Speed reducer with deformable-portion-based torsion sensing, and joint structure and robot joint

Abstract

The present invention relates to the technical field of speed reducers and joint structures. Disclosed is a speed reducer (100) with deformable-portion-based torsion sensing. In the speed reducer, the torsional characteristics of a flexspline (1) are fully taken into consideration, wherein a deformable portion is provided on the flexspline, so that the flexspline is used as a deformation sensitive component, and the deformable portion, a receiving member (2) and a transmitting member (31) are coupled together to form a new torsion measurement sensor unit. Moreover, the torsion measurement sensor unit and the speed reducer can be integrated together to form an integrated speed reducer structure capable of torsion sensing, thus making the structure simpler and more compact and facilitating the use and popularization thereof. Due to the fact that the flexspline is limited by an output bearing of the speed reducer, the accuracy of torsion measurement is effectively improved. In addition, since the service life of the flexspline of the speed reducer is very long, there is no need to worry about damage to the deformable portion during repeated torsions, and the service life of the torsion measurement sensor unit is thus extended. The present invention further relates to a joint structure capable of force sensing, and a robot joint.

Description

A reducer, joint structure and robot joint with deformation part torque sensing Technical Field

[0001] The present invention relates to a reducer, a joint structure and a robot joint with a deformation portion torque sensor, and belongs to the technical field of reducers and joint structures. Background Art

[0002] A Chinese patent (publication number CN103486225A) discloses a harmonic reducer with torque sensing capabilities. Four detection units are symmetrically arranged on the bottom of the flexspline, each equipped with four strain gauges. A dynamic conductive ring is fixed to the output shaft, while a static conductive ring is fixed to the first housing. Each ring is equipped with four moving contacts and four static contacts. Driven by the output shaft, the four moving contacts make electrical contact with the four static contacts. The four leads of the strain gauge bridge are electrically connected to the four moving contacts. The four static contacts are electrically connected to a circuit board, which provides power and collects and processes full-bridge signals. This harmonic reducer boasts a simple structure, compact size, and lightweight. Technical issues

[0003] The above solution employs four detection units at the base of the flexspline, with four strain gauges, a dynamic conductive ring, and a static conductive ring positioned on each unit. These units are then combined with corresponding strain gauge bridge circuits to achieve torque sensing for the harmonic reducer. However, the transformation between strain and torque on the strain gauges during the repeated twisting of the flexspline is highly complex, making it difficult to effectively separate the torque signal from the electrical signal changes on the strain gauges. Furthermore, the dynamic conductive rings and static conductive rings experience significant wear during the reducer's rotation, resulting in a short lifespan and low reliability. This shortens the lifespan of the harmonic reducer with torque sensing. Furthermore, the large number of components required complicates the structure and increases manufacturing costs, hindering widespread use.

[0004] The information disclosed in this Background Art is only for understanding the background of the present inventive concept and therefore it may include information that does not constitute prior art. Technical Solutions

[0005] In response to the above problem or one of the above problems, an object of the present invention is to provide a reducer, a joint structure and a robot joint with torque sensing of a deformation part, fully considering the torsional characteristics of the flexible wheel in the reducer, and setting a deformation part on the flexible wheel, so that the flexible wheel is used as a deformation-sensitive component, so that the deformation part, the receiving part and the transmitting part are coupled together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated together to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0006] In response to the above problem or one of the above problems, the second object of the present invention is to provide a reducer, a joint structure and a robot joint with torque sensing of a deformation part, which applies the axial torque received by the output end to the flexible wheel to change the capacitive gap between the receiving element and the transmitting element, while being insensitive to forces in other directions, thereby effectively improving the accuracy and reliability of torque measurement.

[0007] In response to the above problem or one of the above problems, the third object of the present invention is to provide a reducer, a joint structure and a robot joint with torque sensing of a deformation part. The life of the reducer flexible wheel is the maximum life of the reducer, so there is no need to worry about the deformation part being damaged during repeated torsion. The service life of the torque measurement sensing unit is greatly extended, making it more stable and reliable. There is no need to set up components such as strain gauges, dynamic conductive rings and static conductive rings. Relatively few components are required, making its structure simpler and more compact, which is conducive to promotion and use.

[0008] To achieve one of the above purposes, the first technical solution of the present invention is:

[0009] A speed reducer with a torque sensor for a deformation part, comprising a flexible wheel for axial deformation, a conductive receiving element, and a transmitting element for generating an electric field;

[0010] The flexible wheel is provided with a deformation portion capable of driving the receiving element or the transmitting element to move;

[0011] The deformation portion is integrally formed with the flexible wheel or is fixedly connected to the flexible wheel;

[0012] The receiving element and the transmitting element are spaced apart and mutually form a torsion-sensitive gap capacitance variable structure;

[0013] When the flexspline is axially torsionally deformed, its deformed portion can drive the receiving element or the transmitting element to axially rotate and move, changing the distance between the receiving element and the transmitting element, causing the capacitance between the receiving element and the transmitting element to change, thereby realizing the torque measurement of the flexspline and the reducer.

