CN108637660A

CN108637660A - The torque limiter that a kind of twocouese in the turn of the screw robot is protected

Info

Publication number: CN108637660A
Application number: CN201810740019.8A
Authority: CN
Inventors: 胡达凯
Original assignee: Dongguan Songyan Zhida Industrial Design Co Ltd
Current assignee: Dongguan Songyan Zhida Industrial Design Co Ltd
Priority date: 2018-07-07
Filing date: 2018-07-07
Publication date: 2018-10-12

Abstract

The invention belongs to the torque limiters that torque limiter technical field more particularly to a kind of twocouese in the turn of the screw robot are protected, it includes driven shaft, driving mechanism etc., the circumferentially uniform receiving circular hole for being provided with 3 perforations wherein on active ring end face；Equipment in the present invention when the load torque on torque limiter become suddenly it is very big when; overload at this time will force driving ball to be slided from the hole on torque limiter and come out; driving ball at this time will start to slide; driving ball will trigger the movement of the first arc protection block, and the first arc protection block will reverse drive adjusting gear ring；The adjusting gear ring of movement, which will drive, pushes gear reverse rotation motion; the promotion gear of movement will drive screw rod counter motion; the decrement of driving spring at this time will reduce; driving spring is to pushing plectane and the active force of ball being driven to reduce; driving ball will be back and forth axially moved accommodating circular hole, to achieve the purpose that protect torque limiter.

Description

The torque limiter that a kind of twocouese in the turn of the screw robot is protected

Technical field

The invention belongs to torque limiter technical fields more particularly to a kind of twocouese in the turn of the screw robot to protect The torque limiter of shield.

Background technology

Current existing torque limiter mostly uses a spring in a hole on torque limiter opposite and heads on one A ball, when the load torque on torque limiter becomes larger suddenly, overload at this time will force him to be slided from the hole and come out, Ball at this time is once sliding, and the abrasion on the surface of such torque limiter will be very big, so such torque limit Device will not be used in the occasion overloaded frequent occurrence；In addition in the production line using robot the turn of the screw, to the turn of the screw The torque that uses of mechanical arm of robot there is certain requirement, torque to cross the damage that conference causes screw；Can generally it pass through The torque that sensor combination program synthesis control machinery arm is applied, if but program error or faulty sensor occur, easily Cause torque excessive, thread damage；In order to avoid it is such the occurrence of, torque limit can be installed on the robotic arm of robot Device come the adverse effect for overcoming above-mentioned torque excessive, while not having wearing terrain or abrasion in used torque limiter It is also necessary to measure the small robotic arm to improving robot.So designing a kind of twocouese in the turn of the screw robot The torque limiter of protection is necessary.

The present invention design a kind of torque limiter that the twocouese in the turn of the screw robot is protected solve the problems, such as it is as above.

Invention content

（One）The technical problem to be solved in the present invention

The problem to be solved in the present invention is to provide a kind of torque limiter that the twocouese in the turn of the screw robot is protected, with Overcome in the prior art torque limiter it is simple in structure, have a single function, when the load torque on torque limiter becomes larger suddenly, Overload at this time will force driving ball to be slided from the hole on the torque limiter and come out, and driving ball at this time is once cunning Dynamic, the abrasion on the surface of such torque limiter will be very big, can thus cause greatly to injure to torque limiter.

（Two）Technical scheme of the present invention

To solve drawbacks described above in the prior art, the present invention discloses what a kind of twocouese in the turn of the screw robot was protected Torque limiter, it is realized using following technical scheme.

The torque limiter that a kind of twocouese in the turn of the screw robot is protected, it is characterised in that：It includes driven Axis, driven torus, adjust gear ring, driving mechanism, driving shaft, T shapes ring, active ring, spherical groove, holding tank, the first arc guide barrel, First arc groove, first annular slot, the second annular groove, movement gear ring, third arc guide barrel, the 4th arc guide barrel, the 5th arc Guide groove, rotation hole, the second arc guide barrel, the second arc groove, accommodates circular hole, T shape annular grooves, wherein active ring at the 6th arc guide barrel The circumferentially uniform receiving circular hole for being provided with 3 perforations on end face；It is provided with internal thread on the inner headed face of 3 receiving circular holes.

