CN103486225B - There is the harmonic speed reducer of torque sensing function - Google Patents

Abstract

The present invention relates to robot transmission field, provide a kind of harmonic speed reducer with torque sensing function, the bottom symmetrical of flexbile gear is provided with four detection units, four detection units is arranged four foil gauges; Moving conductive ring is fixed on output shaft, quiet conductive hoop is fixed on the first housing, moving conductive ring, quiet conductive hoop are respectively arranged with four movable contacts, four stationary contacts, four movable contacts under the drive of output shaft with four stationary contact electrical contacts, four lead-in wires of strain gauge bridge are electrically connected with four movable contacts respectively; Four stationary contacts are electrically connected with circuit board, and circuit board is used for providing power supply and to full bridge signal collecting treatment.The harmonic speed reducer structure of this programme is simple, volume is little, lightweight.

Description

Harmonic reducer with torque sensing function

【Technical field】

The invention relates to the field of robot transmission, in particular to a harmonic reducer with a torque sensing function.

【Background technique】

Harmonic reducer, due to its remarkable characteristics of small size, light weight, large reduction ratio, small hysteresis, simple structure, etc., is widely used in the fields of robots, automation equipment, machine tools, medical equipment, etc., especially for the formation of robot rotary joints .

Normally, the harmonic reducer only has the function of deceleration, but not the function of torque detection. In some special fields, such as soft robot rotary joints and human-friendly robots, torque control needs to be realized.

In occasions where torque control is required, it is often necessary to add additional torque sensors, which will increase the number of parts, thereby increasing the volume and weight of the equipment, and increasing the complexity of the structure, which will bring difficulties to processing, assembly, and post-maintenance. .

【Content of invention】

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a harmonic reducer with a torque sensing function, a small number of parts, a small volume, a light weight and a simple structure.

The purpose of the present invention is achieved through the following technical solutions: a harmonic reducer with torque sensing function, including: input shaft, wave generator, output shaft, flexible spline, rigid spline, first end cover, second end cover, The first housing, the second housing, the first bearing assembly, the second bearing assembly, the dynamic conductive ring, the static conductive ring, and the circuit board; the first housing is connected with the second housing to form a cavity, and the The first end cover and the second end cover are arranged at both ends of the cavity to form a closed cavity, the input shaft, the wave generator, the output shaft, the flexible spline, the rigid spline, the first bearing assembly, the second Two bearing assemblies, a moving conductive ring, and a static conductive ring are arranged in the airtight cavity; the input shaft is supported in the first housing via the first bearing assembly, and the output shaft is supported via the second bearing assembly Set in the second casing, the rigid wheel is fixed on the first casing and the second casing; the wave generator is sleeved on the input shaft, and the outer wall of the wave generator is in contact with the The inner wall of the flexible spline is in contact with each other, the outer wall of the flexible spline is engaged with the inner wall of the rigid spline, and the bottom of the flexible spline is sleeved on the output shaft; the bottom of the flexible spline is evenly provided with four four detection parts, four strain gauges are arranged on the four detection parts, the four detection parts and the four strain gauges have a one-to-one correspondence relationship, the four strain gauges form a strain gauge bridge, and the four strain gauges form a strain gauge bridge. The strain bridge is a full bridge structure; the dynamic conductive ring is fixed on the output shaft, the static conductive ring is fixed on the first housing, and the dynamic conductive ring and the static conductive ring are respectively provided with four a moving contact and four static contacts, the four moving contacts are in electrical contact with the four static contacts driven by the output shaft, and the four lead wires of the strain gauge bridge are connected to the four lead wires of the strain gauge bridge respectively. The four moving contacts are electrically connected; the four static contacts are electrically connected to the circuit board, and the circuit board is used to provide power and collect and process the full bridge signal.

Further, the surface of the detection part is polished.

Further, the strain gauge is arranged in the middle of the detection part, and the detection part is provided with through holes on both sides of the strain gauge.

Further, four holes are evenly arranged on the moving conductive ring, and the full bridge structure is electrically connected to four moving contacts by four wires through the holes respectively.

Further, the circuit board is embedded on the static conductive ring.