[0014] After continuous exploration and testing, the present invention fully considers the torsional characteristics of the flexible wheel in the reducer, and provides a deformation part on the flexible wheel, so that the flexible wheel is used as a deformation-sensitive component, so that the deformation part, the receiving part and the transmitting part are coupled together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated together to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0015] Furthermore, the flexible wheel of the present invention is restricted by the output bearing of the reducer and can only deform axially. Therefore, the torque-sensitive gap capacitor variable structure formed by the receiving element and the transmitting element is almost only sensitive to axial rotation (torque) and is naturally insensitive to other directions, thereby effectively improving the accuracy of torque measurement. The solution is ingenious, simple and practical.

[0016] Furthermore, since the service life of the flexible wheel in the reducer is very long, when the deformation part and the flexible wheel are integrally formed, the service life of the flexible wheel is the maximum life of the deformation part and the reducer. There is no need to worry about the deformation part being damaged during repeated torsion. Therefore, the service life of the torque measurement sensor unit is greatly extended, making it more stable and reliable. There is no need to set up strain gauges, dynamic conductive rings, static conductive rings and other components. Relatively few components are required, making its structure simpler and more compact, which is conducive to popularization and use.

[0017] Furthermore, the receiving and transmitting elements form a torque-sensitive gap-capacitor variable structure. The specific capacitors and electrical connections can be freely interchanged, meaning the capacitor electrodes are interchangeable. Furthermore, the torque-sensitive gap-capacitor variable structure of the present invention can directly calculate torque based on capacitance changes, eliminating the need to consider the complex transformation relationship between strain gauge strain and torque. This allows for rapid and accurate torque calculation, resulting in a simple, practical, and feasible solution.

[0018] As preferred technical measures:

[0019] The receiving element or the transmitting element is fixedly connected to the flexible wheel or can conflict with the flexible wheel;

[0020] The capacitors and electrical connections of the receiving element and the transmitting element can be freely exchanged and combined, and can be exchanged, changed and adjusted according to actual needs during the design and production stage of the reducer.

[0021] Or / and, the deformable portion is a certain area or structure on the flexspline, so that the flexspline serves as a deformation sensitive component of the torque sensor;

[0022] Directly utilizing the existing structure on the flexible pulley as the deformation portion can not only reduce the use of components and lower manufacturing costs, but also effectively extend the service life of the sensor, namely the torque measurement sensor unit.

[0023] Or / and, the reducer includes but is not limited to a harmonic reducer;

[0024] Or / and, the flexspline is a flexspline of a harmonic reducer; or the flexspline is a deformable structure of the reducer itself or its periphery, and directly utilizing the existing structure can effectively reduce manufacturing costs.

[0025] As preferred technical measures:

[0026] The receiving member has a circumferential annular structure, and a plurality of grooves or strip-shaped protrusions are arranged on the annular structure;

[0027] There are multiple emitting elements to form a field emitter, which is fixed to a fixed base plate;

[0028] The field transmitter and the receiver form multiple torque-sensitive gap capacitance variable structures, which can effectively improve the accuracy of torque measurement, facilitate accurate measurement of the entire torsional process of the flexible wheel, and facilitate rapid assembly, effectively improving assembly efficiency.

[0029] One or two emitting elements are provided in the groove cavity or in adjacent strip-shaped protrusion structures;

[0030] The receiving member is fixedly connected to the flexible pulley via a vibration isolation pad or directly fixedly connected. Preferably, the receiving member is fixedly connected to the flexible pulley via a vibration isolation pad. The provision of the vibration isolation pad can effectively prevent the receiving member from being squeezed when the flexible pulley moves, thereby extending the service life of the receiving member.

[0031] Furthermore, the receiving member may be a resin structure with conductive paint sprayed on its surface, and the shock isolation pad is a flexible structure made of rubber, foam glue, sponge, or a structure with a spring.

[0032] When the flexible wheel is subjected to torque, the axial rotational displacement caused by its torsional deformation will drive the receiving part, causing the receiving part to rotate axially as a whole, changing the distance between the groove cavity or strip-shaped protrusion structure and the transmitting part, and causing the capacitance between the groove cavity or strip-shaped protrusion structure and the transmitting part to change, thereby realizing torque perception of the flexible wheel and the reducer.

[0033] As preferred technical measures:

[0034] The receiving member is provided with a groove structure having multiple groove cavities or multiple strip-shaped protrusion structures, which are a conductive metal structure or a non-metallic structure with a conductive paint sprayed on the surface or a non-metallic structure with a conductive layer covered on the surface, thereby forming multiple torque-sensitive gap capacitance variable structures, thereby effectively improving the accuracy of torque measurement and facilitating accurate measurement of the entire torsional process of the flexible wheel.

[0035] Alternatively, the receiving member is an annular structure having a plurality of grooves or a plurality of strip-shaped protrusions;

[0036] Alternatively, the receiving member is an arc-shaped structure, which is provided with a plurality of grooves or a plurality of strip-shaped protrusion structures.

