5, the steel wheel 5 does not rotate, and the output fails, thereby effectively protecting the flexible wheel 10 inside the speed reducer from being damaged, protecting the speed reducer and reducing damage to the speed reducer.
[0033] In some embodiments, the steel wheel outer bushing 4 is made of a flexible material such as PEEK, titanium alloy, bronze and the like. When the steel wheel 5 generates heat, the flexible steel wheel outer bushing 4 can effectively absorb the deformation of the steel wheel 5.
[0034] In some embodiments, a cross-roller bearing 8 is arranged outside the constraint ring 7, and an outer shell 14 is arranged outside the cross-roller bearing 8. The outer shell 14 and the constraint ring 7 are both provided with a step, the step ensures that the cross-roller bearing 8 is in a predetermined position and provides a certain pre-pressing, thereby ensuring the accuracy and rigidity of the cross-roller bearing. The outer ring of the constraint ring 7 is in contact with the inner ring of the cross-roller bearing 8, thereby providing sufficient support for the speed reducer.
[0035] In some embodiments, a hollow shaft is arranged inside the output flange 1, and the hollow shaft is used to be connected with the double encoder 22.
[0036] In the above embodiments of the utility model, the outer compression cover 13 and the inner compression cover 18 are respectively located on the two sides of the outer shell 14, the sealing ring 17 is arranged between the output flange 1 and the outer compression cover 13, the outermost ring of the outer compression cover 13 is arranged at the outer layer, the outer diameter of the outer shell 14 and the outer compression cover 13 is the same, the outer compression cover 13 and the outer shell 14 are connected together by bolts, and the inner layer step of the outer compression cover 13 presses the outer ring of the cross-roller bearing 8 on the outer shell 14 to limit the up-down movement.
[0037] The torque limiting device provided by the above-mentioned embodiment of the utility model, the pressure ring and the steel ball are arranged on both sides of the steel wheel 5, the concave pits for placing the steel balls are arranged on the corresponding positions of both sides of the steel wheel 5, the concave pits for placing the steel balls are also arranged on the corresponding positions of the pressure ring, the steel wheel 5 is arranged on two circles of the steel balls, the disc spring 2 for providing pressure is arranged on the pressure ring, the disc spring 2 provides certain downward pressure, the steel wheel 5, the pressure ring and the steel ball form an integral whole, the power from the flexible gear 10 is transmitted, and thus the torque limiter in the form of the steel ball is formed on the steel wheel 5. When the stress of the steel wheel 5 exceeds the friction force provided by the downward pressure of the disc spring 2, the steel wheel 5 and the steel ball directly slip, the transmission fails, the impact and the excessive load transmitted to the flexible gear 10 when the joint module is not powered are prevented, the damage of the flexible gear 10 is avoided, and thus the reducer can be protected, and the torque protection function of the joint module is realized.
[0038] Based on the same concept, another embodiment of the utility model provides a reducer with torque protection function, which comprises the joint module torque limiting device.
[0039] The reducer provided by the embodiment of the utility model is provided with the flexible gear 10 in the inside (the inner circle) of the steel wheel 5, the gear teeth of the flexible gear 10 are less than the gear teeth of the steel wheel 5, the gear teeth of the flexible gear 10 are engaged with the gear teeth of the steel wheel 5, the gear teeth of the flexible gear 10 are partially engaged with the gear teeth of the steel wheel 5, the wave generator 15 is arranged in the inside of the flexible gear 10, the wave generator 15 is in the shape of an ellipse, can periodically deform the flexible gear 10 when rotating, and forces the flexible gear 10 to periodically engage with the steel wheel 5. Because the gear teeth of the flexible gear 10 are less than the gear teeth of the steel wheel 5, the speed is reduced and the torque is amplified. The torque sensor 11 is arranged below the flexible gear 10 and can detect the dynamic torque output. The input shaft of the frameless servo motor 16 is connected with the wave generator 15 through threads, key grooves, expansion sleeves and the like, power is transmitted to the wave generator 15, the rotor 19 of the frameless servo motor 16 is arranged below the torque sensor 11, the stator winding 20 is arranged outside the rotor 19, the stator winding 20 is fixed in the outer shell 14, the rotor 19 is connected with the outer shell 14 through two bearings 21, and the concentricity of the rotor 19 is ensured. The double encoder 22 and the driving plate 23 are arranged at the tail of the outer shell 14, the rotor 19 is in a hollow structure, wiring is ensured, the inner circle of the double encoder 22 is connected with the hollow shaft in the output flange 1, and the bearing is arranged on the tail cover 24 and connected with the hollow shaft in the inside.