Compared with the prior art, the present invention has the following advantages and effects: four detection parts are arranged at the bottom of the flexible spline of the above-mentioned harmonic reducer, and strain gauges are arranged on each detection part, and the strain gauges are connected to the circuit through dynamic and static conductive rings The circuit board provides power and outputs the torque signal after signal processing. The harmonic reducer of this scheme has fewer parts, simple structure, small size and light weight.

【Description of drawings】

Fig. 1 is a half-sectional view of a harmonic reducer according to an embodiment of the present invention.

Fig. 2 is a perspective view of a flexspline of a harmonic reducer according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of connection of strain gauges at the bottom of the flexspline of the harmonic reducer according to the embodiment of the present invention.

Fig. 4 is a perspective view of a moving conductive ring of a harmonic reducer according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of a moving conductive ring contact of a harmonic reducer according to an embodiment of the present invention.

Fig. 6 is a perspective view of the electrostatic conductive ring of the harmonic reducer according to the embodiment of the present invention.

Fig. 7 is a schematic diagram of static conductive ring contacts of a harmonic reducer according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of the contact connection of the harmonic reducer according to the embodiment of the present invention.

Fig. 9 is a schematic diagram of a full-bridge structure of a harmonic reducer according to an embodiment of the present invention.

Explanation of reference numbers:

Output shaft 1 second end cover 2

screw 3 sealing ring 4

Second housing 5 bearing 6

Sleeve 7 Cable socket 8

Static conductive ring 9 Dynamic conductive ring 10

Screw 11 Flex wheel 12

Screw 13 first housing 14

Bearing 15 Sleeve 16

Bearing 17 Input shaft 18

Sealing ring 19 first end cover 20

Screw 21 Set screw 22

Steel wheel 23 pin 24

Wave generator 25 Gasket 26

Collar 27 Bearing 28

【Detailed ways】

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1 and Figure 7, this embodiment provides a harmonic reducer with torque sensing function, including: input shaft 18, wave generator 25, output shaft 1, flex spline 12, rigid spline 23, first End cover 20 , second end cover 2 , first housing 14 , second housing 5 , first bearing assembly, second bearing assembly, moving conductive ring 10 , static conductive ring 9 , circuit board 96 .

Wherein, the first shell 14 is connected with the second shell 5 to form a cavity; the first end cover 20 and the second end cover 2 are arranged at both ends of the cavity, that is, the first end cover 20 is arranged on the first shell The end of the body 14 and the second end cover 2 are arranged at the end of the second housing 5 to form a closed cavity; the input shaft 18, the wave generator 25, the output shaft 1, the flexible spline 12, the rigid spline 23, The first bearing assembly, the second bearing assembly, the moving conductive ring 10 and the static conductive ring 9 are arranged in the sealed cavity.

The input shaft 18 is sleeved in the first bearing assembly, and is supported in the first housing 14 via the first bearing assembly; the output shaft 1 is sleeved in the second bearing assembly, and is supported in the first housing 14 via the second bearing assembly. Inside the second housing 5 ; the rigid wheel 23 is fixed at the joint between the first housing 14 and the second housing 5 .

One end of the input shaft 18 in the airtight cavity is provided with a wave generator 25, the outer wall of the wave generator 25 abuts against the inner wall of the flex spline 12, the outer wall of the flex spline 12 meshes with the inner wall of the rigid spline 23, and the inner wall of the flex spline 12 The bottom is sheathed on one end of the output shaft 1 in the airtight cavity; the flexible spline 12 is cylindrical.

As shown in Figure 2 and Figure 3, four detection parts (121, 122, 123, 124) are evenly arranged on the bottom of the flexible spline 12, and four strain gauges are arranged on the four detection parts (121, 122, 123, 124) (1212, 1222, 1232, 1242), the four detection units (121, 122, 123, 124) and the four strain gauges (1212, 1222, 1232, 1242) are in one-to-one correspondence, the four strain gauges (1212, 1222, 1232, 1242), strain gauge bridge, the above strain bridge is a full bridge structure;

As shown in Figure 1, Figure 5, Figure 7 and Figure 8, the moving conductive ring 10 is fixed on the output shaft 1, the static conductive ring 9 is fixed on the first housing 14, and the moving conductive ring 10 and the static conductive ring 9 are respectively arranged There are four moving contacts (105, 106, 107, 108), four static contacts (92, 93, 94, 95), and four moving contacts (105, 106, 107, 108) on the output shaft 1 Driven to make electrical contact with four static contacts (92, 93, 94, 95), the four lead wires of the strain gauge bridge are respectively electrically connected to four moving contacts (105, 106, 107, 108); The contacts (92, 93, 94, 95) are electrically connected to the circuit board 96, and the circuit board 96 is used to provide power and collect and process the full-bridge signals.