[0037] As preferred technical measures:

[0038] A transmitting element is installed in the cavity between the groove cavity or the strip-shaped protrusion structure to form a capacitive torque sensing unit;

[0039] Alternatively, two emitting elements are mounted between the groove cavity or the strip-shaped protrusion structure to form a differential capacitive torque sensing unit;

[0040] Or / and, the openings of several grooves or strip-shaped protrusion structures face the same direction or are spaced in the same direction, and are arranged in an array structure, thereby effectively improving the accuracy of torque measurement and facilitating accurate measurement of the torque of the flexible wheel.

[0041] As preferred technical measures:

[0042] There are one or more emitting elements, which are connected to a power source to generate electric charges and form an electric field.

[0043] The emitting element is a conductive metal structure or a non-metal structure with a conductive paint sprayed on the surface or a non-metal structure with a conductive layer covered on the surface.

[0044] As preferred technical measures:

[0045] Several emitting elements are stacked together in an interval manner to form a ring array structure;

[0046] Or / and, the spacing distance between the transmitters matches the spacing distance between the receivers, so that several transmitters and receivers can be nested together to form an array torque sensing structure, which is convenient for rapid assembly into multiple torque-sensitive gap capacitance variable structures, is easy to use, and does not require tedious assembly one by one.

[0047] To achieve one of the above purposes, the second technical solution of the present invention is:

[0048] A force-sensing joint structure includes a motor stator, a motor rotor, a reducer, a housing, a conductive receiving element, and a transmitting element for generating an electric field;

[0049] The motor stator is fixed on the housing and can drive the motor rotor to rotate;

[0050] The housing is provided with a deformation portion capable of driving the receiving element or the transmitting element to move;

[0051] The deformation portion is integrally formed with the housing or fixedly connected thereto;

[0052] The receiving element or the transmitting element is fixedly connected to the flexible wheel or can conflict with the flexible wheel;

[0053] The receiving element and the transmitting element are spaced apart and mutually form a torsion-sensitive gap capacitance variable structure;

[0054] When the shell is deformed under force, its deformed part can drive the receiving part or the transmitting part to move, changing the distance between the receiving part and the transmitting part, so that the capacitance between the receiving part and the transmitting part changes, thereby realizing the force perception of the shell and the motor structure.

[0055] After continuous exploration and experimentation, the present invention sets a deformation part on the shell, so that the shell is used as a deformation-sensitive component, so that the shell, the receiving element and the transmitting element are coupled together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated together to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0056] Furthermore, the receiving element and the transmitting element form a torsion-sensitive gap capacitance variable structure, and the specific capacitance and electrical connection structure can be freely exchanged and combined.

[0057] To achieve one of the above purposes, the third technical solution of the present invention is:

[0058] A torsion-sensing robot joint comprises a motor, a housing and a harmonic reducer;

[0059] The motor comprises a motor stator, a motor rotor and a motor shaft;

[0060] The motor stator is fixed on the housing;

[0061] The motor rotor drives the harmonic reducer through the motor shaft;

[0062] The harmonic speed reducer is provided with a wave generator, a flexible pulley and a steel pulley;

[0063] The flexible wheel is provided with a conductive receiving member, and the flexible wheel is driven by the wave generator to mesh with the steel wheel and transmit power to each other;

[0064] The receiving element is provided with multiple grooves or multiple strip-shaped protrusion structures; a transmitting element for generating an electric field is provided in the multiple grooves or between the multiple strip-shaped protrusion structures; the receiving element and the transmitting element mutually form a torsion-sensitive gap capacitance variable structure;

[0065] When the output end of the harmonic reducer is subjected to external torque, it can drive the flexible wheel and the receiver to move, changing the distance between the receiver and the transmitter, causing the capacitance between the receiver and the transmitter to change, thereby realizing torque perception of the robot joint.

[0066] After continuous exploration and testing, the present invention fully considers the torsional characteristics of the flexspline in the reducer, treats the flexspline as a deformation-sensitive component, couples the flexspline, the receiving element, and the transmitting element together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0067] Furthermore, the flexible wheel of the present invention is restricted by the output bearing of the reducer and can only deform axially. Therefore, the torque-sensitive gap capacitor variable structure formed by the receiving element and the transmitting element is almost only sensitive to axial rotation (torque) and is naturally insensitive to other directions, thereby effectively improving the accuracy of torque measurement. The solution is ingenious, simple and practical.

[0068] Furthermore, the receiving element and the transmitting element form a torsion-sensitive gap capacitance variable structure, and the specific capacitance and electrical connection structure can be freely exchanged and combined.

[0069] As preferred technical measures:

[0070] The capacitors and electrical connections of the receiving and transmitting components can be freely exchanged and combined, and can be changed and adjusted according to actual needs during the design and production stage of the reducer, so that the capacitor electrodes of the receiving and transmitting components can be used interchangeably, the components can be universal, assembly is convenient, and manufacturing costs can be reduced.

[0071] Or / and, the flexible wheel is provided with a deformation portion capable of driving the receiving member to move; the deformation portion is integrally formed with the flexible wheel or fixedly connected to the flexible wheel, and the deformation portion itself or a surrounding area is fixedly connected to the receiving member or can conflict with the receiving member.

