CN113074235A - Stress measuring device for robot harmonic reducer joint - Google Patents
Stress measuring device for robot harmonic reducer joint Download PDFInfo
- Publication number
- CN113074235A CN113074235A CN202110319178.2A CN202110319178A CN113074235A CN 113074235 A CN113074235 A CN 113074235A CN 202110319178 A CN202110319178 A CN 202110319178A CN 113074235 A CN113074235 A CN 113074235A
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- Prior art keywords
- wheel
- cup
- shaped flexible
- rigid
- ring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
The invention relates to the technical field of robots and discloses a stress measuring device for a harmonic reducer joint of a robot, which comprises a rigid wheel, wherein a fixed ring is arranged outside the rigid wheel, a cup-shaped flexible wheel is arranged on the inner side of the rigid wheel, a harmonic wheel is arranged on the left side of the cup-shaped flexible wheel corresponding to the inner part of the rigid wheel, a flange is movably connected to the right end of the cup-shaped flexible wheel, an output shaft is arranged at the center of the flange, a clamping ring is arranged on the outer side of the right part of the cup-shaped flexible wheel, a plurality of partition plates are symmetrically arranged on the inner side of the clamping ring, and a shoulder is arranged in the middle of a channel formed by the partition. This stress measurement device of harmonic speed reducer ware joint of robot cuts apart cup type flexbile gear and rand inner space through a plurality of baffles, forms independent air current space, realizes cutting apart the measurement to different position stresses, and its mode through outside atmospheric pressure change measurement output stress need not to adjust cup type flexbile gear, has protected rotatable parts's integrality.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a stress measuring device for a harmonic reducer joint of a robot.
Background
The harmonic reducer is widely applied to the robot joint by virtue of the advantages of small volume, large transmission ratio, stable and accurate transmission and the like, can ensure that a robot mechanical arm can accurately move to a specified position under the drive of a motor, and provides great convenience for production of life.
In order to protect the safety and the actual production requirement of equipment, stress and load data at a mechanical arm joint are required to be obtained frequently and fed back to a control system, and an existing sensing system mostly depends on voltage or capacitive contact sensing, so that a designer has to adjust the structure of an original transmission part, the strength and the precision of a core part are greatly influenced, and the stability and the service life of a speed reducing mechanism are reduced.
Disclosure of Invention
Technical problem to be solved
According to the intelligent manufacturing development requirement, aiming at the defects of the prior art, the invention provides the stress measuring device for the harmonic reducer joint of the robot, which has the advantages of no need of additional processing on a reducer mechanism and good stability, and solves the problems in the background technology.
(II) technical scheme
In order to achieve the purpose of good stability, the invention provides the following technical scheme: a stress measuring device of a robot harmonic reducer joint comprises a rigid wheel, wherein a fixed ring is arranged outside the rigid wheel, a cup-shaped flexible wheel is arranged on the inner side of the rigid wheel, a harmonic wheel is arranged inside the cup-shaped flexible wheel corresponding to the rigid wheel, a flange is movably connected to the right end of the cup-shaped flexible wheel, an output shaft is arranged at the center of the flange, a clamping ring is arranged on the outer side of the right part of the cup-shaped flexible wheel, a plurality of partition plates are symmetrically arranged on the inner side of the clamping ring, a shoulder is arranged in the middle of a channel formed by the partition plates connected in the clamping ring, a through measuring hole is formed in the center of the shoulder along the radial direction of the clamping ring, a pressure sensor is arranged on the outer wall of the clamping ring corresponding to the measuring hole, a binding post is sleeved on the outer part of the pressure sensor, a porous gasket is arranged between the inner side of the clamping ring and, and a stable bearing is arranged between the connection part of the porous gasket and the left end of the flange.
Preferably, the rigid wheel is a rigid ring structure with an inner toothed ring arranged on the inner side, and the outer part of the rigid ring structure is fixedly connected with the female head through a fixing ring.
Preferably, the cup-shaped flexible gear is a flexible cup-shaped structure with an opening facing the rigid gear, an outer toothed ring matched with the rigid gear is arranged on the outer wall of the left side of the cup-shaped flexible gear, and the right side of the cup-shaped flexible gear can be movably connected with the flange by adopting a part of rigid materials according to requirements.
Preferably, the harmonic wheel is of an elliptical wheel structure with a movable wheel arranged outside, the middle part of the harmonic wheel is coupled with the input shaft, and when the top end of the elliptical major diameter of the harmonic wheel is contacted with the cup-shaped flexible wheel, the outer teeth of the cup-shaped flexible wheel are just meshed with the inner side of the rigid wheel.