The bottom of the flexible wheel of the harmonic reducer in this embodiment is provided with four detection parts, and strain gauges are arranged on each detection part. The strain gauges are connected to the circuit board through dynamic and static conductive rings. Torque signal output, the harmonic reducer of this scheme is simple in structure, small in size and light in weight.

Preferably, the first bearing assembly and the second bearing assembly include one bearing or multiple bearings. When one bearing is used, the length of the bearing is set as close as possible to the length of the input shaft 18 and the inside of the first housing 4; when multiple bearings are used The sum of the lengths of the multiple bearings is set to be close to the length of the input shaft 18 and the first housing 4 , and the multiple bearings are more convenient to support the input shaft 18 .

At the same time, in order to position multiple bearings accurately, a sleeve is arranged between multiple bearings. As shown in Figure 1, two bearings (15, 17) are used to support the input shaft 18, and between the two bearings (15, 17) A sleeve 16 is set; two bearings (6, 28) are used to support the output shaft 1, and a sleeve 7 is set between the two bearings (6, 28).

The first end cover 20 is fixed on the first housing 14 by 3 (4, 5, 6...) screws 21, and the first end cover 20 and the first housing 14 are arranged There is a sealing ring 19 to realize the sealing function; the second end cover 2 is fixed on the second housing 5 by 8 screws 3, and a sealing ring 4 is arranged between the second end cover 2 and the second housing 5, and the same Realize the sealing function.

The wave generator 25 is fixed on the input shaft 18 by set screws 22 to realize axial and axial positioning, and the rigid wheel 23 is fixed on the first housing 14 and the second housing 5 by 8 screws 13, and in order to ensure rigidity Wheel 23, first housing 14, second housing 5 transfer and accurately locate, adopt three pins 24 to realize.

The flexible spline 12 is connected with the output shaft 1 through a washer 26 and 6 screws 11 .

Preferably, as shown in FIG. 2 , the surfaces of the detection parts ( 121 , 122 , 123 , 124 ) are polished to improve surface quality and torque detection accuracy.

As shown in Figure 3, the four strain gauges (1212, 1222, 1232, 1242) are respectively arranged in the middle of the corresponding detection parts (121, 122, 123, 124). 122, 123, 124) are provided with through holes (1211, 1213, 1221, 1223, 1231, 1233, 1241, 1243) on both sides of the strain gauges (1212, 1222, 1232, 1242) to increase the torque through the stress concentration effect Sensitivity of detection.

As shown in Figure 3 and Figure 9, four strain gauges (1212, 1222, 1232, 1242) form a full bridge structure, strain gauge 1212 is represented by R1, strain gauge 1222 is represented by R2, strain gauge 1232 is represented by R3, strain gauge 1242 is represented by R4, Vin represents the power supply, and Vout represents the bridge output.

As shown in FIG. 1 , the moving conductive ring 10 is fixed on the output shaft 1 through an interference connection, and rotates together with the flexspline 12 and the output shaft 1 ; the static conductive ring 9 is fixed on the second housing 5 through a collar 27 .

As shown in Fig. 4 and Fig. 5, four holes (101, 102, 103, 104) are evenly arranged on the moving conductive ring 10, and the four leads of the strain gauge bridge respectively pass through the four holes (101, 102, 103, 104) It is electrically connected with the four movable contacts (105, 106, 107, 108) in one-to-one correspondence, and the connection method adopts welding.

As shown in Figure 7 and Figure 8, the movable contact 105 and the static contact 92 contact each other to realize electrical connection; the movable contact 106 and the static contact 93 contact each other to realize electrical connection; the movable contact 107 and the static contact 94 contact each other To achieve electrical connection; the movable contact 108 and the static contact 95 are in contact with each other to achieve electrical connection; the circuit board 96 is embedded on the static conductive ring 9 , specifically on the back (non-contact surface) of the static conductive ring 9 .

