A harmonic reducer

Abstract

The utility model provides a kind of harmonic reducer, comprising: rigid wheel;Flexible wheel, it includes the toothed cylinder portion and diaphragm portion being connected along the axial direction, toothed cylinder portion is inserted into rigid wheel and is engaged with rigid wheel, and the one end of diaphragm portion in axial direction is first end face, and the other end is second end face;Wave generator, it is inserted into toothed cylinder portion and is engaged with toothed cylinder portion, and wave generator is used to rotatably extrude toothed cylinder portion, so that different regions of toothed cylinder portion outside surface are engaged with rigid wheel;And the detection component for detecting the driving torque of flexible wheel, it includes the first strain gauge being attached with first end face and the second strain gauge being attached with second end face, and first strain gauge and second strain gauge are oppositely arranged. It can eliminate the measurement error generated by the bending influence of diaphragm portion according to first strain gauge and second strain gauge, improve the measurement accuracy of flexible wheel torque, so as to improve the accuracy of output torque in the process of controlling harmonic reducer.

Description

Technical Field

[0001] This utility model relates to the field of harmonic reducer technology, and in particular to a harmonic reducer. Background Technology

[0002] A harmonic gear reducer is a device consisting of a fixed internal gear, a flexible gear, and a wave generator that causes radial deformation of the flexible gear. It is a new type of transmission structure among gear reducers. It uses the flexible gear to generate controllable elastic deformation waves, causing relative tooth misalignment between the teeth of the gear and the flexible gear to transmit power and motion.

[0003] Harmonic reducers are widely used in robotics, automation equipment, machine tools, medical devices, and aerospace, and mainly consist of three core components: a rigid wheel, a flexible wheel, and a wave generator. The harmonic reducer transmits motion and force by causing the flexible wheel and the rigid wheel to mesh differently through the rotation of the wave generator.

[0004] In some applications where high output torque is required, it is often necessary to measure the output torque of the harmonic reducer in real time in order to control the harmonic reducer and ensure that its output torque meets the required specifications.

[0005] In related technologies, strain gauges are attached to the end face of the flexspline diaphragm. The torque at the flexspline is measured by the strain gauges, thereby enabling the measurement of the output torque of the harmonic reducer. However, when the harmonic generator is working, the flexspline diaphragm often deforms due to the torsion of the flexspline, resulting in significant errors in the data measured by the strain gauges, making it unsuitable for high-precision torque control of the harmonic reducer. Utility Model Content

[0006] This utility model provides a harmonic reducer to improve the torque measurement accuracy and reduce the reduction measurement error of the harmonic reducer.

[0007] This utility model provides a harmonic reducer, comprising: Rigid wheel; The flexible wheel includes a toothed cylindrical portion and a diaphragm portion connected along the axial direction. The toothed cylindrical portion is inserted into the rigid wheel and meshes with the rigid wheel. One end of the diaphragm portion in the axial direction is a first end face, and the other end is a second end face. A wave generator, inserted into and interference-fitted with the toothed cylindrical portion, is used to rotaryly compress the toothed cylindrical portion, causing different areas of the outer surface of the toothed cylindrical portion to mesh with the rigid wheel; and The detection component for detecting the driving torque of the flexible wheel includes a first strain gauge that is attached to the first end face and a second strain gauge that is attached to the second end face, and the first strain gauge and the second strain gauge are disposed opposite to each other.

[0008] In one embodiment, the detection component includes four first strain gauges and four second strain gauges. The first strain gauges are evenly spaced along the circumference of the flexible wheel, and the second strain gauges correspond one-to-one with the first strain gauges. Each first strain gauge is connected in series with its corresponding second strain gauge to form a measurement unit, and the four measurement units form a Wheatstone full-bridge circuit.

[0009] In one embodiment, the acute angle between the extension direction of the resistance wire grid in the first strain gauge and the tangential direction of the flexible wheel is 45°.

[0010] In one embodiment, the circuit board is also included, and all four measurement units are electrically connected to the circuit board. The circuit board is provided with a power supply module and a measurement module. The power supply module is used to supply power to the Wheatstone full-bridge circuit, and the measurement module is used to measure the differential voltage output by the Wheatstone full-bridge circuit.