Preferably, the shape of the clamping ring is matched with the cup-shaped flexible gear and sleeved outside the cup-shaped flexible gear, and the left end of the clamping ring is movably connected with the rigid gear and keeps fixed relative position.
Preferably, the number of the partition plates is set according to needs, and when the number of the partition plates is larger, the thickness of the partition plates is properly adjusted to ensure that enough airflow space is reserved in a channel formed by the connected partition plates.
Preferably, the shoulder is arranged at the middle position of the partition board, and the shoulder is arranged to inwards reduce the mouth of the channel without being separated, and does not interfere with the rotation of the cup-shaped flexible gear.
(III) advantageous effects
Compared with the prior art, the invention provides a stress measuring device for a robot harmonic reducer joint, which has the following beneficial effects:
1. this stress measurement device of harmonic speed reducer ware joint of robot cuts apart cup type flexbile gear and rand inner space through a plurality of baffles, forms independent air current space, realizes cutting apart the measurement to different position stresses, and its mode through outside atmospheric pressure change measurement output stress need not to adjust cup type flexbile gear, has protected rotatable parts's integrality.
2. This stress measurement device of harmonic reducer ware joint of robot, through set up the shoulder in the channel, constitute independent venturi structure one by one, enlarge inside atmospheric pressure and change, make measurement system arrange external fixation member in on, make the installation more convenient, measure more acutely accurate.
Drawings
FIG. 1 is a schematic external view of the main structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the main structure of the present invention;
FIG. 3 is a schematic cross-sectional view taken at location A-A of FIG. 1 in accordance with the present invention;
FIG. 4 is a schematic cross-sectional view taken at the location B-B of FIG. 1 in accordance with the present invention;
FIG. 5 is a schematic view of the air flow in an independent channel of the present invention;
FIG. 6 is an enlarged view of portion C of FIG. 2 according to the present invention.
In the figure: 1. a rigid wheel; 2. a stationary ring; 3. a cup-shaped flexspline; 4. a harmonic wave wheel; 5. a flange; 6. an output shaft; 7. a collar; 8. a partition plate; 9. shoulder convex; 10. measuring a hole; 11. a pressure sensor; 12. a binding post; 13. a porous gasket; 14. a vent hole; 15. and (5) stabilizing the bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a stress measuring device for a harmonic reducer joint of a robot comprises a rigid wheel 1, a fixed ring 2 is arranged outside the rigid wheel 1, a cup-shaped flexible wheel 3 is arranged inside the rigid wheel 1, a harmonic wheel 4 is arranged inside the cup-shaped flexible wheel 3 corresponding to the rigid wheel 1, a flange 5 is movably connected to the right end of the cup-shaped flexible wheel 3, an output shaft 6 is arranged at the center of the flange 5, a collar 7 is arranged outside the right part of the cup-shaped flexible wheel 3, a plurality of partition plates 8 are symmetrically arranged inside the collar 7, a shoulder 9 is arranged in the middle of a channel formed by the partition plates 8 connected inside the collar 7, a through measuring hole 10 is radially arranged along the collar 7 at the center of the shoulder 9, a pressure sensor 11 is arranged on the outer wall of the collar 7 corresponding to the measuring hole 10, a binding post 12 is sleeved outside the pressure sensor 11, a porous washer 13 is arranged between the inner side of the collar 7 and the, a vent hole 14 is arranged on the right side of the retainer ring 7 corresponding to the porous gasket 13, and a stable bearing 15 is arranged between the joint of the porous gasket 13 and the left end of the flange 5.
Wherein, rigid wheel 1 is the rigid ring structure that the inboard is provided with the interior ring gear, and its outside is through retainer plate 2 and female first fixed connection.
Wherein, cup type flexbile gear 3 is the flexible cup structure of opening towards rigid wheel 1, and its left side outer wall is provided with the outer ring gear with rigid wheel 1 adaptation, and its right side can adopt partial rigid material and flange 5 swing joint as required.
The harmonic wheel 4 is an elliptical wheel structure with a movable wheel arranged outside, the middle part of the harmonic wheel is coupled with the input shaft, and when the top end of the elliptical major diameter of the harmonic wheel is contacted with the cup-shaped flexible wheel 3, the outer teeth of the cup-shaped flexible wheel 3 are just meshed with the inner side of the rigid wheel 1.
Wherein, the appearance of the clamping ring 7 is matched with the cup-shaped flexible gear 3 and sleeved outside the cup-shaped flexible gear, and the left end of the clamping ring is movably connected with the rigid gear 1 and keeps the relative position fixed.
