A deceleration unit and a harmonic reducer

Abstract

The utility model relates to a kind of reduction unit and harmonic reducer, wherein the reduction unit is integrated between torque sensor and the rigid wheel or flexible wheel of harmonic reducer, effectively reduce the difficulty of later assembly, while respectively the rigid wheel or flexible wheel integrated with torque sensor is arranged in motor side, so that torque sensor is relatively fixed with motor, the cable of torque sensor is directly connected with drive controller through motor casing, torque sensor does not have relative rotation in use process, so that harmonic reducer can continuously rotate without limit. The utility model makes that torque sensor and harmonic reducer are highly integrated, reduce the assembly of later period, while also do not affect the continuous output performance of harmonic reducer.

Description

Technical Field

[0001] This utility model relates to the field of transmission device technology, and in particular to a reduction unit and harmonic reducer with integrated torque sensor. Background Technology

[0002] The basic components of a harmonic reducer include a wave generator, a flex wheel, and a rigid wheel. The wave generator is responsible for producing harmonic vibrations and can be categorized into rollers, eccentric discs, and cams, with the cam type being the most widely used. It consists of a cam and a thin-walled bearing. The flex wheel is the flexible element in the harmonic reducer, possessing bending deformation characteristics. Its meshing with the rigid wheel enables energy transfer; common structures include cylindrical, top-hat, and ring types. The rigid wheel is a rigid component and typically has high stiffness.

[0003] The application of torque sensors can realize force control of harmonic reducers. The traditional structure is to install the torque sensor module at the output end of the harmonic reducer. This structure requires separate installation during use. In addition, the torque sensor cable needs to pass through the middle hole of the harmonic reducer before connecting to the back-end drive controller. This structure makes it impossible for the output end to rotate continuously and without restriction during use. At the same time, the torque sensor cable will also occupy the space of the middle hole of the harmonic reducer. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model discloses a speed reduction unit and a harmonic speed reducer.

[0005] The technical solution adopted in this utility model is as follows: Firstly, a speed reduction unit is provided, comprising: Rigid wheel, located on the motor side; A flexible wheel is disposed in the inner hole of the rigid wheel; A wave generator is inserted into the inner hole of the flexible wheel; the shape of the wave generator causes the flexible wheel to undergo elastic deformation, causing the toothed ring of the flexible wheel to mesh with the toothed ring of the rigid wheel; A roller bearing is coaxially disposed on the side of the rigid wheel away from the motor. An output flange is located on the output side; the output flange is fixedly connected to the flexible wheel and the inner ring of the roller bearing, respectively. A torque sensor is attached to the side of the rigid wheel closest to the motor. The torque sensor is ring-shaped and divided into four parts, which are connected to form a Wheatstone bridge circuit.

[0006] In one embodiment of this utility model, the rigid wheel and the outer ring of the roller bearing are fixedly connected by a third fastening element.

[0007] In one embodiment of this utility model, the flexible wheel and the output flange are fixedly connected by a first fastening element.

[0008] In one embodiment of this utility model, the inner ring of the roller bearing and the output flange are fixedly connected by a second fastening element.

[0009] Secondly, a speed reduction unit is provided, comprising: The flexible wheel is located on the motor side; Rigid wheel, located on the output side; A wave generator is inserted into the inner hole of the flexible wheel; the shape of the wave generator causes the flexible wheel to undergo elastic deformation, so that the outer gear ring of the flexible wheel meshes with the inner gear ring of the rigid wheel; A roller bearing is coaxially disposed on the side of the flexure away from the motor; the outer ring of the roller bearing is fixedly connected to the flexure, and the inner ring of the roller bearing is fixedly connected to the rigid wheel; A torque sensor is attached to the side of the flexible wheel closest to the motor. The torque sensor is ring-shaped and divided into four parts, which are connected to form a Wheatstone bridge circuit.

[0010] In one embodiment of this utility model, the flexible wheel is fixedly connected to the outer ring of the roller bearing by a fourth fastening element.

[0011] In one embodiment of this utility model, the rigid wheel is fixedly connected to the inner ring of the roller bearing by a fifth fastening element.

[0012] In one embodiment of this utility model, the rigid wheel is a rigid annular component with an internal toothed ring, which has two more teeth than the external toothed ring of the flexible wheel.

[0013] In one embodiment of this utility model, the flexible wheel is a flexible thin-walled elastomer component with an external toothed ring.

[0014] Thirdly, a harmonic reducer is provided, comprising: Drive motor; The reduction unit described above is connected to the output shaft of the drive motor.

[0015] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art: The harmonic reducer described in this utility model integrates the torque sensor with the flexible or rigid wheel of the harmonic reducer, effectively reducing the difficulty of later assembly. At the same time, the flexible or rigid wheel with the integrated torque sensor is arranged on one side of the motor, so that the torque sensor is relatively fixed to the motor. The cable of the torque sensor is directly connected to the drive controller through the motor housing. The torque sensor does not rotate relative to the motor during use, so the harmonic reducer can rotate continuously and without restriction. Attached Figure Description

[0016] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a cross-sectional view of the deceleration unit in Embodiment 1.