[0072] Preferably, the deformation part is integrally formed with the flexible wheel. Since the service life of the flexible wheel in the reducer is very long, when the deformation part is integrally formed with the flexible wheel, there is no need to worry about the deformation part being damaged during repeated torsion, thereby greatly extending the service life of the torque measurement sensor unit, making it more stable and reliable, and there is no need to set components such as strain gauges, dynamic conductive rings and static conductive rings. Relatively few components are required, making its structure simpler and more compact, which is conducive to popularization and use.

[0073] Or / and, it also includes a motor drive board, a motor end angle encoding chip, a motor end angle encoding magnetic ring, an output end angle encoding chip, and an output end angle encoding magnetic ring; the output end angle encoding magnetic ring is directly fixedly connected to the output end of the reducer or connected through gear transmission. Beneficial effects

[0074] After continuous exploration and testing, the present invention fully considers the torsional characteristics of the flexspline in the reducer, treats the flexspline as a deformation-sensitive component, couples the flexspline, the receiving element, and the transmitting element together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0075] Furthermore, the present invention fully considers the torsional characteristics of the flexible wheel in the reducer, and provides a deformation portion on the flexible wheel, so that the flexible wheel is used as a deformation-sensitive component, so that the deformation portion, the receiving element and the transmitting element are coupled together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated together to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to popularization and use.

[0076] Furthermore, the flexible wheel of the present invention is restricted by the output bearing of the reducer and can only deform axially. Therefore, the torque-sensitive gap capacitor variable structure formed by the receiving element and the transmitting element is almost only sensitive to axial rotation (torque) and is naturally insensitive to other directions, thereby effectively improving the accuracy of torque measurement. The solution is ingenious, simple and practical.

[0077] Furthermore, since the service life of the flexible wheel in the reducer is very long, when the deformation part and the flexible wheel are integrally formed, there is no need to worry about the deformation part being damaged during repeated torsion, thereby greatly extending the service life of the torque measurement sensor unit, making it more stable and reliable, and there is no need to set strain gauges, dynamic conductive rings, static conductive rings and other components. Relatively few components are required, making its structure simpler and more compact, which is conducive to popularization and use.

[0078] Furthermore, after continuous exploration and experimentation, the present invention provides a deformation portion on the shell, thereby treating the shell as a deformation-sensitive component, so that the shell, the receiving element and the transmitting element are coupled together to form a new torque measurement sensing unit. At the same time, the torque measurement sensing unit and the reducer can be integrated together to form an integrated reducer structure that can sense torque. The structure is simpler and more compact, which is conducive to promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] FIG1 is a schematic structural diagram of a speed reducer with a torque sensor having a deformation portion according to the present invention;

[0080] FIG2 is a schematic structural diagram of a joint structure capable of sensing force according to the present invention;

[0081] FIG3 is a partial cross-sectional view of the joint structure of the present invention;

[0082] FIG4 is a schematic diagram of a first structure of a field emitter according to the present invention;

[0083] FIG5 is a schematic diagram of the structure of FIG4 converted to a certain angle;

[0084] FIG6 is a schematic diagram of a first structural example of a receiving element according to the present invention;

[0085] FIG7 is a schematic structural diagram of a capacitive torque sensing unit according to the present invention;

[0086] FIG8 is a schematic diagram of a second structure of a field emitter according to the present invention;

[0087] FIG9 is a schematic diagram of a second structure of a receiving element of the present invention;

[0088] FIG10 is a schematic diagram of the structure of FIG9 converted to a certain angle;

[0089] FIG11 is a schematic structural diagram of a differential capacitive torque sensing unit of the present invention.

[0090] Description of reference numerals:

[0091] 1. Flexspline; 2. Receiver; 3. Field generator; 4. Isolation pad; 5. Motor stator; 6. Motor rotor; 7. Housing; 8. Back cover; 9. Motor drive board; 10. Motor end angle encoding magnetic ring; 11. Motor shaft; 12. Output end cover; 100. Reducer; 101. Steel wheel; 102. Wave generator; 21. Strip-shaped raised structure; 22. Ring structure; 31. Transmitter; 32. Fixed base plate. Modes for Carrying Out the Invention

[0092] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0093] On the contrary, the present invention covers any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention as defined by the claims. Furthermore, to facilitate a better understanding of the present invention, certain specific details are described in detail below in the detailed description of the present invention. Those skilled in the art will be able to fully understand the present invention without these details.

[0094] It should be noted that when two elements are "fixedly coupled," "fixedly connected," or "torsionally coupled," the two elements may be directly coupled or may have an intervening element. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements. The terms "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0095] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used herein, the term "or / and" includes any and all combinations of one or more of the associated listed items.

[0096] The first specific embodiment of the reducer with deformation part torque sensing of the present invention:

[0097] A speed reducer with a torque sensor for a deformation part, comprising a flexible wheel for axial deformation, a conductive receiving element, and a transmitting element for generating an electric field;

[0098] The flexible wheel is provided with a deformation portion capable of driving the receiving element or the transmitting element to move;

[0099] The deformation portion is integrally formed with the flexible wheel or is fixedly connected to the flexible wheel;

[0100] The receiving element and the transmitting element are spaced apart and mutually form a torsion-sensitive gap capacitance variable structure;

[0101] The receiving element or the transmitting element is fixedly connected to the flexible wheel or can conflict with the flexible wheel;

[0102] The capacitors and electrical connections of the receiving element and the transmitting element can be freely exchanged and combined, and can be exchanged, changed and adjusted according to actual needs during the design and production stage of the reducer.