The number of the partition boards 8 is set according to the requirement, and when the number of the partition boards is large, the thickness of the partition boards is properly adjusted to ensure that enough airflow space is reserved in a channel formed by the connected partition boards 8.
Wherein, the shoulder 9 is arranged at the middle position of the clapboard 8, and the arrangement of the shoulder is to inwards reduce the groove channel without being separated, and the shoulder does not interfere with the rotation of the cup-shaped flexible gear 3.
The working principle is as follows: this stress measurement device of harmonic speed reducer ware joint of robot, the inside that the left side of cup type flexbile gear 3 corresponds rigid wheel 1 is provided with harmonic impeller 4, and the right-hand member swing joint of cup type flexbile gear 3 has flange 5, and the center of flange 5 is provided with output shaft 6, and harmonic impeller 4 drives cup type flexbile gear 3 and when rigid wheel 1 is spacing down the periodic deformation in left side, slowly rotates, outwards outputs the turning torque through flange 5.
In the stress measuring device of the robot harmonic reducer joint, the shape of a clamping ring 7 is matched with a cup-shaped flexible wheel 3 and sleeved outside the clamping ring, the left end of the clamping ring 7 is movably connected with a rigid wheel 1 and keeps a relative position to be fixed, a plurality of partition plates 8 are symmetrically arranged on the inner side of the clamping ring 7, a shoulder 9 is arranged in the middle of a channel formed by the partition plates 8 in the clamping ring 7, a relatively sealed pipeline structure is formed between the channel formed between the partition plates 8 and the cup-shaped flexible wheel 3, the pipe diameter of the left side of the clamping ring changes along with the rotation period of the cup-shaped flexible wheel 3, meanwhile, a throat which is inwards contracted is formed in the middle of the clamping ring due to the shoulder 9, the right side of the clamping ring is communicated with the outside through an air hole 14, an independent Venturi tube structure is formed between each partition plate 8. Cut apart cup type flexbile gear 3 and 7 inner spaces of rand through a plurality of baffles 8 on the one hand, form independent air current space, the realization is measured the cutting apart of different position stresses, and it need not to adjust cup type flexbile gear 3 through the mode that outside atmospheric pressure changes measurement output stress, rotatable parts's integrality has been protected, measure on the wiring also lug connection and outside fixed rand 7, it is very convenient, on the other hand is through setting up shoulder 9 in the channel, constitute individual independent venturi structure, enlarge inside atmospheric pressure and change, make measurement system more acute accurate.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a stress measurement device of robot harmonic speed reducer ware joint, includes rigid wheel (1), its characterized in that: the measuring device is characterized in that a fixing ring (2) is arranged outside the rigid wheel (1), a cup-shaped flexible wheel (3) is arranged on the inner side of the rigid wheel (1), a harmonic wheel (4) is arranged inside the left side of the cup-shaped flexible wheel (3) corresponding to the rigid wheel (1), a flange (5) is movably connected to the right end of the cup-shaped flexible wheel (3), an output shaft (6) is arranged at the center of the flange (5), a clamping ring (7) is arranged on the outer side of the right part of the cup-shaped flexible wheel (3), a plurality of partition plates (8) are symmetrically arranged on the inner side of the clamping ring (7), a shoulder boss (9) is arranged in the middle of a channel formed by the partition plates (8) connected in the clamping ring (7), a through measuring hole (10) is radially arranged at the center of the shoulder boss (9) along the clamping ring (7), a pressure sensor (11) is arranged on the outer wall of the clamping ring (7) corresponding to the, be provided with porous packing ring (13) between the inboard of rand (7) and the right-hand member outside of cup type flexbile gear (3), air vent (14) have been seted up to the right side that corresponds porous packing ring (13) on rand (7), be provided with between the left end junction of porous packing ring (13) and flange (5) and stabilize bearing (15).
2. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the rigid wheel (1) is a rigid ring structure with an inner gear ring arranged on the inner side, and the outer part of the rigid ring structure is fixedly connected with the female head through a fixing ring (2).
3. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the cup-shaped flexible gear (3) is of a flexible cup-shaped structure with an opening facing the rigid gear (1), an outer gear ring matched with the rigid gear (1) is arranged on the outer wall of the left side of the cup-shaped flexible gear, and the right side of the cup-shaped flexible gear can be movably connected with the flange (5) by adopting a part of rigid materials according to requirements.
4. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the harmonic wave wheel (4) is of an elliptical wheel structure with a movable wheel arranged outside, the middle part of the harmonic wave wheel is coupled with the input shaft, and when the top end of the elliptical major diameter of the harmonic wave wheel is in contact with the cup-shaped flexible wheel (3), the outer teeth of the cup-shaped flexible wheel (3) are just meshed with the inner side of the rigid wheel (1).
5. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the appearance of the clamping ring (7) is matched with the cup-shaped flexible wheel (3) and is sleeved outside the cup-shaped flexible wheel, and the left end of the clamping ring is movably connected with the rigid wheel (1) and keeps the relative position fixed.
6. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the number of the partition boards (8) is set according to the requirement, and when the number of the partition boards is large, the thickness of the partition boards is properly adjusted to ensure that enough airflow space is reserved in a channel formed by the connected partition boards (8).
7. The stress measurement device of the robot harmonic reducer joint according to claim 1, characterized in that: the shoulder (9) is arranged in the middle of the clapboard (8), and the arrangement of the shoulder should enable the groove channel to be contracted inwards but not to be separated, and the shoulder does not interfere with the rotation of the cup-shaped flexible gear (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319178.2A CN113074235A (en) | 2021-03-25 | 2021-03-25 | Stress measuring device for robot harmonic reducer joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110319178.2A CN113074235A (en) | 2021-03-25 | 2021-03-25 | Stress measuring device for robot harmonic reducer joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113074235A true CN113074235A (en) | 2021-07-06 |
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ID=76610356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110319178.2A Withdrawn CN113074235A (en) | 2021-03-25 | 2021-03-25 | Stress measuring device for robot harmonic reducer joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113074235A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116412238A (en) * | 2023-06-08 | 2023-07-11 | 江苏万基传动科技有限公司 | High-precision harmonic speed reducer for robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0514829A2 (en) * | 1991-05-20 | 1992-11-25 | Harmonic Drive Systems Inc. | Cup-type harmonic drive having a short, flexible cup member |
| WO2010142318A1 (en) * | 2009-06-08 | 2010-12-16 | Abb Technology Ab | A device for measuring torque |
| EP3406937A1 (en) * | 2017-05-24 | 2018-11-28 | Ovalo GmbH | Pressure wave transmission |
| CN209458371U (en) * | 2018-12-20 | 2019-10-01 | 浙江双环传动机械股份有限公司 | A kind of harmonic speed reducer for surveying torque |
| DE102018124685A1 (en) * | 2018-10-08 | 2020-04-09 | Schaeffler Technologies AG & Co. KG | Torque measuring device for a voltage shaft gear |
| DE102018125079A1 (en) * | 2018-10-10 | 2020-04-16 | Schaeffler Technologies AG & Co. KG | Tension shaft transmission and transmission element therefor as well as robot arm and method for measuring a torque |
| WO2020074039A1 (en) * | 2018-10-10 | 2020-04-16 | Schaeffler Technologies AG & Co. KG | Strain wave gear and elastic transmission element therefor, robotic arm and method for arranging a strain gauge |
-
2021
- 2021-03-25 CN CN202110319178.2A patent/CN113074235A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0514829A2 (en) * | 1991-05-20 | 1992-11-25 | Harmonic Drive Systems Inc. | Cup-type harmonic drive having a short, flexible cup member |
| WO2010142318A1 (en) * | 2009-06-08 | 2010-12-16 | Abb Technology Ab | A device for measuring torque |
| EP3406937A1 (en) * | 2017-05-24 | 2018-11-28 | Ovalo GmbH | Pressure wave transmission |
| DE102018124685A1 (en) * | 2018-10-08 | 2020-04-09 | Schaeffler Technologies AG & Co. KG | Torque measuring device for a voltage shaft gear |
| DE102018125079A1 (en) * | 2018-10-10 | 2020-04-16 | Schaeffler Technologies AG & Co. KG | Tension shaft transmission and transmission element therefor as well as robot arm and method for measuring a torque |
| WO2020074039A1 (en) * | 2018-10-10 | 2020-04-16 | Schaeffler Technologies AG & Co. KG | Strain wave gear and elastic transmission element therefor, robotic arm and method for arranging a strain gauge |
| CN209458371U (en) * | 2018-12-20 | 2019-10-01 | 浙江双环传动机械股份有限公司 | A kind of harmonic speed reducer for surveying torque |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116412238A (en) * | 2023-06-08 | 2023-07-11 | 江苏万基传动科技有限公司 | High-precision harmonic speed reducer for robot |
| CN116412238B (en) * | 2023-06-08 | 2023-08-29 | 江苏万基传动科技有限公司 | High-precision harmonic speed reducer for robot |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210706 |
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| WW01 | Invention patent application withdrawn after publication |