[0011] In one embodiment, a fixing flange is also included, which is located radially outside the diaphragm portion and connected to the diaphragm portion, and the circuit board is mounted on the fixing flange.

[0012] In one embodiment, the fixed flange is provided with a positioning groove, and the circuit board is provided with a positioning protrusion corresponding to the positioning groove, the positioning protrusion being embedded in the positioning groove.

[0013] In one embodiment, the fixed flange is provided with a plurality of positioning grooves, and the positioning grooves are evenly spaced along the circumference of the flexible wheel. The circuit board has a ring-shaped structure and is provided with a plurality of positioning protrusions, which correspond one-to-one with the positioning grooves.

[0014] In one embodiment, the fixed flange is further provided with a wire through hole, the circuit board is disposed opposite to the first end face, and the wire connected to the second strain gauge passes through the wire through hole and is electrically connected to the circuit board.

[0015] In one embodiment, the circuit board is further provided with a wireless transmission module, which is connected to the measurement module to wirelessly transmit the data measured by the measurement module to the outside of the harmonic reducer. In one embodiment, the system further includes a crossed roller bearing, the outer ring of which is connected to the flexure, and the inner ring of which is connected to the rigid wheel.

[0016] Compared with the prior art, the advantages of this utility model are that by distributing a first strain gauge and a second strain gauge at two opposite end faces of the flexible wheel diaphragm, the torque of the flexible wheel can be measured by the strain gauges when the flexible wheel transmits torque. Since the first strain gauge and the second strain gauge are arranged opposite each other, if there is a difference in the data measured by the first strain gauge and the second strain gauge, it indicates that the deformation on both sides of the flexible wheel diaphragm is not equal. Furthermore, the measurement error caused by the bending effect of the diaphragm can be eliminated by the first strain gauge and the second strain gauge, thereby improving the measurement accuracy of the flexible wheel torque and thus improving the accuracy of the output torque in the process of controlling the harmonic reducer. Attached Figure Description

[0017] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0018] Figure 1 This is a cross-sectional view of the harmonic reducer in an embodiment of this utility model; Figure 2 yes Figure 1 A magnified schematic diagram of the partial structure at point A in the middle; Figure 3 This is a magnified schematic diagram of the structure at point A in the related technology; Figure 4 This is a cross-sectional view of the assembly formed by the flexible wheel and the component mounted on the flexible wheel in an embodiment of this utility model; Figure 5 yes Figure 4 The intention on the left; Figure 6 yes Figure 4 The right-side view; Figure 7 This is a schematic diagram of the main structure of the circuit board in an embodiment of this utility model; Figure 8 This is a schematic diagram of the Wheatstone bridge circuit connection in an embodiment of this utility model; Figure 9 This is a schematic diagram of the Wheatstone bridge circuit connection in related technologies.

[0019] Figure label: 1. Wave generator; 11. Rolling bearing 2. Rigid wheel; 3. Crossed roller bearing; 31. Inner ring; 32. Outer ring; 4. Flexible wheel; 41. Toothed cylindrical section; 42. Diaphragm section; 43. Fixed flange; 431. Positioning groove; 432. Through hole for wiring; 51, 52, 53, 54, First strain gauge; 55, 56, 57, 58, Second strain gauge; 6. Circuit board; 61. Positioning protrusion; 62. Protrusion through hole. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] A harmonic gear reducer consists of a fixed internal gear 2, a flexible gear 4, and a wave generator that causes radial deformation of the flexible gear 4. It is a novel transmission structure within gear reducers, utilizing the controllable elastic deformation wave generated by the flexible gear to induce relative tooth misalignment between the teeth of the gear 2 and the flexible gear 4, thereby transmitting power and motion. This transmission method differs fundamentally from conventional gear transmission, exhibiting unique characteristics in meshing theory, assembly calculations, and structural design. Harmonic gear reducers offer advantages such as high precision and high load-bearing capacity. Compared to ordinary reducers, they use 50% less material, resulting in a reduction in volume and weight of at least one-third.

