Speed reduction transmission device with torsion sensor

Abstract

The utility model provides a speed reduction transmission device carrying a torsion sensor, which comprises a motor, a speed reduction transmission device and a rigid gear which are arranged in a device shell, and the motor is used for transmitting the speed reduction transmission device to output speed reduction rotation kinetic energy. The rigid gear is used for guiding and holding the speed reduction transmission device and bearing torsion transmitted by the speed reduction transmission device, and at least one flexible truss is formed on the rigid gear and used for fixing the rigid gear in the device shell. The torsion sensor comprises a linear sensing element and a permanent magnet which are fixed in the device shell and between the device shell and the annular end face, the linear sensing element can sense the magnetic field intensity change of the permanent magnet in the torsion bearing process of the rigid gear, then the torsion of the deceleration rotation kinetic energy is read, and the structure configuration is refined.

Description

Technical Field

[0001] This utility model relates to a torque sensing of a speed reduction transmission device, and particularly to a speed reduction transmission device equipped with a torque sensor. Background Technology

[0002] A speed reduction transmission typically includes a motor that provides power, a speed reducer that is connected to the motor and generates a specific reduction ratio required by the user, and a torque sensing element (or sensor) for sensing the torque output of the speed reducer. It is known that speed reduction transmissions are commonly used in the elbow joints of industrial robots, humanoid robots, or assistive devices for precisely controlling the degrees of freedom and force output of artificial joints.

[0003] Existing speed reduction transmissions that can be applied to speed reduction transmission devices typically include planetary gear trains (or gear sets) and harmonic reducers. Planetary gear trains output decelerated rotational kinetic energy with a specific reduction ratio based on the gear ratio between the sun gear and the ring gear (or internal gear), while harmonic reducers output decelerated rotational kinetic energy based on the elastic deformation of the metal material.

[0004] Furthermore, existing torque sensing elements applicable to speed reduction transmission devices typically include strain gauges and linear sensors. Strain gauges, being made of metal, generate a potential signal when deformed to detect torque. Linear sensors, on the other hand, generate a potential signal by following the minute linear displacement of an object. In particular, among existing linear sensors, Hall effect sensors, which can sense changes in the magnetic field strength generated by a permanent magnet by following the object's displacement, are considered more advanced.

[0005] Based on the aforementioned technical background, the available patents JP5659446B2, JP6496937B2, Taiwan patent TWI640756B, CN109895112B, CN103610568B, and US9855654 merely teach the direct mounting of the torque sensing element (or sensor) onto the movable element that transmits the decelerated rotational kinetic energy output. This limits the accuracy of its torque sensing capability. Furthermore, it can easily cause the wires connected to the torque sensing element to rotate with the movable element, resulting in entanglement or damage to the wires. Therefore, improvements are urgently needed. Utility Model Content

[0006] In view of the technical defects of the prior art, the purpose of this utility model is to provide a speed reduction transmission device with an improved structure and a torque sensor, so that the torque sensing element can be installed on the movable element, thereby improving the accuracy of the speed reduction transmission device in sensing the output torque, and overcoming the problem that the wires of the torque sensing element are prone to causing entanglement.

[0007] Therefore, this utility model provides a speed reduction transmission device equipped with a torque sensor, characterized in that it comprises, within a housing, components arranged along a coaxial trajectory:

[0008] A motor comprising a stator fixed within the housing and a rotor pivotally disposed within the stator;

[0009] A speed reducer is connected to the rotor and outputs a reduced rotational kinetic energy;

[0010] A rigid gear, fixed inside the housing, guides the speed reducer and thus bears the torque of the speed reducer; wherein...

[0011] The rigid gear has an annular end face with a uniform circumferential radius. The annular end face extends along the axis trajectory to form at least one flexible frame. The rigid gear is fixed in the housing via the frame.

[0012] The torque sensor includes a linear sensing element and a permanent magnet fixed between the housing and the annular end face. The linear sensing element and the permanent magnet are spaced apart to form an air gap. The linear sensing element senses the change in magnetic field strength of the permanent magnet during the torque action of the rigid gear through the air gap, so as to read the torque of the deceleration rotational kinetic energy output by the speed reducer.

[0013] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: when the rigid gear is subjected to torque, it can drive the frame to generate a bending moment deformation, thereby causing the rigid gear to generate a radial displacement, and the linear sensing element senses the change in the magnetic field strength generated by the permanent magnet by means of the change in the displacement.

[0014] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the cross-section of the truss is rectangular, the two long sides of the rectangle are perpendicular to the tangent of the annular end face, the two short sides of the rectangle are parallel to or collinear with the tangent of the annular end face, and the truss generates the bending moment deformation via the two short sides.

[0015] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the truss is a strip-shaped body, located between the annular end face and the housing, and the truss generates the bending moment deformation via the two short sides of the strip-shaped body.

[0016] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the truss is an M-shaped body, located between the annular end face and the housing, the M-shaped body has two symmetrical plates, each plate having two symmetrical short sides, and the truss generates the bending moment deformation via the two short sides.

[0017] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the trusses are formed in pairs on the annular end face.