[0103] When the flexspline is axially torsionally deformed, its deformed portion can drive the receiving element or the transmitting element to axially rotate and move, changing the distance between the receiving element and the transmitting element, causing the capacitance between the receiving element and the transmitting element to change, thereby realizing the torque measurement of the flexspline and the reducer.

[0104] As shown in FIG1 , the second specific embodiment of the reducer with deformation part torque sensing of the present invention is as follows:

[0105] A speed reducer with a torque sensor for a deformation part, comprising a flexible wheel 1 for axial deformation, a conductive receiving element 2, and a transmitting element 31 for generating an electric field;

[0106] The flexible wheel 1 is provided with a deformation portion capable of driving the receiving member 2 to move;

[0107] The deformable portion is integrally formed with the flexible wheel 1 or fixedly connected thereto, and the deformable portion itself or its surrounding area is fixedly connected to the receiving member 2 or can interfere with the receiving member 2;

[0108] The receiving element 2 and the transmitting element 31 are spaced apart from each other to form a torsion-sensitive gap capacitance variable structure;

[0109] When the flexspline 1 is axially torsionally deformed, its deformed portion can drive the receiving element 2 to axially rotate and move, changing the distance between the receiving element 2 and the transmitting element 31 , causing the capacitance between the receiving element 2 and the transmitting element 31 to change, thereby achieving torque measurement of the flexspline 1 and the reducer 100 .

[0110] The receiving element 2 and the transmitting element 31 form a torsion-sensitive gap capacitance variable structure. The specific capacitance and electrical connection structure can be freely exchanged and combined.

[0111] The third specific embodiment of the reducer with deformation part torque sensing of the present invention:

[0112] A speed reducer with a torque sensor for a deformation part, comprising a flexible wheel 1 for axial deformation, a conductive receiving element 2, and a transmitting element 31 for generating an electric field;

[0113] The flexible wheel 1 is provided with a deformation portion capable of driving the receiving member 2 to move;

[0114] The deformation portion is integrally formed with the flexible wheel 1 and is fixedly connected to the receiving member 2 or can interfere with the receiving member 2;

[0115] The receiving element 2 and the transmitting element 31 are spaced apart to form a variable capacitance structure;

[0116] When the flexible spline 1 is axially torsionally deformed, its deformed portion can drive the receiving element 2 to move, changing the distance between the receiving element 2 and the transmitting element 31, causing the capacitance between the receiving element 2 and the transmitting element 31 to change, thereby realizing torque measurement of the flexible spline 1 and the reducer with torque sensing of the deformed portion.

[0117] After continuous exploration and testing, the present invention fully considers the torsional characteristics of the flexible wheel 1 of the reducer with torque sensing of the deformation part, and directly arranges the deformation part on the flexible wheel 1, so that the flexible wheel 1 is used as a deformation sensitive component of the torque measurement sensing unit, so that the torque measurement sensing unit and the reducer with torque sensing of the deformation part are coupled together to form an integrated structure. Since the service life of the flexible wheel 1 is very long, there is no need to worry about the flexible wheel 1 being damaged during repeated torsion, thereby greatly extending the service life of the torque measurement sensing unit, making it more stable and reliable, and there is no need to add structures such as strain gauges, and relatively few components are required, making its structure simpler and more compact, and it can be widely used.

[0118] As shown in FIG2-FIG3, the first specific embodiment of the joint structure capable of sensing force of the present invention:

[0119] A force-sensing joint structure includes a motor stator 5, a motor rotor 6, a reducer 100, a housing 7, a conductive receiving element 2, and a transmitting element 31 for generating an electric field.

[0120] The motor stator 5 is fixed on the housing 7 and can drive the motor rotor 6 to rotate;

[0121] The reducer 100 is provided with a deformation portion capable of driving the receiving member 2 to move;

[0122] The deformable portion is integrally formed with the flexible wheel or fixedly connected thereto, and the deformable portion itself or its surrounding area is fixedly connected to the receiving member 2 or can interfere with the receiving member 2;

[0123] The receiving element 2 and the transmitting element 31 are spaced apart from each other to form a torsion-sensitive gap capacitance variable structure.

[0124] The second specific embodiment of the force-sensing joint structure of the present invention:

[0125] A force-sensing joint structure includes a motor stator, a motor rotor, a reducer, a housing, a conductive receiving element 2, and a transmitting element for generating an electric field.

[0126] The motor stator is fixed on the housing and can drive the motor rotor to rotate;

[0127] The housing is provided with a deformation portion capable of driving the receiving member 2 to move;

[0128] The deformable portion is integrally formed with the housing or fixedly connected thereto, and is fixedly connected to the receiving member 2 or can interfere with the receiving member 2;

[0129] The receiving element 2 and the transmitting element are spaced apart and form a torsion-sensitive gap capacitance variable structure.