[0022] See Figure 1 , Figure 2 as well as Figure 4 As shown, this embodiment provides a harmonic reducer, which includes: a rigid wheel 2, a flexible wheel 4, a wave generator, and a detection component. The flexible wheel 4 includes a toothed cylindrical portion 41 and a diaphragm portion 42 connected circumferentially. The toothed cylindrical portion 41 is inserted into the rigid wheel 2 and meshes with the teeth in the rigid wheel 2. The wave generator is inserted into the toothed cylindrical portion 41 and is interference-fitted with the toothed cylindrical portion 41.

[0023] When the harmonic reducer is working, the eccentrically rotating wave generator will rotate and squeeze the toothed cylindrical section 41, causing different areas of the toothed cylindrical section 41 to mesh with the rigid wheel 2. At the same time, because there is a difference in the number of teeth between the toothed cylindrical section 41 and the rigid wheel 2, the rigid wheel 2 will rotate at a small angle when the wave generator rotates, and the rotation angle of the rigid wheel 2 is much smaller than the rotation angle of the wave generator. Thus, low-speed, high-torque output can be achieved through the low-speed rotating rigid wheel 2.

[0024] See Figure 4 As shown, one axial end face of the diaphragm portion 42 of the flexible wheel 4 is the first end face (facing the circuit board 6), and the other axial end face of the diaphragm portion 42 is the second end face (facing away from the circuit board 6). The detection assembly includes a first strain gauge 51 that is in contact with the first end face and a second strain gauge 55 that is in contact with the second end face. When the wave generator compresses the flexible wheel 4, the flexible wheel 4 will deform, which will cause the first strain gauge 51 and the second strain gauge 55 to deform. By using the strain experienced by the first strain gauge 51 and the second strain gauge 55, the torque at the flexible wheel 4 can be obtained, that is, the output torque of the harmonic reducer.

[0025] like Figure 3 As shown, in related technologies, strain gauges are only attached to one side (e.g., the first end face) of the diaphragm portion 42 to measure the torque of the flexible wheel 4. In reality, only the stress change at the location where the strain gauge is attached to the diaphragm portion 42 is measured. Furthermore, when the flexible wheel 4 is subjected to torque, the diaphragm portion 42 not only twists around its central axis but also often bulges or dips axially due to changes in its radial dimensions. In other words, when measuring the torque of the flexible wheel 4 through the strain gauge on the end face of the diaphragm portion 42, the measured force includes not only the rotational torque of the diaphragm portion 42 caused by the rotation of the flexible wheel 4 but also the upward and downward deformation stresses of the diaphragm portion 42. This results in a large error in the measured torque, making it difficult to meet the requirements of high-precision measurement.

[0026] In this application, not only is a first strain gauge 51 attached to the first end face, but a second strain gauge 55, disposed opposite to the first strain gauge 51, is also attached to the second end face opposite to the first end face. It is understood that when the diaphragm portion 42 undergoes axial bulging or concave deformation, the deformation amounts of the first and second end faces are opposite. That is, if the diaphragm portion 42 bulges upward due to radial compression, causing elongation of the first end face, this will correspondingly cause compression at the second end face, and generally, the elongation deformation of the first end face is approximately equal to the compression deformation of the second end face.

[0027] Therefore, the deformation of the diaphragm portion 42 at the second end face can be measured using the second strain gauge 55, and combined with the first strain gauge 51 measuring the deformation of the diaphragm portion 42 at the first end face, the axial bulging deformation of the diaphragm portion 42 can be eliminated. This allows for a more accurate measurement of the torsional deformation of the diaphragm portion 42 around the central axis, thereby obtaining the output torque of the flexible wheel 4.