3 structures accommodated at circular hole and its mounting structure are identical, and for one of them, active ring is provided on end face The first arc groove being not penetrated；First arc groove is communicated with circular hole is accommodated；On one of first arc groove intrados about It accommodates circular hole and is symmetrically provided with the first arc guide barrel and third arc guide barrel；About appearance on another intrados of first arc groove Circular hole of receiving symmetrically is provided with the second arc guide barrel and the 4th arc guide barrel；Second arc guide barrel and the 4th arc guide barrel are close to actively Ring outer circle EDS maps；Active ring is opened and is provided with the first annular slot being not penetrated on the end face of the first arc groove；First annular slot with First arc guide barrel and the 4th arc guide barrel communicate；It is provided with the rotation hole being not penetrated on first annular slot end face；First annular slot The second arc groove of perforation is provided on end face；The 5th arc guide barrel and the 6th are had on two intrados of the second arc groove Arc guide barrel；It accommodates and driving mechanism is installed at circular hole；It is first arc groove, the second arc groove, the second arc guide barrel, first annular Slot, the first arc guide barrel central axis overlapped with the central axis of active ring.

The second annular groove is provided in active ring, and the second annular groove and 3 rotation holes coordinate；It is equipped in second annular groove Move gear ring；It moves gear ring and 3 driving mechanisms coordinates；The opposite end face of the first arc groove is opened on active ring is fixedly mounted on master On moving axis end face；The holding tank being not penetrated is provided on driven torus end face；It is circumferentially uniform on holding tank end face to be provided with 3 spherical females Slot；The opposite end face of holding tank is opened on driven torus is installed with driven shaft；3 spherical grooves are matched with 3 driving mechanisms respectively It closes；Driven torus is rotatably assorted installation by holding tank inner headed face thereon and active ring periphery；T shape rings are nested in 3 drivings On the outside of mechanism, and T shape rings end face is fixedly mounted on active ring end face；It adjusts and is provided with T shape annular grooves on gear ring end face；Adjust gear ring Pass through being rotatably assorted on T shape rings for the T shapes annular groove opened thereon and T shape rings；Gear ring is adjusted with 3 driving mechanisms to match It closes.