[0018] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the annular end face is formed with a pair of slots corresponding to the truss, and the bottom of the truss is respectively formed with a holding part that can be fixed to the slot, and the truss is formed on the annular end face via the holding part.

[0019] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the annular end face extends along the axis trajectory to form a boss, and the grooves are respectively formed between the boss and the annular end face.

[0020] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the boss provides a platform, the permanent magnet is embedded in the platform, and the linear sensing element is fixed in the housing, thereby emitting a magnetic field intensity generated by the magnetic lines of force to act on the linear sensing element.

[0021] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the housing is pivotally connected to a housing base and a housing cover, the rigid gear is fixed in the housing base of the housing via the frame, and extends into the housing cover to guide the speed reduction transmission.

[0022] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the linear sensing element is fixed inside the housing, and the permanent magnet is fixed to the annular end face, thereby emitting a magnetic field intensity generated by the magnetic field lines acting on the linear sensing element.

[0023] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the device housing is pivotally connected to a housing base and a housing cover, the housing base provides fixation for the stator, the rigid gear, a part of the speed reduction transmission and the linear sensing element, the housing cover provides fixation for another part of the speed reduction transmission and drives the housing cover to become a power output end of the speed reduction transmission device.

[0024] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the speed reduction transmission is composed of a harmonic speed reducer, the harmonic speed reducer includes a waveform generating group and a flexible gear, the waveform generating group includes an elliptical disk that is drively connected to the rotor and a flexible bearing coupled between the elliptical disk and the flexible gear, and the speed reduction transmission is guided by the rigid gear by means of the flexible gear.

[0025] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the rigid gear has a plurality of internal teeth arranged in a ring, the flexible gear has a thin-walled portion capable of deformation and a thick-walled portion capable of maintaining rigidity, the thin-walled portion has a smooth inner wall surface and a plurality of external teeth arranged in a ring around the periphery of the thin-walled portion, the flexible gear engages with the flexible bearing by means of the inner wall surface and engages with a portion of the internal teeth of the rigid gear by means of the external teeth.

[0026] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the device housing is pivotally connected to a housing base and a housing cover, the housing base provides fixation for the stator and the rigid gear, and the housing cover provides fixation for the thick-walled portion of the flexible gear, thereby driving the housing cover to become a power output end of the speed reduction transmission device.

[0027] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the speed reduction transmission device is composed of a planetary gear system, the planetary gear system including at least one planetary gear set that is drively connected to the rotor and guided by the rigid gear.

[0028] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: at least one of the planetary gear sets includes a first-order planetary gear set capable of generating a first-order reduction ratio, the first-order planetary gear set including a first-order sun gear connected to the rotor, a first-order planetary disk pivotally mounted in the housing, and a plurality of first-order planetary gears pivotally mounted on the first-order planetary disk and revolving under the drive of the first-order sun gear, the first-order planetary gear set being guided by the rigid gear by the plurality of first-order planetary gears, and the plurality of first-order planetary gears serving as a power output end for the speed reduction transmission device to generate the first-order reduction ratio.

[0029] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the device housing is pivotally connected to a housing base and a housing cover, the housing base provides fixation for the stator and the rigid gear, and the housing cover is used to receive the transmission of a plurality of first-order planetary gears, driving the speed reduction transmission device to output rotational kinetic energy with a first-order reduction ratio through the housing cover.

[0030] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: at least one of the planetary gear sets further includes a second-order planetary gear set capable of generating a second-order reduction ratio, the second-order planetary gear set including a second-order sun gear formed at the center of the first-order planetary disk, a second-order planetary disk pivotally mounted in the housing, and a plurality of second-order planetary gears pivotally mounted on the second-order planetary disk and revolving under the drive of the second-order sun gear, the second-order planetary gear set being guided by the rigid gear by the plurality of second-order planetary gears, and the plurality of second-order planetary gears serving as a power output end for the speed reduction transmission device to generate a second-order reduction ratio.

[0031] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the device housing is pivotally connected to a housing base and a housing cover, the housing base provides fixation for the stator and the rigid gear, and the housing cover is used to receive the transmission of a plurality of second-order planetary gears, driving the speed reduction transmission device to output rotational kinetic energy with a second-order reduction ratio via the housing cover.

[0032] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: at least one of the planetary gear sets further includes a third-order planetary gear set capable of generating a third-order reduction ratio, the third-order planetary gear set including a third-order sun gear formed at the center of the second-order planetary disk, a third-order planetary disk pivotally mounted in the housing, and a plurality of third-order planetary gears pivotally mounted on the third-order planetary disk and revolving under the drive of the third-order sun gear, the third-order planetary gear set being guided by the rigid gear by the plurality of third-order planetary gears, and the plurality of third-order planetary gears serving as a power output end for the speed reduction transmission device to generate a third-order reduction ratio.

[0033] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the device housing is pivotally connected to a housing base and a housing cover, the housing base provides fixation for the stator and the rigid gear, and the housing cover is used to receive the transmission of multiple third-order planetary gears, driving the speed reduction transmission device to output rotational kinetic energy with a third-order reduction ratio via the housing cover.