[0040] Based on the same concept, the embodiment of the utility model further provides a joint module with torque protection function, which comprises the joint module torque limiting device or the reducer.
[0041] The above embodiment of the utility model sets up the torque limiting device of the form of the steel ball on the steel wheel 5 of the speed reducer, prevents the damage of the flexspline 10 of the harmonic reducer caused by overload and prevents the damage of the speed reducer caused by the impact of the mechanical arm / robot to the undetected obstacle through the mechanical torque protection function; in addition, since the mechanical torque protection function is adopted, the overload condition can also be prevented in the state that the joint module is not powered.
[0042] The above describes the specific embodiments of the utility model. It needs to be understood that the utility model is not limited to the above specific embodiments, and various modifications or changes can be made by those skilled in the art within the scope of claims, which does not affect the essential content of the utility model.
Claims
1. A joint module torque limiting device, characterized by, The application relates to a reducer, comprising: a first compression ring arranged on one side of a steel wheel of the reducer; a plurality of first steel balls are arranged between the first compression ring and the steel wheel; a second compression ring arranged on the other side of the steel wheel; a plurality of second steel balls are arranged between the second compression ring and the steel wheel; an output flange, the first compression ring, the steel wheel, the second compression ring, the first steel balls, the second steel balls and the output flange form an integral whole, a disc spring is arranged between the output flange and the second compression ring, and the disc spring is used for providing a pressing force to generate friction between the steel wheel and the first steel balls and the second steel balls.
2. The joint module torque limiting device of claim 1, wherein First recesses are arranged on opposite surfaces of the first compression ring and the steel wheel, and the first recesses are used for accommodating the first steel balls; second recesses are arranged on opposite surfaces of the second compression ring and the steel wheel, and the second recesses are used for accommodating the second steel balls.
3. The joint module torque limiting device of claim 1, wherein A gasket is arranged between the disc spring and the output flange, the gasket is used for adjusting the compression distance of the disc spring and adjusting the output protection torque.
4. The joint module torque limiting device of claim 1, wherein An outer steel wheel bushing is arranged outside the steel wheel, and a constraint ring is arranged outside the outer steel wheel bushing.
5. The joint module torque limiting device of claim 4, wherein, A plurality of screws are arranged on the first compression ring, and the screws pass through the constraint ring and the output flange in sequence.
6. The joint module torque limiting device of claim 4, wherein, The outer steel wheel bushing is made of flexible material.
7. The joint module torque limiting device of claim 4, wherein A cross roller bearing is arranged outside the constraint ring, an outer shell is arranged outside the cross roller bearing, steps are arranged on the outer shell and the constraint ring, the steps ensure that the cross roller bearing is in a preset position and provide a pre-pressing action, and the steps ensure the precision and rigidity of the cross roller bearing.
8. The joint module torque limiting device of claim 1, wherein, A hollow shaft is arranged inside the output flange, and the hollow shaft is used for being connected with a double encoder.
9. A torque-protected speed reducer characterized by comprising: The application further relates to a joint module torque limiting device comprising the reducer.
10. A joint module with torque protection function, characterized by, The application further relates to a reducer comprising the joint module torque limiting device or the reducer.