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Force sensor type harmonic reducer

A harmonic reducer and sensor-type technology, which is applied in the direction of mechanical equipment, transmission devices, transmission device parts, etc., can solve the problems of increasing the complexity of the robot structure, low sensitivity, and reducing the rigidity of the robot transmission.

Pending Publication Date: 2019-10-29
AICI TECH (NINGBO) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, collaborative robots have become the mainstream development trend of robots in the future. Assisting robots requires that the robot has a certain ability to test the torque load state of each joint reducer and make corresponding responses such as avoiding passive dragging. The main existing methods are through motors. The torque load measurement of the reducer is realized by means of current feedback and adding a torque sensor to the robot structural parts; the accuracy of the motor current debt feedback method is limited, and the sensitivity is relatively low. Adding a torque sensor to the robot structural parts increases the complexity of the robot structure and reduce the overall transmission rigidity of the robot

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Embodiment 1: as figure 1 As shown, the double-flexible pulley force-sensing type harmonic reducer includes a strong-flexible pulley, a weak-flexible pulley, a wave generator and a strain gauge. Both the strong-flexible pulley and the weak-flexible pulley are equipped with mounting flanges, so The soft spline described above is processed by using the processing technology of the existing flexible spline of the harmonic reducer and the steel material 40CrMoTi commonly used for the flexible spline. The strong and soft wheels and the weak and soft wheels are respectively processed with teeth that can mesh with each other. The weak and soft wheels are external teeth and the strong and soft wheels are internal teeth. Trapezoidal teeth are selected. The weak and soft wheels are selected from most existing harmonic soft wheels. The reducer has the same thin-walled cup shape, and the strong and soft wheel adopts the shape of the flanging soft wheel and the wall thickness is 3 t...

Embodiment 2

[0035] Embodiment 2: as figure 2As shown, the double flex spline force sensor type harmonic reducer with limitable deformation includes strong flex spline, weak flex spline, wave generator, strong flex spline deformation limiting parts, reducer main bearing and 4 pieces of strain The main bearing of the reducer is a cross roller bearing. The strong and soft wheels and the weak and soft wheels are equipped with mounting flanges. The strong and soft wheels and the weak and soft wheels are connected to the reducer by bolts respectively The outer ring and the inner ring of the main bearing are fixed. The soft wheel is processed by using the processing technology of the soft wheel of the existing harmonic reducer and the steel materials commonly used for the soft wheel. The strong and flexible wheel is processed by using the existing harmonic reducer The processing technology of the flex wheel is made of high-hardness bronze. The strong and soft wheels and the weak and soft wheels...

Embodiment 3

[0036] Embodiment 3: as image 3 As shown, the precision compensation force sensing type harmonic reducer includes the outer flexible spline, the inner flexible spline, the wave generator, the deformation limit part of the outer flexible spline, the precision compensation adjustment worm, the shell components, the main bearing of the reducer and 4 One end of the tubular wall of the outer flexspline is connected and fixed to the shell component, and the other end of the tubular wall of the outer flexspline is provided with 202 internal teeth, and the inner flexspline and the outer flexspline are axially fixed and radially Fixed, the inner flexspline is equipped with 200 external teeth that can mesh with the inner gear of the outer flexspline. Both the inner and outer flexsplines use trapezoidal teeth. The elliptical elastic deformation occurs, the position of the long axis of the ellipse meshes with the internal teeth of the outer flexspline, and the contact part of the outer f...

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Abstract

The invention provides a force sensor type harmonic reducer, in particular to a double-flexible-gear force sensor type harmonic reducer. The force sensor type harmonic reducer comprises a strong flexible gear, a weak flexible gear, a wave generator and at least one strain gauges. The strong flexible gear and the weak flexible gear are coaxially and axially fixed and radially fixed. The strong flexible gear and the weak flexible gear are provided with teeth engaged mutually. The strong flexible gear and the weak flexible gear have the tooth number difference. The wave generator makes the weak flexible gear have non-round elastic deformation and be engaged with part of the strong flexible gear. The portion where the strong flexible gear makes contact with the weak flexible gear bears radialpressure of the weak flexible gear to generate non-round elastic deformation. The strain gauges are attached to the tubular thin wall of the strong flexible gear. The strain gauges have correspondingdeformation along with deformation of the strong flexible gear.

Description

technical field [0001] The invention relates to the field of reducers, in particular to a force-sensing harmonic reducer. Background technique [0002] Harmonic gear transmission was invented by American inventor C.W.Musser in 1955. It is a new type of transmission method that uses elastic deformation of flexible working components for motion or power transmission. It breaks through the rigid component mechanism of mechanical transmission. Mode, using a flexible component to achieve mechanical transmission, thus obtaining a series of special functions that other transmissions are difficult to achieve. Because the deformation process of the middle flexible member is basically a symmetrical harmonic, it gets its name. Except that the former Soviet Union called this kind of transmission wave transmission or flexible wheel transmission, the United States, Britain, Germany, Japan and other countries all call it "harmonic transmission". [0003] The principle of harmonic gear tr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16H49/00F16H57/00F16H1/32
CPCF16H1/32F16H49/001F16H57/0018
Inventor 凌子龙
Owner AICI TECH (NINGBO) CO LTD
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