The driving mechanism includes adjustment gear, transmission axle, the first arc strip, the second arc strip, the 4th arc block, second Arc protection block, third arc block, adjusts axis mechanism, the second arc block, the first arc protection block, pushes the second support spring Plectane, limit plectane, pushes gear, screw rod, driving spring, the first support spring, the first arc block, limiting slot at driving ball, Middle screw rod is mounted on by screw-thread fit on active ring by external screw thread thereon with the internal thread accommodated on circular hole；Push gear End face be fixedly mounted on screw rod end face, and push gear with adjusting gear ring engage；Plectane one end end face is limited to be fixedly mounted On pushing gear face；Driving spring, which is located at, to be accommodated in circular hole, and driving spring one end is engaged with screw rod end face；Drive bullet The spring other end is equipped with promotion plectane；It is separately installed with the first arc block and second in the cambered surface of the both sides of first arc protection block Arc block；The semicircle orifice of perforation is provided on first arc protection block end face；First arc protection block passes through the first arc block and the Being slidably matched for one arc guide barrel and being slidably installed in the first arc groove for the second arc block and the second arc guide barrel； It is separately installed with third arc block and the 4th arc block in the cambered surface of the both sides of second arc protection block；Second arc protection block end The semicircle orifice of perforation is provided on face；Second arc protection block is slidably matched by third arc block and third arc guide barrel, and 4th arc block is slidably installed with the 4th arc guide barrel in the first arc groove；It adjusts axis mechanism and is mounted on the second arc In slot, and adjust axis mechanism and movement gear ring cooperation；The circular hole of perforation, and the inner headed face of the circular hole are provided on adjustment gear end face It is above circumferentially uniform to be provided with 4 limiting slots；Adjustment gear, which is mounted on, adjusts axis mechanism one end, and adjustment gear is matched with gear ring is adjusted It closes；First support spring is located in the first arc groove, and first support spring one end is fixedly mounted on the first arc groove end face, the The other end of one support spring is fixedly mounted on the first arc protection block end face；Second support spring is located at the first arc groove Interior, second support spring one end is fixedly mounted on the first arc groove end face, and the other end of the second support spring is fixedly mounted on On second arc protection block end face；Driving ball is located between the gap that driven torus and active ring are formed, and drives the spherical outside surface of ball The end face with the cambered surface of spherical groove and promotion plectane is engaged respectively；Driving ball, which is located at, to be opened in the first arc protection block In the cylindrical hole that the semicircle orifice opened on semicircle orifice and the first arc protection block is formed；It is provided on the periphery at transmission axle both ends Teeth；Transmission axle is mounted on by bearing in rotation hole, and the teeth opened in transmission axle are nibbled with the interior teeth on movement gear ring It closes；It is provided with teeth on first arc strip one end intrados；One end end face that first arc strip keeps away from teeth is fixedly mounted on On two arc block end faces；It is provided with teeth on the intrados of second arc strip；One end end face that second arc strip keeps away from teeth is solid Dingan County is on the 4th arc block end face；The teeth opened on first arc strip and the second arc strip with opened in transmission axle Teeth coordinate, and the teeth opened on the first arc strip and the second arc strip are with the teeth opened in transmission axle in torque limit There are gaps in the case that device works normally.

The adjusting axis mechanism includes fixing axle, the first square groove, the 5th arc block, the 6th arc block, the second square groove, third Square groove, the first square, (the first back-moving spring, connection strap, second back-moving spring, the second square, wherein fixing axle periphery upper edge The first square groove being not penetrated, third square groove are successively opened on linear direction, pass through second party between the first square groove and third square groove Slot is connected to；First square is by being slidably installed in the first square groove, and the second square is by being slidably installed in third party In slot；It is linked together by connection strap between first square and the second square, and connection strap is located in the second square groove；First is multiple Position spring is located in the first square groove, and (the first back-moving spring one end is fixedly mounted on the first square groove end face, and (the first back-moving spring is another One end is fixedly mounted on the first square end face；Second back-moving spring is located in third square groove, and second back-moving spring one end is fixed On third square groove end face, the second back-moving spring other end is fixedly mounted on the second square end face；The inner circle of fixing axle 5th arc block and the 6th arc block are installed on face；Fixing axle passes through the 5th arc block and the 5th arc guide barrel and the 6th arc Block and the 6th arc guide barrel are slidably installed in the second arc groove；The teeth and fortune opened on the periphery of fixing axle one end Teeth engagement on moving teeth circle, the circular hole inner headed face opened on the other end periphery of fixing axle and adjustment gear are rotatably assorted peace Dress.

Advanced optimized as this technology, between first arc block and the first arc guide barrel and the second arc block with It is coated with lubricating oil between second arc guide barrel.

It is advanced optimized as this technology, the (the first back-moving spring is with second back-moving spring in the initial work of present device Make to be in compressive state when state.

It is advanced optimized as this technology, the coefficient of elasticity of first support spring is the 5 of driving spring coefficient of elasticity Times.

It is advanced optimized as this technology, the appearance and size of second square is equal to the appearance and size of limiting slot.

It is advanced optimized as this technology, the (the first back-moving spring and second back-moving spring are compressed spring；Driving The diameter of ball is equal to the diameter for accommodating circular hole.