[0034] The aforementioned speed reduction transmission device equipped with a torque sensor includes: a rotor having a central pivot hole; a housing consisting of a housing base and a housing cover pivotally connected to each other; a housing base having a central seat portion that can extend into the central pivot hole; the rotor being pivotally mounted between the central seat portion and the stator via the central pivot hole; a hole being formed in the central seat portion; a central post extending from the housing cover; and the housing cover being pivotally connected to the housing base via the central post.

[0035] The aforementioned speed reduction transmission device equipped with a torque sensor, wherein: the linear sensing element is composed of a Hall sensor element.

[0036] Based on the aforementioned technical means, the difference between this invention and prior art lies in the fact that neither the housing nor the rigid gear fixed within it is a movable element for transmitting the decelerated rotational kinetic energy output. Therefore, the problem of entanglement caused by the wires of the linear sensing element can be avoided. Furthermore, in this invention, the rigid gear, while guiding the decelerated rotational kinetic energy output by the speed reducer, simultaneously bears torque. This causes the frame, after bearing the applied output torque, to deform due to the mechanical properties of its metallic material, generating a bending moment. This, in turn, causes a slight displacement in the relative position between the linear sensing element and the permanent magnet, and the amount of displacement is proportional to the output torque. In other words, this invention can at least improve the accuracy of the speed reducer in sensing the output torque by utilizing the structural configuration features of the frame.

[0037] Compared with the prior art, the present invention can not only effectively avoid the entanglement caused by the wires of the linear sensing element and improve the sensing accuracy of the output torque, but also improve the configuration stability and durability of the linear sensing element. In addition, it can also improve the compactness and miniaturization of the structure and internal space of the speed reduction transmission device.

[0038] The implementation details and technical effects disclosed above will be explained in more detail in the following diagrams and implementation methods. Attached Figure Description

[0039] Figure 1 This is an exploded perspective view of the first embodiment of the speed reduction transmission device of this utility model, revealing that a harmonic reducer is used as the speed reduction transmission device of this utility model.

[0040] Figure 2 yes Figure 1 Cross-sectional view.

[0041] Figure 3a yes Figure 2 A partial cross-sectional view reveals the configuration of the truss, permanent magnet, and linear sensing element on the housing of the rigid gear.

[0042] Figure 3b yes Figure 3a The diagram illustrates the action of the truss, showing how deformation causes relative displacement between the linear sensing element and the permanent magnet.

[0043] Figure 3c yes Figure 3a The cross-sectional view of the truss shown.

[0044] Figure 3d yes Figure 3a The diagram shows a three-dimensional representation of the truss and rigid gear implemented as separate components.

[0045] Figure 4a yes Figure 2 An exploded perspective view of a second embodiment of the rigid gear illustrates another form of the truss.

[0046] Figure 4b yes Figure 2 The perspective view of the third embodiment of the rigid gear illustrates the detachable assembly configuration between the truss and the annular end face.

[0047] Figure 5 This is an exploded perspective view of a second embodiment of the speed reduction transmission device of this utility model, revealing the replacement of the original with a planetary gear system. Figure 1 The harmonic reducer shown is the speed reduction transmission device of this utility model; the rest can be compared. Figure 1 .

[0048] Figure 6 yes Figure 5 Cross-sectional view.

[0049] Explanation of reference numerals in the attached drawings: 10-Shell; 11-Shell base; 111-Central seat; 112-Seat hole; 12-Shell cover; 121-Central column; 20-Motor; 21-Stator; 22-Rotor; 221-Central pivot hole; 30-Reduction gear; 31-Harmonic reducer; 310-Waveform generation group; 311-Flexible gear; 312-Thin-walled section; 312a-Inner wall surface; 312b-External gear; 313-Thick-walled section; 314-Elliptical disk; 315-Flexible bearing; 32-Planetary gear train; 34-First-order planetary gear set; 341-First-order sun gear; 341a-External gear; 342-First-order planetary disk; 342a-Upper disk surface; 342b-Lower disk surface; 343-First-order planetary gear; 35-Second-order planetary gear set; 351 - Second-order sun gear; 352-Second-order planetary disk; 352a-Upper disk surface; 352b-Lower disk surface; 353-Second-order planetary gear; 36-Third-order planetary gear set; 361-Third-order sun gear; 362-Third-order planetary disk; 363-Third-order planetary gear; 40-Rigid gear; 41-Internal tooth; 42-Annular end face; 421-Groove; 43, 44-Rack; 431-Connecting part; 432, 442-Holding part; 423, 424-Boss; 433, 443-Long side; 434, 444-Short side; 441-Strip part; 50-Torque sensor; 51-Linear sensing element; 52-Permanent magnet; 53-Air gap; 61-First bearing; 62-Second bearing; 63-Third bearing; 64-Fourth bearing. Detailed Implementation

[0050] First, please refer to both. Figure 1 and Figure 2The diagram illustrates the configuration of a first embodiment of the present invention, demonstrating that the speed reduction transmission device has a housing 10 made of metal. Within the housing 10, a motor 20, a speed reducer 30, a rigid gear 40, and a torque sensor 50 can be arranged along the same axis trajectory. The axis trajectory is... Figure 2 The center line is used to indicate the center.