[0028] For details, see Figure 1 , Figure 5 , Figure 6 as well as Figure 8 As shown, in some implementations, the detection component includes four first strain gauges 51 and four second strain gauges 55. The first strain gauges 51 are evenly spaced along the circumference of the flexible wheel 4, and the second strain gauges 55 correspond one-to-one with the first strain gauges 51. Each first strain gauge 51 is connected in series with its corresponding second strain gauge 55 to form a measurement unit, and the four measurement units form a Wheatstone full-bridge circuit (a Wheatstone bridge is a bridge circuit composed of four resistors, which are called the bridge arms of the bridge. The Wheatstone bridge uses the change in resistance to measure the change in physical quantity. The microcontroller collects the voltage across the variable resistor and processes it to calculate the change in the corresponding physical quantity. It is a highly accurate measurement method).

[0029] In other words, four first strain gauges 51 will be attached to the first end face of the diaphragm, and the arrangement direction of the four first strain gauges 51 is the circumferential direction around the flexible wheel 4, and the interval angle between any two first strain gauges 51 is equal.

[0030] Simultaneously, four second strain gauges 55 will be attached to the second end face of the diaphragm portion 42, and the four second strain gauges 55 will correspond to the four first strain gauges 51 respectively. The first strain gauges 51 and the second strain gauges 55 are connected in series to form a measurement unit.

[0031] It is understandable that when the diaphragm portion 42 of a certain measurement unit undergoes axial bulging or concave deformation, one of the two strain gauges will be stretched and the other compressed. By connecting the first strain gauge 51 and the second strain gauge 55 in series, the change in resistance value caused by the axial bulging deformation of the two strain gauges can be canceled out. It can be considered that the resistance value of the measurement unit formed by series connection is basically equal to the resistance value of the measurement unit that has not undergone axial bulging deformation, that is, the measurement error caused by axial bulging deformation can be overcome.

[0032] Furthermore, four circumferentially evenly spaced measuring units are formed at the diaphragm section 42. These four measuring units are then combined into a Wheatstone full-bridge circuit, which can accurately measure the torque of the flexure 4, eliminating errors caused by axial bulging deformation.

[0033] See Figure 9 As shown, this is a measurement circuit in the related technology, which uses strain gauges on one end face of the diaphragm 42 to form a Wheatstone full-bridge circuit. The measured torque data will be calculated according to the following formula: ε = ε51 - ε52 + ε53 - ε54, where ε51, ε51, ε51, and ε51 are the stresses measured by the four first strain gauges (51, 52, 53, and 54), respectively.

[0034] The measurement accuracy will be low due to errors caused by the axial upward deformation of the diaphragm section 42.

[0035] In the technical solution of this application, since the first strain gauge 51 and the second strain gauge 55, which are set on both ends of the diaphragm part 42, are connected in series to form a measuring unit, the following formula will be used for calculation: ε = ε51 + ε55 - ε52 - ε56 + ε53 + ε57 - ε54 - ε58, where ε51, ε51, ε51, ε51, and ε51 are the stresses measured by the four first strain gauges (51, 52, 53, 54), and ε51, ε51, ε51, and ε51 are the stresses measured by the four second strain gauges (55, 56, 57, 58).

[0036] This eliminates bending strain and improves the accuracy of torque measurement.

[0037] See Figure 5 as well as Figure 6 As shown, in some implementations, the acute angle between the extension direction of the resistance wire grid in the first strain gauge 51 and the tangential direction of the flexible wheel 4 is 45°.

[0038] By setting the extension direction of the resistance wire grid to an angle of 45° with the tangential direction of the flexible wheel 4, the strain gauge can better measure the strain caused by torsion.

[0039] In some implementations, the resistance wire grids of any two adjacent first strain gauges extend perpendicularly (e.g., the resistance wire grids of first strain gauge 51 and first strain gauge 52 can be set to extend perpendicularly to each other, and the acute angle between them and the tangential direction of the flexure is 45°). By making the resistance wire grids of two adjacent first strain gauges extend perpendicularly, the strain directions of the two adjacent first strain gauges 51 are made approximately opposite. Combined with the Wheatstone full-bridge measurement circuit used in this application, the measurement sensitivity can be increased, thereby reducing detection errors.