As shown in Figure 6, Figure 7 and Figure 8, four moving contacts (105, 106, 107, 108) are in contact with four static contacts (92, 93, 94, 95) to connect the strain gauge bridge with the circuit board 96 is connected, and the circuit board 96 realizes supplying Vin supply voltage to the output of the strain gauge bridge. After the output signal Vout of the strain gauge bridge is amplified and filtered, it is output by the cable 91. The power supply of the circuit board 96 is also provided by the cable 91, and the cable 91 connects to cable socket 8.

The motion mechanism of the harmonic reducer in this embodiment is: the output shaft 18 drives the wave generator 25 to rotate together in the first housing 14 under the support of the first bearing assembly, and the flexible spline 12 is squeezed by the wave generator 25 and meshed with it. Under the action of the rigid wheel 23, the deceleration rotates, and then drives the output shaft 1 connected to it to rotate in the second housing 5 under the support of the second bearing assembly. ) to sense torque changes, and four moving contacts (105, 106, 107, 108) and four static contacts (92, 93, 94, 95) are electrically connected to the circuit board 96 to process the signal.

The bottom of the flexible spline of the above-mentioned harmonic reducer is equipped with four detection parts, and strain gauges are arranged on each detection part. The strain gauges are connected to the circuit board through dynamic and static conductive rings. The circuit board provides power and performs signal processing to convert the torque signal At the same time, compared with the existing technology, the harmonic reducer of this embodiment does not use additional equipment, only strain gauges are set at the bottom of the flex spline and connected by dynamic and static contacts, the structure is simple, the volume is small, and the weight light.

The above specific implementation manners of the present invention do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and modifications made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (5)

1. one kind has the harmonic speed reducer of torque sensing function, it is characterized in that, comprising: input shaft, wave-generator, output shaft, flexbile gear, just wheel, the first end cap, the second end cap, the first housing, the second housing, clutch shaft bearing assembly, the second bearing unit, moving conductive ring, quiet conductive hoop, circuit board;

Described first housing is connected with the second housing formation one cavity, described first end cap, the second end cap are arranged on the two ends of described cavity in order to form an airtight cavity, and described input shaft, wave-generator, output shaft, flexbile gear, just wheel, clutch shaft bearing assembly, the second bearing unit, moving conductive ring, quiet conductive hoop are arranged in described airtight cavity;

Described input shaft is arranged in described first housing via described clutch shaft bearing modular support, and described output shaft supports via the second bearing unit and is arranged in described second housing, and described firm wheel is fixed on described first housing and the second housing;

Described input shaft is arranged with described wave-generator, and the outer wall of described wave-generator and the inwall of described flexbile gear abut against, and the outer wall of described flexbile gear is meshed with the inwall of described firm wheel, the bottom of described flexbile gear is set on described output shaft;

The bottom even of described flexbile gear is provided with four detection units, described four detection units arrange four foil gauges, described four detection units and described four foil gauges are one-to-one relationship, and described four foil gauges form strain gauge bridge, and described strain gauge bridge is full bridge structure;

Described moving conductive ring is fixed on described output shaft, described quiet conductive hoop is fixed on described first housing, described moving conductive ring, quiet conductive hoop are respectively arranged with four movable contacts, four stationary contacts, described four movable contacts under the drive of described output shaft with described four stationary contact electrical contacts, four lead-in wires of described strain gauge bridge are electrically connected with described four movable contacts respectively; Described four stationary contacts are electrically connected with described circuit board, and described circuit board is used for providing power supply and to full bridge signal collecting treatment.

2. the harmonic speed reducer with torque sensing function according to claim 1, is characterized in that, the surface of described detection unit is through polishing treatment.

3. the harmonic speed reducer with torque sensing function according to claim 1, is characterized in that, described foil gauge is arranged on the middle part of described detection unit, and the both sides that described detection unit is positioned at foil gauge are provided with through hole.

4. the harmonic speed reducer with torque sensing function according to claim 1, is characterized in that, described moving conductive ring evenly arranges four holes, and described full bridge structure is electrically connected through described four Kong Yusi movable contacts respectively by four wires.

5. the harmonic speed reducer with torque sensing function according to claim 1, is characterized in that, described circuit board is embedded on described quiet conductive hoop.