A robot joint with torque sensor
By integrating a three-piece harmonic reducer and a cross roller bearing into the robot joint, the torque sensor and joint transmission are integrated, solving the problems of increased thickness and weight caused by external torque sensors in traditional robot joints. This simplifies assembly steps, improves reliability, and reduces costs.
Patent Information
- Application Number
- CN202522161958.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-13
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-10-13
AI Technical Summary
Traditional robot joints require an external torque sensor at the reducer output, which increases the axial thickness of the joint, making it unsuitable for compact space requirements. The extra weight affects lightweight design. External sensors need to be installed and calibrated independently, increasing assembly steps and the difficulty of precision control. Discrete sensors introduce additional connecting parts, reducing system reliability and increasing manufacturing costs.
The system employs a three-piece harmonic reducer kit, including a steel wheel, a flexible wheel, and a wave generator. The inner ring of the crossed roller bearing is fixedly connected to a torque sensor, while the outer ring is fixedly connected to the steel wheel. The roller bearing is secured with screws and coaxially connected to the flexible wheel and the motor drive shaft. The wave generator is mounted on the motor end and meshes with the flexible wheel for transmission, thus integrating torque detection and joint transmission functions.
Integrating torque detection function while maintaining the original joint thickness eliminates the need for external sensors, simplifies assembly steps, improves precision control, enhances system reliability, and reduces manufacturing costs.
Smart Images
Figure CN224674947U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot joints, and in particular to a robot joint with a built-in torque sensor. Background Technology
[0002] In current technology, with the continuous breakthroughs in robot research and manufacturing in modern society, the functions of robots are becoming increasingly rich. Force feedback is a particularly important data point. However, traditional motor joint structures do not have torque sensors built-in. If a torque sensor is required, it is added to the output of the reducer, which increases the overall thickness of the joint, making it unusable in some space-constrained areas. Furthermore, the external torque sensor increases the overall weight of the robot, which does not conform to the development of lightweight and portable robots. Utility Model Content
[0003] This application provides a robot joint with a built-in torque sensor, which solves the problems of the prior art where traditional robot joints require an external torque sensor at the reducer output end, resulting in an increase in the axial thickness of the joint, making it unsuitable for compact space requirements, and the extra weight affects the lightweight design of the robot; external sensors require independent installation and calibration, increasing assembly steps and the difficulty of precision control; discrete sensors introduce additional connecting parts, reducing system reliability and increasing manufacturing costs.
[0004] The technical solutions adopted in the embodiments of this application are as follows.
[0005] A robot joint with a built-in torque sensor includes a three-piece harmonic reducer assembly comprising a steel wheel, a flexible wheel, and a wave generator; a crossed roller bearing with the torque sensor fixedly connected to its inner ring and the steel wheel fixedly connected to its outer ring; the torque sensor is fixed to the inner ring of the crossed roller bearing by screws and coaxially connected to the flexible wheel and the motor drive shaft; the wave generator is mounted on the motor end and meshes with the flexible wheel for transmission; through structural integration, the torque detection function and the joint transmission function are integrated.
[0006] As a further improvement to the above technical solution: the torque sensor and the flexible wheel are rigidly connected by screws, and the concentricity and circular runout of the flexible wheel and the motor drive shaft need to be measured during the assembly process.
[0007] As a further improvement to the above technical solution: the steel wheel is fixed to the outer ring of the crossed roller bearing by screws to form the output end support structure of the reducer.
[0008] As a further improvement to the above technical solution: the wave generator and the flexible wheel are installed together to form the power transmission path of the harmonic reducer, while maintaining axial coaxiality with the torque sensor.
[0009] As a further improvement to the above technical solution: the overall structure integrates torque detection function while maintaining the original joint thickness, eliminating the need for external sensors.
[0010] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. Due to the use of a combination of a three-piece reducer set, crossed roller bearings, and a torque sensor, the torque sensor is first fixed to the inner ring of the crossed roller bearings, and then the flexure of the reducer is installed; then the steel wheel of the reducer is installed on the outer ring of the crossed roller bearings, while the wave generator is installed at the motor end; after this assembly is completed, the wave generator and the flexure can be installed together; during the assembly process, it is necessary to measure the overall concentricity, circular runout, etc., to ensure that the final reducer product is a qualified product. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the structure of the robot joint with a built-in torque sensor in this utility model.