[0040] See Figures 1 to 4 As shown, in some implementations, the harmonic reducer also includes a circuit board 6, and four measurement units are electrically connected to the circuit board 6. The circuit board 6 is equipped with a power supply module and a measurement module. The power supply module is used to supply power to the Wheatstone full-bridge circuit, and the measurement module is used to measure the differential voltage output by the Wheatstone full-bridge circuit, and then use the differential voltage to obtain the torque of the flexspline 4.

[0041] In some implementations, a battery can be installed on circuit board 6 to power the Wheatstone full-bridge circuit. A voltage measuring tool can be installed at the measurement module to measure the differential voltage. The measurement module can also integrate an amplifier circuit to amplify the differential voltage signal, thereby improving measurement accuracy. It is understood that the battery installed on circuit board 6 can be a button cell battery, which is small in size and does not occupy excessive space.

[0042] See Figure 2As shown, in some implementations, the flexible wheel 4 further includes a fixed flange 43, which is connected to the diaphragm portion 42 and is located radially outside the diaphragm portion 42. The circuit board 6 is mounted on the fixed flange 43, meaning that the circuit board 6 is connected to the fixed flange 43. The relative positions of the circuit board 6 and the first strain gauge 51 and the second strain gauge 55, which are also mounted on the flexible wheel 4, are fixed. During operation, the deformation of the flexible wheel 4 will not significantly affect the distance between the circuit board 6 and the first strain gauge 51 and the second strain gauge 55, thus reducing the likelihood of breakage of the connecting wires and improving the stability of the circuit board 6.

[0043] In some implementations, the fixed flange 43 is provided with mounting holes. The flexure 4 is fixed by passing mounting bolts through these holes and connecting them to the base or housing of the harmonic reducer. This prevents the flexure 4 from rotating during operation of the harmonic reducer.

[0044] See Figure 2 As shown, the thickness of the fixed flange 43 is greater than the thickness of the diaphragm part 42, which makes the deformation resistance of the fixed flange 43 better than that of the diaphragm part 42.

[0045] See Figure 2 , Figure 5 as well as Figure 6 As shown, in some implementations, the fixed flange 43 is provided with a positioning groove 431, and the circuit board 6 is provided with a positioning protrusion 61 corresponding to the positioning groove 431, with the positioning protrusion 61 embedded in the positioning groove 431. That is to say, by providing a positioning groove 431 structure on the fixed flange 43, the circuit board 6 can be positioned, avoiding misalignment of the circuit board 6 during installation and improving the installation accuracy of the circuit board 6.

[0046] See also Figure 5 as well as Figure 6 As shown, in some implementations, the positioning groove 431 extends radially along the fixed flange 43. After the positioning protrusion 61 is inserted into the positioning groove 431, the rotation of the positioning protrusion 61 and the circuit board 6 can be restricted by the groove wall of the positioning groove 431, thereby improving the stability of the circuit board 6.

[0047] See Figure 5 as well as Figure 6 As shown, in some implementations, a plurality of positioning grooves 431 are provided on the fixed flange 43, and the positioning grooves 431 are evenly spaced along the circumference of the flexible wheel 4. The circuit board 6 has a ring structure and a plurality of positioning protrusions 61 are provided on the circuit board 6, and the positioning protrusions 61 correspond one-to-one with the positioning grooves 431.

[0048] Because the fixed flange 43 has multiple positioning grooves 431 evenly spaced circumferentially, and the circuit board 6 has a corresponding number of positioning protrusions 61, the circuit board 6 can have multiple mounting angles, reducing the installation difficulty of the circuit board 6. For example Figure 5-8 As shown, eight positioning grooves 431 are provided on the fixed flange 43, and eight positioning protrusions 61 are provided on the circuit board 6, which allows the circuit board 6 to have eight installation angles, making installation more convenient. Moreover, the circuit board 6 can be positioned through multiple positioning structures, resulting in high installation stability of the circuit board 6.

[0049] Moreover, because the circuit board 6 has a ring-shaped structure, the rotating shaft of the wave generator can pass through the central through hole of the circuit board 6, and the arrangement area of ​​the circuit components on the circuit board 6 can be expanded through the ring-extended board body without affecting the normal use of the wave generator.