The purpose of design that the receiving circular hole of 3 perforations is provided on active ring in the present invention is easy for 3 driving machines of installation Structure；Female effect is opened on the inner headed face of 3 receiving circular holes to be easy for forming screw thread with the external screw thread opened on screw rod Cooperation is to be axially moved to push the convert rotational motion on gear；The first arc being not penetrated is provided on active ring end face The effect of shape slot is easy for the movement of guiding the first arc protection block of limitation while also allowing for the first support spring of installation；First arc The effect that the first arc guide barrel and the second arc guide barrel are had on two intrados of shape slot is the first arc of guiding and limitation The movement of shape protection block；The effect that the second arc groove of perforation is provided on second arc guide barrel end face is easy for installation and adjustment axis machine Structure；The effect that driving mechanism is equipped at receiving circular hole is easy for the movement on active ring being transmitted on driven torus；First arc Shape slot, the second arc groove, the second arc guide barrel, the first arc guide barrel, the second arc guide barrel, the first arc guide barrel, the second annular The purpose of design that the central axis of slot is overlapped with the central axis of active ring is easy for the first arc protection block and the second arc The axis that protection block can surround active ring rotates；The opposite end face of the first arc groove is opened on active ring to be fixedly mounted Effect in active axial end is easy for the movement on driving shaft passing to driven torus；Driven torus opens holding tank on end face Effect is easy for being formed between driven torus and active ring and be rotatably assorted；It is circumferentially uniform on holding tank end face to be provided with 3 spherical females The effect of slot, which is easy for driving ball, to drive driven torus to move；Opened on driven torus the opposite end face of holding tank be installed with from Moving axis is mounted on convenient for present device on output end and input terminal；What 3 spherical grooves coordinated with 3 driving mechanisms respectively Purpose of design is easy for transmitting movement；T shape rings are nested on the outside of 3 driving mechanisms, and T shape rings end face is fixedly mounted on active ring Purpose of design on end face is easy for installation and adjustment gear ring, so that adjusting gear ring can rotate；Adjust gear ring end The effect that T shape annular grooves are provided on face is easy for being rotatably assorted with the formation of T shape rings；It adjusts gear ring and passes through the T shape annular grooves opened thereon It is easy for playing drive to the promotion gear in 3 driving mechanisms with the purpose of design of T shape rings being rotatably assorted on T shape rings Action is used；Adjusting gear ring and the purpose of design of 3 driving mechanisms cooperation are easy for adjusting gear ring can be simultaneously to 3 driving mechanisms It is adjusted；The cylinder that the semicircle orifice opened in first arc protection block and the semicircle orifice opened in the first arc protection block are formed The purpose of design that the axis in hole is overlapped with the axis for accommodating circular hole, which is easy for driving ball, can smoothly be moved into receiving circular hole.