[0051] The motor 20 may be one of a brushless DC motor or a permanent magnet AC synchronous motor, and includes a stator 21 fixed in the housing 10 and a rotor 22 pivotally placed in the stator 21, and the rotor 22 forms a central pivot hole 221.

[0052] The speed reducer 30 is used to drive the rotor 22 and convert the rotational kinetic energy provided by the rotor 22 into a reduced rotational kinetic energy, which is then output to supply the equipment end where the speed reducer is installed. In this embodiment, a harmonic reducer 31 made of rigid metal material is selected as the speed reducer 30. The harmonic reducer 31 includes a waveform generating group 310 and a flexible gear 311.

[0053] The waveform generating assembly 310 includes an elliptical disk 314 that is connected to the rotor 22 and a flexible bearing 315 that is coupled between the elliptical disk 314 and the flexible gear 311. The flexible gear 311 has a thin-walled portion 312 that can deform and a thick-walled portion 313 that can maintain rigidity. The thin-walled portion 312 has a smooth inner wall surface 312a and a plurality of external teeth 312b that are distributed in a ring around the periphery of the thin-walled portion 312. The flexible gear 311 can be coupled to the flexible bearing 315 by means of the inner wall surface 312a.

[0054] The rigid gear 40 is also made of rigid metal material and has a plurality of internal teeth 41 arranged in a ring, and the rigid gear 40 is still fixed in the housing 10 along the said axis trajectory. Accordingly, the plurality of external teeth 312b of the flexible gear 311 can mesh with some of the internal teeth 41 of the rigid gear 40, so that the rigid gear 40 can provide a guiding function for the flexible gear 311 of the harmonic reducer 31 (i.e., the reduction gear 30).

[0055] Furthermore, the rigid gear 40 has an annular end face 42 with a uniform circumferential radius. This annular end face 42 extends along the axis to form a pair of flexible retainers 43, allowing the rigid gear 40 to be fixed within the housing 10 via the retainers 43. It is not necessary that the retainers 43 be in pairs; in fact, any single or multiple retainers 43 formed on the annular end face 42 are within the scope of this invention's adaptable application, as described herein. Further details can be found in the following description. Figure 3aThe truss 43 is integrally formed on the annular end face 42 and is upright. One end of the truss 43 has a connecting part 431. The truss 43 can be fixed to the top wall of the housing 10 by means of a screw through the connecting part 431.

[0056] like Figure 1 and Figure 2 As shown, the torque sensor 50 includes a linear sensing element 51 and a permanent magnet 52 fixed within the housing 10 and between the annular end face 42. Additionally... Figure 3a It can be seen that, in a specific implementation, the linear sensing element 51 is fixed inside the housing 10, the permanent magnet 52 is fixed to the annular end face 42, and the linear sensing element 51 and the permanent magnet 52 are spaced apart to form an air gap 53.

[0057] In other words, the linear sensing element 51 can be composed of a Hall sensor element; accordingly, the magnetic field lines emitted by the permanent magnet 52 will generate a magnetic field and act on the Hall sensor element through the air gap 53, causing the current in the circuit inside the Hall sensor element to generate a voltage under the action of the Lorentz force; according to the Hall effect, the voltage is proportional to the strength of the magnetic field passing through it. Therefore, the stronger the magnetic field generated by the permanent magnet 52, the stronger the potential signal generated by the Hall sensor element, and vice versa. Figure 3a The Hall sensor element is revealed to be able to sense the magnetic field generated by the permanent magnet 52 through the air gap 53 and generate a potential signal.

[0058] According to the configuration technology disclosed in the first embodiment above, the present invention can read the torque of the deceleration rotational kinetic energy by means of the potential signal generated by the Hall sensing element.

[0059] To elaborate, such as Figure 2 As shown, when the stator 21 of the motor 20 excites the rotor 22 to rotate, it can simultaneously drive the elliptical disk 314 to rotate, and sequentially force the flexible bearing 315 and the thin-walled portion 312 of the flexible gear 311 to form a consistent ellipse, thereby driving the flexible gear 311 to rotate in the opposite direction around the rigid gear 40; at this time, since the number of teeth of the outer teeth 312b of the flexible gear 311 is less than the number of teeth of the inner teeth 41 of the rigid gear 40 (usually two fewer teeth), and the thin-walled portion 312 of the flexible gear 311 has been formed into an ellipse, the flexible gear 311 can actually only mesh with a portion of the inner teeth 41 of the rigid gear 40 at the two opposite ends of the major axis of the ellipse, and slowly rotate on the inner teeth 41 of the rigid gear 40.