[0050] It is understandable that in some implementations, the control circuit of the wave generator can be connected to the circuit board 6 to achieve circuit integration, reduce internal leads, and facilitate the measurement module in the circuit board 6 to transmit data to the wave generator to control the speed and torque of the wave generator.

[0051] In some implementations, the positioning protrusion 61 of the circuit board 6 is provided with a protruding through hole 62, and the circuit board 6 is installed by a threaded fastener passing through the protruding through hole 62 of the positioning protrusion 61.

[0052] Understandably, in some implementations, a slot can be provided on the fixed flange 43 and a snap-fit ​​protrusion can be provided on the circuit board 6. The circuit board 6 can be installed on the fixed flange 43 by snap-fit. When repairing the circuit board 6, the circuit board 6 can be easily removed from the fixed flange 43, thereby reducing the difficulty of repairing the circuit board 6.

[0053] See Figure 2 , Figure 5 as well as Figure 6 As shown, in some implementations, a wire through hole 432 is also provided on the fixed flange 43, the circuit board 6 is disposed opposite to the first end face, and the wire of the second strain gauge 55 passes through the wire through hole 432 and is electrically connected to the circuit board 6.

[0054] In other words, by providing a through hole 432 on the fixed flange 43, the wire connected to the second strain gauge 55 can extend out of the fixed flange 43 and connect to the circuit board 6. This avoids the need to provide a perforation on the diaphragm of the flexible wheel 4.

[0055] Understandably, because the circuit board 6 is oriented towards the first end face, the wires at the first strain gauge 51 can be directly connected to the circuit board 6. The connection is also relatively simple.

[0056] In some implementations, a wireless transmission module is also provided on the circuit board 6. The wireless transmission module is connected to the measurement module to wirelessly transmit the data measured by the measurement module to the outside of the harmonic reducer.

[0057] The specific wireless transmission module can be a Bluetooth transmission module, an infrared transmission module, or a Wi-Fi transmission module, as long as it can realize the function of wireless data transmission.

[0058] In use, data can be transmitted in real time to a data processing terminal in the external environment, such as a processing chip, computer, or mobile device, through the wireless transmission module on circuit board 6, thereby enabling data analysis and control work using the external data processing terminal.

[0059] Because data is transmitted wirelessly via a wireless transmission module, the data transmission line is not required to be routed into the harmonic reducer, which is beneficial for the miniaturization design of the harmonic reducer.

[0060] Of course, it is understandable that in other implementations, wired data transmission can be achieved by extending a data transmission line into the harmonic reducer and connecting it to the measurement module of circuit board 6, thereby improving the stability and timeliness of data transmission. Alternatively, a processing chip can be integrated on circuit board 6, and the control module of the wave generator can also be integrated on circuit board 6, directly utilizing circuit board 6 within the harmonic reducer to perform data analysis and control of the wave generator, without the need for frequent data exchange with the outside world.

[0061] See Figures 1 to 3 As shown, in some implementations, the harmonic reducer also includes a crossed roller bearing 3, the outer ring 32 of which is connected to the flexure 4, and the inner ring 31 of which is connected to the rigid wheel 2.

[0062] Specifically, the flange 43 can be fixed to the outer ring 32 of the crossed roller bearing 3, and the rigid wheel 2 can be connected to the inner ring 31 of the crossed roller bearing 3. This allows the outer ring 32 of the crossed roller bearing 3 to absorb the radial impact of the flexure 4, preventing excessive changes in the radial dimension of the flexure 4, and ensuring that the rotation of the rigid wheel 2 relative to the flexure 4 is not affected, thus facilitating the rotation of the rigid wheel 2. The internal structure of the crossed roller bearing 3 uses rollers arranged perpendicularly to each other at 90° (hence the name "crossed roller bearing 3"). Spacers or separators are installed between the rollers to prevent tilting or friction between them, effectively preventing an increase in rotational torque. This crossed cylindrical roller bearing is included in the QuickEasy series. Furthermore, it prevents one-sided contact or locking of the rollers; and because the inner and outer rings of the standard crossed roller bearing 3 are segmented, the clearance can be adjusted, achieving high-precision rotational motion even under preload.