[0012] In the diagram: 1. Torque sensor; 2. Crossed roller bearing; 3. Steel wheel; 4. Flexible wheel; 5. Wave generator; 6. Motor drive shaft. Detailed Implementation
[0013] This application provides a robot joint with a built-in torque sensor, which solves the problems of the prior art where traditional robot joints require an external torque sensor at the reducer output end, resulting in an increase in the axial thickness of the joint, making it unsuitable for compact space requirements, and the extra weight affects the lightweight design of the robot; external sensors require independent installation and calibration, increasing assembly steps and the difficulty of precision control; discrete sensors introduce additional connecting parts, reducing system reliability and increasing manufacturing costs.
[0014] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.
[0015] A robot joint with a built-in torque sensor includes a three-piece harmonic reducer system, comprising a steel wheel 3, a flexible wheel 4, and a wave generator 5; a cross roller bearing 2, with a torque sensor 1 fixedly connected to its inner ring and the steel wheel 3 fixedly connected to its outer ring; the torque sensor 1 is fixed to the inner ring of the cross roller bearing 2 by screws and coaxially connected to the flexible wheel 4 and the motor drive shaft 6; the wave generator 5 is installed at the motor end and meshes with the flexible wheel 4 for transmission; through structural integration, the torque detection function and the joint transmission function are integrated.
[0016] The torque sensor 1 is rigidly connected to the flexible wheel 4 by screws, and the concentricity and circular runout of the flexible wheel 4 and the motor drive shaft 6 need to be measured during the assembly process.
[0017] The steel wheel 3 is fixed to the outer ring of the crossed roller bearing 2 by screws, forming the output end support structure of the reducer.
[0018] The combined installation of wave generator 5 and flexible wheel 4 forms the power transmission path of the harmonic reducer, while maintaining axial coaxiality with torque sensor 1.
[0019] The overall structure integrates torque detection function while maintaining the original joint thickness, eliminating the need for external sensors.
[0020] The assembly utilizes a combination of a three-piece reducer kit, crossed roller bearings 2, and a torque sensor 1. First, the torque sensor 1 is fixed to the inner ring of the crossed roller bearings, then the flexure wheel 4 of the reducer is installed. Next, the steel wheel 3 of the reducer is installed on the outer ring of the crossed roller bearings, while the wave generator 5 is installed at the motor end. After this assembly is complete, the wave generator 5 and the flexure wheel 4 can be installed together. During assembly, it is necessary to measure the overall concentricity and runout to ensure that the final reducer product is a qualified product, thus achieving… Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.
[0021] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.
Claims
1. A robot joint with a built-in torque sensor, characterized in that, The system includes a three-piece harmonic reducer set, comprising a steel wheel (3), a flexible wheel (4), and a wave generator (5); a cross roller bearing (2), with a torque sensor (1) fixedly connected to its inner ring and a steel wheel (3) fixedly connected to its outer ring; the torque sensor (1) is fixed to the inner ring of the cross roller bearing (2) by screws and is coaxially connected to the flexible wheel (4) and the motor drive shaft (6); the wave generator (5) is installed at the motor end and meshes with the flexible wheel (4) for transmission; through structural integration, the torque detection function and the joint transmission function are integrated.
2. The robot joint with a built-in torque sensor as described in claim 1, characterized in that, The torque sensor (1) and the flexible wheel (4) are rigidly connected by screws, and the concentricity and circular runout of the flexible wheel (4) and the motor drive shaft (6) need to be measured during the assembly process.
3. The robot joint with a built-in torque sensor as described in claim 1, characterized in that, The steel wheel (3) is fixed to the outer ring of the cross roller bearing (2) by screws to form the output end support structure of the reducer.
4. The robot joint with a built-in torque sensor as described in claim 1, characterized in that, The combination of wave generator (5) and flexible wheel (4) forms the power transmission path of harmonic reducer, while maintaining axial coaxiality with torque sensor (1).
5. The robot joint with a built-in torque sensor as described in claim 1, characterized in that, The overall structure integrates torque detection function while maintaining the original joint thickness, eliminating the need for external sensors.