[0060] In other words, when the rotor 22 drives the elliptical disk 314 to rotate one revolution (360 degrees), it causes the flexible gear 311 to rotate one revolution (360 degrees) in the opposite direction by a small arc (depending on the number of teeth reduced on the outer teeth of the flexible gear). That is, the rotational speed of the flexible gear 311 is relatively slower than the rotational speed generated by the rotor 22, thereby achieving the effect of harmonic deceleration. This allows the harmonic reducer 31 to output the decelerated rotational kinetic energy with a predetermined reduction ratio through the flexible gear 311. During this deceleration transmission process, the rigid gear 40 not only provides a guiding function for the flexible gear 311, but also bears the torque generated by the transmission of the flexible gear 311.

[0061] Continued Figures 3a to 3b As shown, where Figure 3a The rigid gear 40 is disclosed to be in a non-displaced relative position with the permanent magnet 52 through the air gap 53 when it is not subjected to torque. At this time, the Hall sensor can sense the strong magnetic field strength of the permanent magnet 52 and thus generate a high voltage potential signal. Figure 3b The invention discloses that when the rigid gear 40 is subjected to the torque M transmitted by the flexible gear 311, it causes the frame 43 to be subjected to a bending moment, generating a deformation δ. This causes the rigid gear 40 to displace slightly in the radial direction, resulting in the permanent magnet 52 moving by a displacement x relative to the Hall sensor. At this time, since the permanent magnet 52 has moved away from the Hall sensor, the Hall sensor can sense that the magnetic field strength of the permanent magnet 52 is gradually weakening, thereby generating a lower voltage potential signal. Accordingly, the present invention can read and determine the torque value of the deceleration rotational kinetic energy based on the strength of the potential signal.

[0062] Please refer to further information. Figure 3c Expose Figure 1 The cross-section of the middle section of the truss 43 shown is a rectangle formed by the alternation of two long sides 433 and two short sides 434. The two long sides 433 are perpendicular to the tangent L of the annular end face 42, and the two short sides 434 are parallel to or collinear with the tangent L of the annular end face 42. This allows the rectangular truss 43 to generate the bending moment deformation due to the relative thinness created by the two short sides 434. In other words, according to... Figure 1 and Figure 3c The disclosure also reveals that the truss 43 located between the annular end face 42 and the shell 10 can also be defined as a strip shape, such that the strip-shaped truss can generate the bending moment deformation through the relative thinness constructed by the two short sides 434.

[0063] Please refer to further information. Figure 3d Expose Figure 1The truss 43 shown can be detachably fixed to the annular end face 42. Specifically, the annular end face 42 has a pair of grooves 421, and the bottom of each truss 43 has a retaining part 432 that can be fitted and fixed into the groove 421, allowing the truss 43 to be installed in the groove 421 of the annular end face 42 via the retaining part 432 and thus formed on the annular end face 42. This simplifies the manufacturing process of the rigid gear 40.

[0064] For example Figure 4a As shown, another form of the truss 44 located between the annular end face 42 and the housing 10 is disclosed. That is, the truss 44 can be formed into a flexible M-shaped body, such that the M-shaped body has two symmetrical strips 441, each strip 441 having two symmetrical long sides 443 and two short sides 444 (e.g., Figure 3c This allows the truss 44 to generate the bending moment deformation through the relative thinness constructed by the two short sides 444.

[0065] For example Figure 4b As shown, reveal Figure 4a The truss bracket 44 shown can be detachably fixed to the annular end face 42. Specifically, the annular end face 42 has a pair of grooves 421, and the bottom of the truss bracket 44 has a retaining portion 442 that can be fixed to the groove 421, allowing the truss bracket 44 to be installed in the groove 421 of the annular end face 42 via the retaining portion 442 and thus formed on the annular end face 42. This also simplifies the manufacturing process of the rigid gear 40.

[0066] The above Figure 4a and Figure 4b In the embodiment shown, the annular end face 42 extends along the axial trajectory to form a boss 423, 424, and the groove 421 is formed between the boss 423, 424 and the annular end face 42. Each of the bosses 423, 424 has a platform for embedding the permanent magnet 52.

[0067] The first embodiment described above further discloses that the casing 10 can be annular, and is formed by a ring-shaped casing seat 11 and a ring-shaped casing cover 12 pivotally connected to each other. Furthermore, as... Figure 1 and Figure 2As shown, the housing 11 can be considered as the fixed end of this transmission device, used to lock onto the equipment end that requires the deceleration rotational kinetic energy. A central seat portion 111 can be formed at the center of the housing 11, and a hole 112 is provided in the central seat portion 111. A central post 121 is formed at the center of the housing cover 12, which can extend to the hole 112, for mounting a first bearing 61 between the hole 112 and the central post 121. In addition, a second bearing 62 and a third bearing 63 are installed between the periphery of the housing 11 and the housing cover 12, so that the housing cover 12 can be pivotally connected to the housing 11 by means of the central post 121, the first bearing 61, the second bearing 62 and the third bearing 63.

[0068] Furthermore, the housing 10 provides fixation for the stator 21 and the rigid gear 40 via the housing base 11. The rotor 22 can be pivotally mounted between the outer wall of the central seat portion 111 and the stator 21 via at least one fourth bearing 64 disposed within the central pivot hole 221. The cover 12 provides fixation for the thick-walled portion 313 of the flexible gear 311, and the decelerated rotational kinetic energy output by the flexible gear 311 can be provided to the equipment end application via the cover 12 as a power output end.