[0018] Figure 2 This is the front view of the deceleration unit in Embodiment 1.

[0019] Figure 3 This is a cross-sectional view of the deceleration unit in Embodiment 2.

[0020] Figure 4 This is the front view of the deceleration unit in Embodiment 2.

[0021] Explanation of reference numerals on the accompanying drawings: 10. Rigid wheel; 20. Flexible wheel; 30. Wave generator; 40. Roller bearing; 50. Output flange; 60. Torque sensor; 701. First fastening element; 702. Second fastening element; 703. Third fastening element; 704. Fourth fastening element; 705. Fifth fastening element. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0023] The foregoing and other technical contents, features, and effects of this utility model will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front, or back, are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the present utility model. Furthermore, in all embodiments, the same reference numerals denote the same elements. Example 1

[0024] Reference Figure 1 and Figure 2 As shown, this embodiment provides a speed reduction unit, including a rigid wheel 10, a flexible wheel 20, a wave generator 30, a roller bearing 40, an output flange 50, and a torque sensor 60.

[0025] The rigid wheel 10 is a rigid annular component with an internal gear ring. The flexible wheel 20 is a flexible thin-walled elastomer component with an external gear ring. The internal gear ring of the rigid wheel 10 has two more teeth than the external gear ring of the flexible wheel 20.

[0026] A rigid wheel 10 is located on the motor side. A flexible wheel 20 is located inside the rigid wheel 10. A wave generator 30 is inserted into the inner hole of the flexible wheel 20. The shape of the wave generator 30 causes the flexible wheel 20 to elastically deform, causing the gear ring of the flexible wheel 20 to mesh with the gear ring of the rigid wheel 10. A roller bearing 40 is coaxially located on the side of the rigid wheel 10 away from the motor side.

[0027] The output flange 50 is located on the output side. The output flange 50 is fixedly connected to the flexible wheel 20 and the inner ring of the roller bearing 40.

[0028] The torque sensor 60 is attached to the side of the rigid wheel 10 closest to the motor. The torque sensor 60 is ring-shaped and divided into four parts, connected to form a Wheatstone bridge circuit. Essentially, the torque sensor 60 is integrated onto the rigid wheel 10. Specifically, the angle between the sensitive wires of each strain gauge of the torque sensor 60 and the line connecting them to the center of the rigid wheel 10 is 45° or 135°. The overall layout of the strain gauges in the torque sensor 60 is ring-shaped, which facilitates the elimination of interference from the wave generator 30.

[0029] Furthermore, the rigid wheel 10 and the roller bearing 40 are fixedly connected by a third fastening element 703. The flexible wheel 20 and the output flange 50 are fixedly connected by a first fastening element 701. The inner ring of the roller bearing 40 and the output flange 50 are fixedly connected by a second fastening element 702. All three fastening elements—the first, second, and third—are screws.

[0030] The installation and working principles of this embodiment are as follows: The rigid wheel 10 of the integrated torque sensor 60 is fixed to the outer ring of the roller bearing 40 with screws. The flexible wheel 20 is fixed to the output flange 50 with screws and then fixed to the inner ring of the roller bearing 40 with screws. The wave generator 30 is fixed to the output shaft of the drive motor when it is finally used.

[0031] When the output shaft of the drive motor rotates, the wave generator 30 rotates, and a deceleration motion is formed between the flexible wheel 20 and the rigid wheel 10. The flexible wheel 20 rotates at low speed and outputs torque, and the rigid wheel 10 is subjected to a reaction force. At this time, the torque sensor 60 detects this reaction force. After the strain gauge of the torque sensor 60 senses the strain, it converts it into a voltage signal. After processing by the torque sensor 60, the real-time output torque is obtained. Example 2

[0032] The difference from Embodiment 1 is that the torque sensor 60 is integrated into the flexible wheel 20.

[0033] Reference Figure 3 and Figure 4 As shown, the deceleration unit provided in this embodiment includes a rigid wheel 10, a flexible wheel 20, a wave generator 30, a roller bearing 40, an output flange 50, and a torque sensor 60.

[0034] The rigid wheel 10 is a rigid annular component with an internal gear ring. The flexible wheel 20 is a flexible thin-walled elastomer component with an external gear ring. The internal gear ring of the rigid wheel 10 has two more teeth than the external gear ring of the flexible wheel 20.

[0035] A flexible wheel 20 is located on the motor side. A rigid wheel 10 is located on the output side. A wave generator 30 is inserted into the inner hole of the flexible wheel 20. The shape of the wave generator 30 causes the flexible wheel 20 to elastically deform, causing the outer gear ring of the flexible wheel 20 to mesh with the inner gear ring of the rigid wheel 10. A roller bearing 40 is coaxially located on the side of the flexible wheel 20 away from the motor side. The outer ring of the roller bearing 40 is fixedly connected to the flexible wheel 20, and the inner ring of the roller bearing 40 is fixedly connected to the rigid wheel 10. A torque sensor 60 is attached to the side of the flexible wheel 20 closest to the motor side. The torque sensor 60 is annular and divided into four parts, connected to form a Wheatstone bridge circuit. Specifically, the angle between the direction of each grid wire of the strain gauge of the torque sensor 60 and the line connecting the center of the flexible wheel 20 is 45° or 135°. The overall layout of the strain gauge of the torque sensor 60 is annular to facilitate the elimination of interference from the wave generator 30.