[0130] When the shell is deformed by force, its deformed part can drive the receiver 2 to move, changing the distance between the receiver 2 and the transmitter, so that the capacitance between the receiver 2 and the transmitter changes, thereby realizing force perception of the shell and the motor structure.

[0131] The receiving element 2 and the transmitting element together form a torque-sensitive gap-capacitor variable structure. The specific capacitors and electrical connections can be freely interchanged, meaning the capacitor electrodes are interchangeable. Furthermore, the torque-sensitive gap-capacitor variable structure of the present invention can directly calculate torque based on capacitance changes, eliminating the need to consider the complex transformation relationship between strain gauge strain and torque. This allows for rapid and accurate torque calculation, resulting in a simple, practical, and feasible solution.

[0132] A specific embodiment of the present invention's torsion-sensing robot joint:

[0133] A robot joint capable of sensing torque comprises a motor, a housing 7, a harmonic reducer, a motor drive board 9, a motor end angle coding chip, a motor end angle coding magnetic ring 10, an output end angle coding chip, an output end angle coding magnetic ring, and an output end cover 12.

[0134] The motor includes a motor stator 5, a motor rotor 6 and a motor shaft 11;

[0135] The motor stator 5 is fixed on the housing 7;

[0136] The motor rotor 6 drives the harmonic reducer through the motor shaft 11;

[0137] The harmonic speed reducer is provided with a wave generator 102, a flexible pulley 1 and a steel pulley 101;

[0138] The flexible spline 1 is provided with a conductive receiving element 2. The flexible spline is driven by the wave generator 102 and meshes with the steel wheel 101 to transmit power to each other.

[0139] The receiving element 2 is provided with multiple grooves or multiple strip-shaped protrusion structures 21; a transmitting element 31 for generating an electric field is provided in the multiple grooves or between the multiple strip-shaped protrusion structures 21; the receiving element 2 and the transmitting element 31 form a torsion-sensitive gap capacitor variable structure.

[0140] The receiving element 2 and the transmitting element 31 form a torsion-sensitive gap capacitance variable structure. The specific capacitance and electrical connection structure can be freely exchanged and combined.

[0141] The flexible wheel 1 is provided with a deformation portion capable of driving the receiving member 2 to move; the deformation portion is integrally formed with the flexible wheel 1 and is fixedly connected to the receiving member 2 or can conflict with the receiving member 2;

[0142] The output end angle encoding magnetic ring is directly fixedly connected to the output end of the reducer 100 or connected through gear transmission.

[0143] When the output end of the harmonic reducer is subjected to external torque, it can drive the flexible wheel 1 and the receiving element 2 to move, changing the distance between the receiving element 2 and the transmitting element 31, causing the capacitance between the receiving element 2 and the transmitting element 31 to change, thereby realizing torque perception of the robot joint.

[0144] The first specific embodiment of the deformation portion of the present invention:

[0145] The deformation portion is a certain area or structure on the flexspline 1, so that the flexspline 1 can be used as a deformation sensitive component of the torque sensor;

[0146] Directly utilizing the existing structure of the flexible wheel 1 as the deformation part can reduce the use of components and lower the manufacturing cost, and can also effectively extend the service life of the deformation part.

[0147] The second specific embodiment of the deformation portion of the present invention:

[0148] The flexible spline 1 is a flexible spline 1 of a harmonic reducer.

[0149] The third specific embodiment of the deformation portion of the present invention:

[0150] The flexible spline 1 is a slightly deformable structure of the reducer 100 itself or its periphery. Directly utilizing the existing structure can effectively reduce manufacturing costs.

[0151] A specific embodiment of the torsion-sensitive gap capacitance variable structure of the present invention:

[0152] The receiving member 2 has a circumferential annular structure 22, on which a plurality of grooves or strip-shaped protrusions 21 are arranged.

[0153] There are multiple emitting elements 31 to form a field emitter, and they are fixed on a fixed base plate 32;

[0154] The field transmitter and the receiver 2 form multiple torque-sensitive gap capacitance variable structures, which can effectively improve the accuracy of torque measurement, facilitate accurate measurement of the entire torsional process of the flexible wheel 1, and facilitate rapid assembly, effectively improving assembly efficiency.

[0155] One or two emitting elements 31 are provided in the groove cavity or in adjacent strip-shaped protrusion structures 21;

[0156] The receiving member 2 is fixedly connected to the flexible pulley 1 via a vibration isolation pad 4. The provision of the vibration isolation pad 4 effectively prevents the receiving member 2 from being squeezed by the flexible pulley 1 during movement, thereby extending the service life of the receiving member 2. Furthermore, the receiving member 2 is a resin structure with a conductive paint sprayed on its surface. The vibration isolation pad 4 is a flexible structure made of rubber, foam glue, sponge, or a structure with a spring.

[0157] When the flexible wheel 1 is subjected to torque, the axial rotational displacement generated by its torsional deformation will drive the receiving element 2, causing the receiving element 2 to rotate axially as a whole, changing the distance between the groove cavity or strip-shaped protrusion structure 21 and the transmitting element 31, causing the capacitance between the groove cavity and the transmitting element 31 to change, thereby realizing torque sensing of the flexible wheel 1 and the reducer 100.