[0069] In the above, the central seat portion 111 and seat hole 112 of the housing 11 can also be formed inside the housing cover 12. In this case, the central post 121 of the housing cover 12 is formed inside the housing 11. In other words, as long as the housing 11 and the housing cover 12 can be pivotally connected to each other and have interconnected accommodating chambers inside, they are all within the scope of application of this utility model.

[0070] Next, please refer to both. Figure 5 and Figure 6 This discloses the configuration of the second embodiment of the present utility model, which is similar to... Figure 1 and Figure 2 The difference in the first embodiment shown is that a planetary gear system 32 is used to replace the aforementioned harmonic reducer 31 as the speed reducer 30 of this utility model. The rest of the structural configuration can be applied to the first embodiment.

[0071] In other words, the reduction gear 30 composed of the planetary gear train 32 includes a plurality of planetary gear sets that are drively connected to the rotor 22 and guided by the rigid gear 40.

[0072] like Figure 5 As shown, the disclosed multiple planetary gear sets include a first-order planetary gear set 34 capable of generating a first-order reduction ratio, a second-order planetary gear set 35 capable of generating a second-order reduction ratio, and a third-order planetary gear set 36 capable of generating a third-order reduction ratio. Wherein:

[0073] The first-order planetary gear set 34 includes a first-order sun gear 341 that is connected to the rotor 22, a first-order planetary disk 342 pivotally mounted within the housing 10, and multiple first-order planetary gears 343 pivotally mounted on the first-order planetary disk 342 and revolving under the transmission of the first-order sun gear 341. Further, the first-order sun gear 341 is ring-shaped and can be locked to the rotor 22 by multiple bolts, and the external teeth 341a of the first-order sun gear 341 are located at the bottom end of the first-order sun gear 341 (e.g., ...). Figure 6 (As shown). The central post 121 of the cover 12 provides a pivot for the first-stage planetary disk 342. The first-stage planetary disk 342 has an integral upper disk surface 342a and a lower disk surface 342b. A plurality of first-stage planetary gears 343 are pivotally mounted between the upper disk surface 342a and the lower disk surface 342b at equal circumferential intervals and can rotate freely. Accordingly, the rotor 22 can drive the first-stage planetary disk 342 to rotate via the first-stage sun gear 341, causing the plurality of first-stage planetary gears 343 to revolve along the central axis. During the revolution, the plurality of first-stage planetary gears 343 can be guided by the rigid gear 40, so that the rigid gear 40 bears the torque of the first-stage deceleration rotational kinetic energy (e.g., Figure 6 (As shown).

[0074] Easily changeable Figure 6 In other embodiments of the configuration shown, a plurality of first-order planetary gears 343 can thus serve as the power output end for the transmission to output a first-order reduction ratio. In this manner, the cover 12 can act as the lower end face 342b of the first-order planetary disk 342, such that the plurality of first-order planetary gears 343 are pivotally mounted between the upper end face 342a of the first-order planetary disk 342 and the cover 12, and the lower end face 342b, the second-order planetary gear set 35, and the third-order planetary gear set 36 are omitted.

[0075] In addition, in accordance with Figure 6In the illustrated configuration, the second-order planetary gear set 35 includes a second-order sun gear 351 formed at the center of the lower end disk surface 342b of the first-order planetary disk 342, a second-order planetary disk 352 pivotally mounted on the central column 121 of the housing 12, and a plurality of second-order planetary gears 353 pivotally mounted on the second-order planetary disk 352 and revolving under the drive of the second-order sun gear 351. The second-order planetary disk 352 also has an integral upper end disk surface 352a and a lower end disk surface 352b, and the plurality of second-order planetary gears 353 are pivotally mounted between the upper end disk surface 352a and the lower end disk surface 352b at equal circumferential intervals, allowing free rotation. With this configuration, the second-stage sun gear 351 can transmit the deceleration rotational kinetic energy of the first-stage reduction ratio to drive the second-stage planetary disk 352 to rotate, causing multiple second-stage planetary gears 353 to revolve along the central axis trajectory. During the revolution, multiple second-stage planetary gears 353 can receive the guidance of the rigid gear 40, so that the rigid gear 40 can simultaneously bear the torque of the second-stage deceleration rotational kinetic energy.

[0076] Easily changeable Figure 6 In other embodiments of the configuration shown, a plurality of second-order planetary gears 353 can thus serve as the power output terminals for outputting the second-order reduction ratio of this transmission. In this manner, the cover 12 can act as the lower end face 352b of the second-order planetary disk 352, such that the plurality of second-order planetary gears 353 are pivotally mounted between the upper end face 352a of the second-order planetary disk 352 and the cover 12, and the lower end face 352b and the third-order planetary gear set 36 are omitted.