The purpose of design of driving mechanism in the present invention is easy for transmitting the movement between active ring and driven torus；Screw rod is logical The external screw thread crossed thereon is easy for the internal thread accommodated on circular hole by the purpose of design that screw-thread fit is mounted on active ring The decrement of driving spring is adjusted, so that driving spring is adjusted to the motive force for pushing plectane；Push tooth The end face of wheel is fixedly mounted on screw rod end face, and gear is pushed to be easy for adjusting gear ring with the purpose of design that gear ring engages is adjusted Promotion gear movement can be driven, gear is pushed screw rod can be driven to rotate, the screw rod of rotation will be along receiving circular hole On the internal thread opened axially move；The screw rod of axial movement will adjust the decrement of driving spring；Limit plectane one end End face, which is fixedly mounted on, to push the purpose of design on gear face to be easy for limitation screw rod and pushes the axial movement of gear；Driving Spring, which is located at, to be accommodated in circular hole, and driving spring one end is engaged with screw rod end face；The driving spring other end is equipped with promotion circle The purpose of design of plate is easy for, to one motive force of plectane is pushed, pushing plectane that motive force is passed to driving ball；So that Driving ball can drive driven torus to move；The first arc block and the is separately installed in the cambered surface of the both sides of first arc protection block The purpose of design of two arc blocks is easy for being rotatably assorted with the first arc guide barrel and the formation of the second arc guide barrel；First arc is protected The purpose of design that the semicircle orifice of perforation is provided on block end face is easy for the movement of limitation driving ball；It adjusts axis mechanism and is located at the second arc Purpose of design in shape slot be easy for adjustment gear whether between fixing axle connect being adjusted property limitation；Adjustment gear Be provided with the circular hole of perforation on end face, and on the inner headed face of the circular hole the circumferentially uniform effect for being provided with 4 limiting slots be easy for Second square coordinates, so that the second square can limit the movement of adjustment gear；First support spring is located at the first arc In slot, first support spring one end is fixedly mounted on the first arc groove end face, and the other end of the first support spring is fixedly mounted Purpose of design on the first arc protection block end face is easy for the movement of the first arc protection block of limitation, when torque limiter passes When the torque passed is more than critical maximum torque, the first arc protection block at this time will carry out surrounding axis around the axis of driven torus Line moves, and when the torque that torque limiter transmits is less than critical maximum torque, the first arc protection block at this time will not enclose It carries out surrounding axial-movement around the axis of driven torus；Second support spring is located in the first arc groove, first support spring one end It is fixedly mounted on the first arc groove end face, the other end of the first support spring is fixedly mounted on the second arc protection block end face Purpose of design be easy for limitation the second arc protection block movement, when torque limiter transmit torque be more than critical maximum torsion When square, the second arc protection block at this time will carry out surrounding axial-movement around the axis of driven torus, when torque limiter passes When the torque passed is less than critical maximum torque, the second arc protection block at this time will not be surrounded around the axis of driven torus Axial-movement；The purpose for designing the first arc protection block and the second arc protection block is to twist bolt robot to left-handed It can work with the bolt of dextrorotation, so that the torque limiter in present device is in stubborn bolt robot control element When breaking down, two-way protection can be carried out to the output end of the turn of the screw robot by reaching torque limiter；Driving ball is located at Between the gap that driven torus and active ring are formed, and drive the spherical outside surface of ball respectively with the cambered surface of spherical groove and promotion plectane The purpose of design that end face is engaged, which is easy for driving ball, to drive driven torus to move；Driving ball is located at the first arc protection block On effect in the cylindrical hole that is formed of the semicircle orifice opened and the semicircle orifice opened in the second arc protection block be easy for driving ball It can be limited by the first arc protection block and the second arc protection block, while ball being driven to be adjusted to critical in torque limiter When peak torque, driving ball can stir the first arc protection block and the movement of the second arc protection block；Fixing axle passes through the 5th arc The setting in the second arc groove that be slidably installed of shape block and the 5th arc guide barrel and the 6th arc block and the 6th arc guide barrel Meter purpose is to prevent fixing axle there is a situation where rotations to occur around the axis of itself.