[0158] The first specific embodiment of the receiving element 2 of the present invention:

[0159] The receiving member 2 has a groove structure with multiple grooves or multiple strip-shaped protrusions 21, which are conductive metal structures or non-metal structures with conductive paint sprayed on the surface or non-metal structures covered with a conductive layer on the surface, thereby forming multiple torque-sensitive gap capacitance variable structures, thereby effectively improving the accuracy of torque measurement and facilitating accurate measurement of the entire torsional process of the flexible wheel 1.

[0160] The second specific embodiment of the receiving element 2 of the present invention:

[0161] The receiving member 2 is an annular structure 22 , which is provided with a plurality of grooves or multiple strip-shaped protrusion structures 21 .

[0162] The third specific embodiment of the receiving element 2 of the present invention:

[0163] The receiving member 2 is an arc-shaped structure, which is provided with a plurality of grooves or multiple strip-shaped protrusion structures 21 .

[0164] The fourth specific embodiment of the receiving element 2 of the present invention:

[0165] The receiving member 2 is a trapezoidal structure or a strip-shaped structure, and is a conductive metal structure or a non-metallic structure with a conductive paint sprayed on the surface or a non-metallic structure with a conductive layer covered on the surface.

[0166] The first specific embodiment of the transmitting element 31 of the present invention:

[0167] There are one or more emitting elements 31 , which are connected to a power source to generate electric charges and form an electric field.

[0168] The emitting element 31 is a conductive metal structure, a non-metal structure with a conductive paint sprayed on the surface, or a non-metal structure with a conductive layer coated on the surface.

[0169] The second specific embodiment of the transmitting element 31 of the present invention:

[0170] A plurality of emitting elements 31 are stacked together in an interval manner to form a ring array structure; the emitting elements 31 are square structures, triangular structures or trapezoidal structures.

[0171] A specific embodiment of the groove cavity of the present invention:

[0172] The cross section of the groove cavity is square, arc, U or V shaped.

[0173] As shown in FIG4-FIG7, a specific embodiment of the capacitive torque sensing unit of the present invention is as follows:

[0174] A transmitting element 31 is installed in the cavity between the groove cavity or the strip-shaped protrusion structure 21 to form a capacitive torque sensing unit.

[0175] The spacing between the transmitters 31 matches the spacing between the receivers, so that several transmitters 31 and receivers can be nested together to form an array torque sensing structure, which is convenient for rapid assembly into multiple torque-sensitive gap capacitance variable structures, is easy to use, and does not require tedious assembly one by one.

[0176] As shown in FIG8-FIG11, a specific embodiment of the differential capacitive torque sensing unit of the present invention is as follows:

[0177] Two emitting elements 31 are mounted between the grooves or strip-shaped protrusion structures 21 to form a differential capacitive torque sensing unit.

[0178] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A reducer with a torque sensor for a deformation part, characterized in that: It comprises a flexible wheel (1) for axial deformation, a receiving element (2) capable of conducting electricity, and a transmitting element (31) for generating an electric field; The flexible wheel (1) is provided with a deformation portion capable of driving the receiving component (2) or the transmitting component (31) to move; The deformation portion is integrally formed with the flexible wheel (1) or is fixedly connected; The receiving element (2) and the transmitting element (31) are spaced apart from each other and form a torsion-sensitive gap capacitance variable structure; When the flexible wheel (1) is axially torsionally deformed, its deformed portion can drive the receiving component (2) or the transmitting component (31) to axially rotate and move, thereby changing the distance between the receiving component (2) and the transmitting component (31), causing the capacitance between the receiving component (2) and the transmitting component (31) to change, thereby achieving torque measurement of the flexible wheel (1) and the reducer (100).

2. A speed reducer with a deformation portion torque sensor according to claim 1, characterized in that: The receiving element (2) or the transmitting element (31) is either fixedly connected to the flexible wheel (1) or can conflict with the flexible wheel (1); The capacitors and electrical connections of the receiving element (2) and the transmitting element (31) can be freely exchanged and combined; Or / and, the deformation portion is a certain area or a certain structure on the flexible wheel (1), so that the flexible wheel (1) can be used as a deformation sensitive component of the torque sensor; or / and, the reducer (100) includes but is not limited to a harmonic reducer; Or / and, the flexible wheel (1) is a flexible wheel (1) of a harmonic reducer; or the flexible wheel (1) is a deformable structure of the reducer (100) itself or its periphery.

3. A speed reducer with a deformation portion torque sensor according to claim 2, characterized in that: The receiving member (2) has a circumferential annular structure (22), and a plurality of grooves or strip-shaped protrusions (21) are arranged on the annular structure. The number of the emitting elements (31) is multiple, forming a field emitter, and is fixed to a fixed base plate (32); One or two emitting elements (31) are provided in the groove cavity or in adjacent strip-shaped protruding structures (21); The receiving member (2) is fixedly connected to the flexible wheel (1) via a vibration isolation pad (4) or directly fixedly connected; When the flexible wheel (1) is subjected to torque, the axial rotational displacement generated by its torsional deformation will drive the receiving part (2), causing the receiving part (2) to rotate axially as a whole, changing the distance between the groove cavity or the strip-shaped protrusion structure (21) and the transmitting part (31), causing the capacitance between the groove cavity or the strip-shaped protrusion structure (21) and the transmitting part (31) to change, thereby realizing the torque perception of the flexible wheel (1) and the reducer (100).