[0077] Furthermore, in accordance with Figure 6In the implementation of the configuration shown, the third-order planetary gear 36 includes a third-order sun gear 361 formed at the center of the lower end disk surface 352b of the second-order planetary disk 352, a third-order planetary disk 362 pivotally mounted on the central column 121 of the cover 12, and a plurality of third-order planetary gears 363 pivotally mounted on the third-order planetary disk 362 and revolving under the drive of the third-order sun gear 361; wherein, the third-order planetary disk 362 is used as the aforementioned upper disk surface, and the cover 12 is used as the aforementioned lower disk surface, so that the plurality of third-order planetary gears 363 are pivotally mounted between the third-order planetary disk 362 and the cover 12 at equal circumferential intervals and can rotate freely. With this configuration, the third-order sun gear 361 can transmit the decelerated rotational kinetic energy of the second-order reduction ratio to drive the third-order planetary gear disk 361 to rotate, causing multiple third-order planetary gears 363 to revolve along the central axis. During this revolution, the multiple third-order planetary gears 363 can be guided by the rigid gear 40, allowing the rigid gear 40 to simultaneously bear the torque of the third-order decelerated rotational kinetic energy. Simultaneously, the housing 12 can output the rotational kinetic energy of the third-order reduction ratio to the external environment for use in the equipment. The rigid gear 40 can be considered as a ring gear (or internal gear) in the planetary gear system 32 that guides the planetary gears; therefore, the reduction ratio generated by each planetary gear set is determined by the tooth ratio between each sun gear and the rigid gear.

[0078] besides, Figure 5 and Figure 6 The implementation details of the torque sensor 50 in the second embodiment are the same as those in the first embodiment, so that the present invention can read the torque of the deceleration rotational kinetic energy output by the planetary gear system 32 by means of the torque sensor 50.

[0079] Based on the above embodiments, this invention is sufficient to significantly improve the accuracy of the output torque sensing in a speed reduction transmission device and overcome the problem of entanglement caused by the wires of the torque sensing element. Furthermore, the above embodiments are merely preferred embodiments of this invention and should not be construed as limiting the scope of protection of this invention.

Claims

1. A reduction gear with a torque sensor mounted thereon, characterized by comprising: It is arranged within a housing along a coaxial trajectory, including: A motor comprising a stator fixed within the housing and a rotor pivotally disposed within the stator; A speed reducer is connected to the rotor and outputs a reduced rotational kinetic energy; A rigid gear, fixed inside the housing, guides the speed reducer and thus bears the torque of the speed reducer; wherein... The rigid gear has an annular end face with a uniform circumferential radius. The annular end face extends along the axis trajectory to form at least one flexible frame. The rigid gear is fixed in the housing via the frame. The torque sensor includes a linear sensing element and a permanent magnet fixed between the housing and the annular end face. The linear sensing element and the permanent magnet are spaced apart to form an air gap. The linear sensing element senses the change in magnetic field strength of the permanent magnet during the torque action of the rigid gear through the air gap, so as to read the torque of the deceleration rotational kinetic energy output by the speed reducer.

2. The torsion sensor-carrying reduction transmission according to claim 1, characterized in that: When subjected to torque, the rigid gear can drive the frame to deform by generating a bending moment, thereby causing the rigid gear to generate a displacement along the circumferential direction. The linear sensing element senses the change in the magnetic field strength generated by the permanent magnet by means of the change in this displacement.

3. The torsion sensor-carrying reduction transmission of claim 2, wherein: The cross-section of the truss is rectangular, with the two long sides of the rectangle perpendicular to the tangent of the annular end face, and the two short sides of the rectangle parallel or collinear to the tangent of the annular end face. The truss generates the bending moment deformation through the two short sides.

4. The torsion sensor-equipped speed reduction device according to claim 2, characterized by: The truss is a strip-shaped body located between the annular end face and the shell, and the truss generates the bending moment deformation through the two short sides of the strip-shaped body.

5. The torsion sensor-carrying reduction transmission of claim 2, wherein: The truss is an M-shaped body, located between the annular end face and the shell. The M-shaped body has two symmetrical plates, each plate having two symmetrical short sides. The truss generates the bending moment deformation via the two short sides.

6. The torsion sensor-carrying reduction transmission of claim 1, wherein: The derricks are formed in pairs on the annular end face.

7. The torsion sensor-carrying reduction gear as claimed in any one of claims 1 to 6, characterized in that: The annular end face has a pair of corresponding slots for the truss, and the bottom of the truss is formed with a holding part that can be fixed to the slot. The truss is formed on the annular end face via the holding part.

8. The torsion sensor-carrying reduction transmission of claim 7, wherein: The annular end face extends along the axis to form a boss, and the grooves are formed between the boss and the annular end face.

9. The torsion sensor-carrying reduction transmission of claim 8, wherein: The boss provides a platform on which the permanent magnet is embedded. The linear sensing element is fixed inside the housing, thereby emitting a magnetic field strength generated by the magnetic lines of force that acts on the linear sensing element.

10. The torsion sensor-carrying reduction gear as claimed in any one of claims 1 to 6, characterized in that: The housing is pivotally connected to a housing base and a housing cover. The rigid gear is fixed in the housing base via the frame and extends into the housing cover to guide the speed reducer.