The purpose of design of adjusting axis mechanism in the present invention is easy for the limitation that the rotation to adjustment gear carries out conditionity； The first square groove being not penetrated, third square groove, the first square groove and third party are successively opened on fixing axle periphery upper edge linear direction The purpose of design being connected to by the second square groove between slot is easy for the first square of installation, connection strap, the second square；First square is logical It crosses and is slidably installed in the first square groove, the second square is by the purpose of design in third square groove that is slidably installed, It is moved under the recovery force effect of (the first back-moving spring and second back-moving spring for the ease of the first square and the second square；First It is linked together by connection strap between square and the second square, and the effect that connection strap is located in the second square groove is so that first It can keep moving synchronously in movement between square and the second square；(the first back-moving spring is located in the first square groove, and first is multiple Position spring one end is fixedly mounted on the first square groove end face, and the (the first back-moving spring other end is fixedly mounted on the first square end face Purpose of design be, when torque limiter is in normal work, fixing axle at this time will in the side of the second arc groove Wall tight contacts between cooperation, and when the load of the output end of torque limiter becomes larger suddenly, fixing axle at this time will be in the second arc Movement in shape slot, the first square at this time will restore to move under force effect in (the first back-moving spring and second back-moving spring；The The design mesh of lubricating oil is coated between one arc block and the first arc guide barrel between the second arc block and the second arc guide barrel , convenient for reducing rubbing between the second arc block and the second arc guide barrel between the first arc block and the first arc guide barrel Wipe power；(the first back-moving spring and second back-moving spring design mesh in compressive state in present device original operating state Be easy for (the first back-moving spring and second back-moving spring provide recovery force effect for the first square and the second square；First support The coefficient of elasticity of spring is 5 times of purpose of design of driving spring coefficient of elasticity, when the torque that torque limiter transmits is not having When having more than the torque value of critical maximum, the first arc protection block at this time will not rotate, to reach the first arc Shape protection block can limit the purpose of driving ball movement；The appearance and size of second square is equal to the design of the appearance and size of limiting slot Purpose, which is easy for the second square, can preferably limit the purpose of adjustment gear movement；It drives the diameter of ball to be equal to and accommodates circular hole The purpose of design of diameter, which is easy for driving ball, preferably to be moved in receiving circular hole；It is opened on the periphery at transmission axle both ends There is the purpose of design of teeth to be easy for the movement on the first arc strip and the second arc strip passing to movement gear ring；First arc It is provided with teeth on one end intrados, and the first arc strip keeps away from one end of teeth and is mounted on work on the second arc block end face Transmission axle can be driven to move with convenient for the first arc protection block of movement；It is provided with teeth on the intrados of second arc strip；The Two arc strips keep away from the second arc that one end end face of teeth is fixedly mounted on the effect on the 4th arc block end face convenient for movement Shape protection block can drive transmission axle to move；The teeth opened on first arc strip and the second arc strip are opened in transmission axle Teeth cooperation, and the teeth opened on the first arc strip and the second arc strip are limited with the teeth opened in transmission axle in torque There are the purposes of design in gap in the case of device processed normal work is, when the turn of the screw robot is setting twisted bolt After left-handed or dextrorotation, torque limiter at this time can be protected set rotation direction direction.

(3) the advantages of the present invention

Relative to traditional torque limiter technology, the torque limiter in the present invention has when the load on torque limiter is turned round Square become suddenly it is very big when, overload at this time will force driving ball to be slided from the hole on torque limiter and come out, at this time Driving ball will start to slide, and driving ball will trigger the first arc protection block and the second arc protection block circular motion, and first Arc protection block or the second arc protection block will reverse drive adjusting gear rings；Heterodromous adjusting gear ring, which will drive, to be pushed away Moving gear reverse rotation motion, heterodromous promotion gear will drive screw rod counter motion, the pressure of driving spring at this time Contracting amount will reduce, and reduce the driving spring of decrement to pushing plectane and driving the active force reduction of ball, driving ball at this time The receiving circular hole that will be opened along torque limiter is axially moved back and forth, and sliding driving ball at this time will not be to torque limit The surface of device damages, to achieve the purpose that protect torque limiter.

Description of the drawings

Fig. 1 is global facility distribution schematic diagram.

Fig. 2 is driven torus mounting structure schematic diagram.

Fig. 3 is active ring mounting structure schematic diagram.

Fig. 4 is driven shaft mounting structure schematic diagram.

Fig. 5 is driven torus structural schematic diagram.

Fig. 6 is the first support spring mounting structure schematic diagram.

Fig. 7 is active ring structure（One）Schematic diagram.

Fig. 8 is active ring structure（Two）Schematic diagram.

Fig. 9 is active ring sectional view.

Figure 10 is active ring structure（Three）Schematic diagram.

Figure 11 is active ring structure（Four）Schematic diagram.

Figure 12 is to adjust gear ring mounting structure schematic diagram.

Figure 13 is driving spring mounting structure schematic diagram.

Figure 14 is the second support spring mounting structure schematic diagram.

Figure 15 is to adjust gear ring structure schematic diagram.

Figure 16 is movement gear ring mounting structure schematic diagram.