[0036] Furthermore, the flexible wheel 20 is fixedly connected to the outer ring of the roller bearing 40 via the fourth fastening element 704. The rigid wheel 10 is fixedly connected to the inner ring of the roller bearing 40 via the fifth fastening element 705. Both the fourth fastening element 704 and the fifth fastening element 705 are screws.

[0037] The installation and working principles of this embodiment are as follows: The flexible wheel 20 of the integrated torque sensor 60 is fixed to the outer ring of the roller bearing 40 with screws, the rigid wheel 10 is fixed to the inner ring of the roller bearing 40 with screws, and the wave generator 30 is fixed to the output shaft of the drive motor when finally used.

[0038] When the output shaft of the drive motor rotates, the wave generator 30 rotates, and a deceleration motion is formed between the flexible wheel 20 and the rigid wheel 10. The rigid wheel 10 rotates at low speed and outputs torque, while the flexible wheel 20 is subjected to a reaction force. At this time, the torque sensor 60 detects this reaction force, and after processing by the torque sensor 60, the real-time output torque is obtained. Example 3

[0039] Based on Embodiment 1 or Embodiment 2, this embodiment provides a harmonic reducer, including a drive motor and a reduction unit provided by Embodiment 1 or Embodiment 2. The reduction unit is connected to the output shaft of the drive motor.

[0040] The harmonic reducer provided in this embodiment integrates the torque sensor 60 with the harmonic reducer, reducing subsequent assembly while not affecting the continuous output performance of the harmonic reducer.

[0041] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A speed reduction unit, characterized in that, include: Rigid wheel (10) is located on the motor side; A flexible wheel (20) is disposed in the inner hole of the rigid wheel (10); A wave generator (30) is inserted into the inner hole of the flexible wheel (20); the shape of the wave generator (30) causes the flexible wheel (20) to undergo elastic deformation, so that the toothed ring of the flexible wheel (20) meshes with the toothed ring of the rigid wheel (10); A roller bearing (40) is coaxially disposed on the side of the rigid wheel (10) away from the motor side; An output flange (50) is provided on the output side; the output flange (50) is fixedly connected to the flexible wheel (20) and the inner ring of the roller bearing (40); A torque sensor (60) is attached to the side of the rigid wheel (10) near the motor. The torque sensor (60) is ring-shaped and divided into four parts, which are connected to form a Wheatstone bridge circuit.

2. The deceleration unit according to claim 1, characterized in that, The outer rings of the rigid wheel (10) and the roller bearing (40) are fixedly connected by a third fastening element (703).

3. The deceleration unit according to claim 1, characterized in that, The flexible wheel (20) and the output flange (50) are fixedly connected by a first fastening element (701).

4. The deceleration unit according to claim 1, characterized in that, The inner ring of the roller bearing (40) and the output flange (50) are fixedly connected by a second fastening element (702).

5. A speed reduction unit, characterized in that, include: Flexible wheel (20) is located on the motor side; Rigid wheel (10) is located on the output side; A wave generator (30) is inserted into the inner hole of the flexible wheel (20); the shape of the wave generator (30) causes the flexible wheel (20) to undergo elastic deformation, so that the outer gear ring of the flexible wheel (20) meshes with the inner gear ring of the rigid wheel (10); A roller bearing (40) is coaxially disposed on the side of the flexible wheel (20) away from the motor side; the outer ring of the roller bearing (40) is fixedly connected to the flexible wheel (20), and the inner ring of the roller bearing (40) is fixedly connected to the rigid wheel (10); A torque sensor (60) is attached to the side of the flexible wheel (20) near the motor. The torque sensor (60) is ring-shaped and divided into four parts, which are connected to form a Wheatstone bridge circuit.

6. The deceleration unit according to claim 5, characterized in that, The flexible wheel (20) is fixedly connected to the outer ring of the roller bearing (40) by a fourth fastening element (704).

7. The deceleration unit according to claim 5, characterized in that, The rigid wheel (10) is fixedly connected to the inner ring of the roller bearing (40) by a fifth fastening element (705).

8. The deceleration unit according to claim 1 or 5, characterized in that, The rigid wheel (10) is a rigid annular component with an internal toothed ring, which has two more teeth than the external toothed ring of the flexible wheel (20).

9. The reduction unit according to claim 1 or 5, characterized in that, The flexible wheel (20) is a flexible thin-walled elastomer component with an external toothed ring.

10. A harmonic reducer, characterized in that, include: Drive motor; The reduction unit as described in claim 1 or claim 5 is connected to the output shaft of the drive motor.

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