11. The speed reduction transmission device equipped with a torque sensor as described in claim 1, characterized in that: The linear sensing element is fixed inside the housing, and the permanent magnet is fixed to the annular end face, thereby emitting a magnetic field intensity generated by the magnetic field lines to act on the linear sensing element.

12. The torsion sensor-carrying reduction transmission of claim 11, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides fixation for the stator, the rigid gear, a portion of the speed reducer and the linear sensing element. The housing cover provides fixation for another portion of the speed reducer and drives the housing cover to become a power output end of the speed reducer.

13. The torsion sensor-carrying reduction transmission of claim 1, wherein: The speed reducer is composed of a harmonic reducer, which includes a waveform generating group and a flexible gear. The waveform generating group includes an elliptical disk that is connected to the rotor and a flexible bearing that is coupled between the elliptical disk and the flexible gear. The speed reducer is guided by the rigid gear by means of the flexible gear.

14. The torsion sensor-carrying reduction transmission of claim 13, wherein: The rigid gear has a plurality of internal teeth arranged in a ring, and the flexible gear has a thin-walled portion that can deform and a thick-walled portion that can maintain rigidity. The thin-walled portion has a smooth inner wall surface and a plurality of external teeth arranged in a ring around the periphery of the thin-walled portion. The flexible gear engages with the flexible bearing by means of the inner wall surface and engages with a portion of the internal teeth of the rigid gear by means of the external teeth.

15. The torsion sensor-carrying reduction transmission of claim 14, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides fixation for the stator and the rigid gear, and the housing cover provides fixation for the thick-walled portion of the flexible gear, thereby driving the housing cover to become a power output end of the speed reduction transmission device.

16. The torsion sensor-carrying reduction transmission of claim 1, wherein: The speed reducer consists of a planetary gear train, which includes at least one set of planetary gears that are drive-connected to the rotor and guided by the rigid gear.

17. The torsion sensor-carrying reduction transmission of claim 16, wherein: At least one of the planetary gear sets includes a first-order planetary gear set capable of generating a first-order reduction ratio. The first-order planetary gear set includes a first-order sun gear that is connected to the rotor, a first-order planetary disk pivotally mounted in the housing, and a plurality of first-order planetary gears pivotally mounted on the first-order planetary disk and revolving under the drive of the first-order sun gear. The first-order planetary gear set is guided by the rigid gear by the plurality of first-order planetary gears, and the plurality of first-order planetary gears serve as a power output end for the reduction transmission device to generate the first-order reduction ratio.

18. The torsion sensor-carrying reduction transmission of claim 17, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides a fixed position for the stator and the rigid gear, and the housing cover is used to receive the transmission of multiple first-order planetary gears, driving the reduction transmission device to output rotational kinetic energy with a first-order reduction ratio through the housing cover.

19. The torsion sensor-carrying reduction transmission of claim 17, wherein: At least one of the planetary gear sets further includes a second-order planetary gear set capable of generating a second-order reduction ratio. The second-order planetary gear set includes a second-order sun gear formed at the center of the first-order planetary disk, a second-order planetary disk pivotally mounted in the housing, and a plurality of second-order planetary gears pivotally mounted on the second-order planetary disk and revolving under the drive of the second-order sun gear. The second-order planetary gear set is guided by the rigid gear by the plurality of second-order planetary gears, and the plurality of second-order planetary gears serve as a power output end for the reduction transmission device to generate a second-order reduction ratio.

20. The torsion sensor-carrying reduction transmission of claim 19, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides a fixed position for the stator and the rigid gear, and the housing cover is used to receive the transmission of multiple second-order planetary gears, driving the reduction transmission device to output rotational kinetic energy with a second-order reduction ratio through the housing cover.

21. The torsion sensor-carrying reduction transmission of claim 19, wherein: At least one of the planetary gear sets further includes a third-order planetary gear set capable of generating a third-order reduction ratio. The third-order planetary gear set includes a third-order sun gear formed at the center of the second-order planetary disk, a third-order planetary disk pivotally mounted in the housing, and a plurality of third-order planetary gears pivotally mounted on the third-order planetary disk and revolving under the drive of the third-order sun gear. The third-order planetary gear set is guided by the rigid gear by the plurality of third-order planetary gears, and the plurality of third-order planetary gears serve as a power output end for the reduction transmission device to generate a third-order reduction ratio.

22. The torsion sensor-carrying reduction transmission of claim 21, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides a fixed position for the stator and the rigid gear, and the housing cover is used to receive the transmission of multiple third-order planetary gears, driving the reduction transmission device to output rotational kinetic energy with a third-order reduction ratio via the housing cover.

23. The speed reduction transmission device equipped with a torque sensor as described in claim 1, characterized in that: The rotor has a central pivot hole. The housing is formed by pivotally connecting a housing base and a housing cover. The housing base has a central seat portion that can extend into the central pivot hole. The rotor is pivotally mounted between the central seat portion and the stator via the central pivot hole. The central seat portion has a hole. A central post extends into the housing cover. The housing cover is pivotally connected to the housing base via the central post.

24. The torsion sensor-carrying speed-reducing transmission of claim 1, wherein: The linear sensing element is composed of a Hall effect sensor.

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