4. The reducer with a torque sensor for a deformation portion according to claim 1, characterized in that: The receiving member (2) is provided with a groove structure having multiple groove cavities or multiple strip-shaped protrusion structures (21), which are conductive metal structures or non-metal structures with conductive paint sprayed on the surface or non-metal structures with a conductive layer coated on the surface; Alternatively, the receiving member (2) is an annular structure (22) having a plurality of grooves or a plurality of strip-shaped protrusion structures (21); Alternatively, the receiving member (2) is an arc-shaped structure, which is provided with a plurality of grooves or cavities or a plurality of strip-shaped protrusion structures (21).

5. The reducer with a torque sensor for a deformation portion according to claim 4, characterized in that: A transmitting element (31) is installed in the cavity between the groove cavity or the strip-shaped protrusion structure (21) to form a capacitive torque sensing unit; Alternatively, two emitting elements (31) are assembled between the groove cavity or the strip-shaped protrusion structure (21) to form a differential capacitive torque sensing unit; Or / and, the openings of the plurality of groove cavities or strip-shaped protrusion structures (21) face the same direction or are spaced to face the same direction, forming an array arrangement structure.

6. The reducer with a torque sensor for a deformation portion according to claim 1, characterized in that: The number of the emitting element (31) is one or more, and the emitting element (31) is connected to a power source; The emitting element (31) is a conductive metal structure, a non-metal structure with a conductive paint sprayed on the surface, or a non-metal structure with a conductive layer covered on the surface.

7. A speed reducer with a torque sensor at a deformation portion according to claim 6, characterized in that: A plurality of emitting elements (31) are stacked together in an interval manner to form a ring array structure; Or / and, the spacing distance between the emitting elements (31) matches the spacing distance between the receiving elements (2), so that a plurality of emitting elements (31) and receiving elements (2) can be nested together to form an array torque sensing structure.

8. A joint structure capable of sensing force, characterized by: It includes a motor stator (5), a motor rotor (6), a reducer (100), a housing (7), a receiving element (2) capable of conducting electricity, and a transmitting element (31) for generating an electric field; The motor stator (5) is fixed on the housing (7) and can drive the motor rotor (6) to rotate; The housing (7) is provided with a deformation portion capable of driving the receiving element (2) or the transmitting element (31) to move; The deformation portion is integrally formed with the housing (7) or is fixedly connected; The receiving element (2) or the transmitting element (31) is either fixedly connected to the flexible wheel or can conflict with the flexible wheel; The receiving element (2) and the transmitting element (31) are spaced apart from each other and form a torsion-sensitive gap capacitance variable structure; When the housing (7) is deformed by force, the deformed portion thereof can drive the receiving component (2) or the transmitting component (31) to move, thereby changing the distance between the receiving component (2) and the transmitting component (31), causing the capacitance between the receiving component (2) and the transmitting component (31) to change, thereby realizing force sensing of the housing (7) and the motor structure.

9. A robot joint capable of sensing torque, characterized in that: A motor, a housing (7) and a harmonic reducer are provided; The motor comprises a motor stator (5), a motor rotor (6) and a motor shaft (11); The motor stator (5) is fixed on the housing (7); The motor rotor (6) drives the harmonic reducer via the motor shaft (11); The harmonic speed reducer is provided with a wave generator (102), a flexible wheel (1) and a steel wheel (101); A conductive receiving element (2) is provided on the flexible wheel (1), and the flexible wheel (1) is driven by the wave generator (102) to mesh with the steel wheel (101) to transmit power to each other; The receiving element (2) is provided with a plurality of grooves or a plurality of strip-shaped protrusion structures (21); a transmitting element (31) for generating an electric field is provided in the plurality of grooves or between the plurality of strip-shaped protrusion structures (21); the receiving element (2) and the transmitting element (31) mutually form a torsion-sensitive gap capacitance variable structure; When the output end of the harmonic reducer is subjected to external torque, it can drive the flexible wheel (1) and the receiving element (2) to move, change the distance between the receiving element (2) and the transmitting element (31), and cause the capacitance between the receiving element (2) and the transmitting element (31) to change, thereby realizing torque perception of the robot joint.

10. The robot joint capable of sensing torque according to claim 9, wherein: The capacitors and electrical connections of the receiving element (2) and the transmitting element (31) can be freely exchanged and combined; Or / and, a deformation portion capable of driving the receiving member (2) to move is provided on the flexible wheel (1); the deformation portion is integrally formed with the flexible wheel (1) or fixedly connected, and the deformation portion itself or a peripheral area thereof is fixedly connected to the receiving member (2) or can conflict with the receiving member (2); Or / and, further comprising a motor drive board (9), a motor end angle coding chip, a motor end angle coding magnetic ring (10), an output end angle coding chip, and an output end angle coding magnetic ring; the output end angle coding magnetic ring is directly fixedly connected to the output end of the reducer (100) or connected via gear transmission.

Images