[0063] Specifically, the crossed roller bearing 3 can be a cross-shaped roller bearing 3.

[0064] In the above technical solution, the circuit board 6 is mounted on the fixed flange 43. In other implementations, the circuit board 6 can be directly mounted on the diaphragm portion 42 of the flexible wheel 4, or mounted on the inner ring 31 of the crossed roller bearing 3.

[0065] See Figures 1 to 3 As shown, the wave generator includes an eccentric wheel and a rolling bearing 11. The rolling bearing 11 is sleeved outside the eccentric cam, and the outer ring 32 of the rolling bearing 11 is interference-fitted with the flexible wheel 4. When the eccentric cam of the wave generator rotates, it will squeeze different areas of the inner wall of the flexible wheel 4, thereby realizing that different areas of the flexible wheel 4 will mesh with the rigid wheel 2 in sequence, driving the rigid wheel 2 to rotate.

[0066] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A harmonic reducer, characterized in that, It includes: Rigid wheel; The flexible wheel includes a toothed cylindrical portion and a diaphragm portion connected along the axial direction. The toothed cylindrical portion is inserted into the rigid wheel and meshes with the rigid wheel. One end of the diaphragm portion in the axial direction is a first end face, and the other end is a second end face. A wave generator is inserted into the toothed cylindrical portion and presses against the toothed cylindrical portion in an interference fit. The wave generator is used to rotate and press the toothed cylindrical portion so that different areas on the outer side of the toothed cylindrical portion mesh with the rigid wheel. as well as The detection component for detecting the driving torque of the flexible wheel includes a first strain gauge that is attached to the first end face and a second strain gauge that is attached to the second end face, and the first strain gauge and the second strain gauge are disposed opposite to each other.

2. The harmonic reducer according to claim 1, characterized in that, The detection component includes four first strain gauges and four second strain gauges. The first strain gauges are evenly spaced along the circumference of the flexible wheel. The second strain gauges correspond one-to-one with the first strain gauges. Each first strain gauge is connected in series with its corresponding second strain gauge to form a measurement unit, and the four measurement units form a Wheatstone full-bridge circuit.

3. The harmonic reducer according to claim 2, characterized in that, The acute angle between the extension direction of the resistance wire grid in the first strain gauge and the tangential direction of the flexible wheel is 45°.

4. The harmonic reducer according to claim 2 or 3, characterized in that, It also includes a circuit board, to which all four measurement units are electrically connected. The circuit board is equipped with a power supply module and a measurement module. The power supply module is used to supply power to the Wheatstone full-bridge circuit, and the measurement module is used to measure the differential voltage output by the Wheatstone full-bridge circuit.

5. The harmonic reducer according to claim 4, characterized in that, The flexible wheel also includes a fixed flange, which is located radially outside the diaphragm portion and connected to the diaphragm portion, and the circuit board is mounted on the fixed flange.

6. The harmonic reducer according to claim 5, characterized in that, The fixed flange is provided with a positioning groove, and the circuit board is provided with a positioning protrusion corresponding to the positioning groove, the positioning protrusion being embedded in the positioning groove.

7. The harmonic reducer according to claim 6, characterized in that, The fixed flange is provided with a plurality of positioning grooves, and the positioning grooves are evenly spaced along the circumference of the flexible wheel. The circuit board has a ring structure and is provided with a plurality of positioning protrusions, each of which corresponds to a positioning groove.

8. The harmonic reducer according to claim 6, characterized in that, The fixed flange is also provided with a wire through hole. The circuit board is disposed opposite to the first end face. The wire connected to the second strain gauge passes through the wire through hole and is electrically connected to the circuit board.

9. The harmonic reducer according to claim 6, characterized in that, The circuit board is also equipped with a wireless transmission module, which is connected to the measurement module to wirelessly transmit the data measured by the measurement module to the outside of the harmonic reducer.

10. The harmonic reducer according to claim 1, characterized in that, It also includes a crossed roller bearing, the outer ring of which is connected to the flexure, and the inner ring of which is connected to the rigid wheel.

Images