Title:
HARMONIC DRIVE, METHOD OF MEASURING TORQUE IN HARMONIC DRIVE, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2024/082116
Kind Code:
A1
Abstract:
A harmonic drive includes: a wave generator; a circular spline provided with internal teeth; a flexible spline provided between the wave generator and the circular spline and configured to be engaged with the internal teeth of the circular spline; and a plurality sets of torque sensors. Each set of torque sensors includes a plurality of strain gauges, each set of torque sensors is respectively configured to measure torque transmitted by the harmonic drive during rotation of the flexible spline. Signals measured by each of the plurality sets of torque sensors include a torque ripple, and the plurality sets of torque sensors are alternatively arranged. The harmonic drive further includes a processor configured to calculate a true torque transmitted by the harmonic drive based on signals measured by the plurality sets of torque sensors. The torque ripple is excluded from the true torque.
Inventors:
AN RAN (US)
PENG JUNCAI (CN)
SONG TINGKE (CN)
WANG SHIQUAN (CN)
PENG JUNCAI (CN)
SONG TINGKE (CN)
WANG SHIQUAN (CN)
Application Number:
PCT/CN2022/125810
Publication Date:
April 25, 2024
Filing Date:
October 18, 2022
Export Citation:
Assignee:
SHANGHAI FLEXIV ROBOTICS TECH CO LTD (CN)
FLEXIV LTD (GB)
FLEXIV LTD (GB)
International Classes:
F16H49/00; B25J17/00; G01L3/14
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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