Figure 17 is the first arc protection block structural schematic diagram.

Figure 18 is adjustment gear structural schematic diagram.

Figure 19 is fixed axle structure schematic diagram.

Figure 20 is the first square mounting structure schematic diagram.

Figure 21 is the second square mounting structure schematic diagram.

Figure 22 is active ring structure（Five）Schematic diagram.

Figure 23 is the 5th arc block and the 6th arc block mounting structure schematic diagram.

Figure label title：1, driven shaft；2, driven torus；3, gear ring is adjusted；4, driving mechanism；5, driving shaft；6, T shapes Ring；7, active ring；8, spherical groove；9, holding tank；10, the first arc guide barrel；11, the first arc groove；12, the second arc is led Slot；13, the second arc groove；14, circular hole is accommodated；15, adjustment gear；16, axis mechanism is adjusted；17, the second arc block；18, first Arc protection block；19, plectane is pushed；20, ball is driven；21, plectane is limited；22, gear is pushed；23, screw rod；24, driving spring； 25, T shapes annular groove；26, the first support spring；27, the first arc block；28, limiting slot；29, fixing axle；30, the first square groove；31、 Second square groove；32, third square groove；33, the first square；34, (the first back-moving spring；35, connection strap；36, second back-moving spring； 37, the second square；38, first annular slot；39, the second annular groove；40, gear ring is moved；41, transmission axle；42, the first arc strip； 43, the second arc strip；44, the 4th arc block；45, the second arc protection block；46, the second support spring；47, third arc block； 48, third arc guide barrel；49, the 4th arc guide barrel；50, rotation hole；51, the 5th arc guide barrel；52, the 6th arc guide barrel；53、 5th arc block；54, the 6th arc block.

Specific implementation mode

With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below Example is not limited to the scope of the present invention for illustrating the present invention.

As shown in Figure 1, 2, 3, it includes driven shaft 1, driven torus 2, adjusts gear ring 3, driving mechanism 4, driving shaft 5, T shape rings 6, active ring 7, spherical groove 8, holding tank 9, the 5th arc guide barrel 51, the 6th arc guide barrel 52, the first arc guide barrel 10, first Arc groove 11, first annular slot 38, the second annular groove 39, movement gear ring 40, third arc guide barrel 48, the 4th arc guide barrel 49, Rotation hole 50, the second arc groove 13, accommodates circular hole 14, T shapes annular groove 25 at second arc guide barrel 12, as shown in Fig. 7,8,9, wherein The circumferentially uniform receiving circular hole 14 for being provided with 3 perforations on 7 end face of active ring；It is provided on the inner headed face of 3 receiving circular holes 14 Internal thread.

As shown in Figure 10,11,3 accommodate circular holes 14 at structures and its mounting structure it is identical, for one of them, The first arc groove 11 being not penetrated is provided on 7 end face of active ring；As shown in Fig. 7,8,9, the first arc groove 11 and receiving circular hole 14 It communicates；As shown in Fig. 7,8,9, symmetrically first is provided with about receiving circular hole 14 on one of first arc groove 11 intrados Arc guide barrel 10 and third arc guide barrel 48；As shown in Fig. 7,8,9, about receiving on another intrados of the first arc groove 11 Circular hole 14 is symmetrically provided with the second arc guide barrel 12 and the 4th arc guide barrel 49；As shown in Fig. 7,8,9,12 He of the second arc guide barrel 4th arc guide barrel 49 is close to 7 outer circle EDS maps of active ring；As shown in Fig. 7,8,9, active ring 7 opens the end face of the first arc groove 11 On be provided with the first annular slot 38 being not penetrated；As shown in Fig. 7,8,9, first annular slot 38 with the first arc guide barrel 10 and the 4th Arc guide barrel 49 communicates；As shown in Fig. 7,8,9, the rotation hole 50 being not penetrated is provided on 38 end face of first annular slot；Such as Fig. 7,8,9 It is shown, the second arc groove 13 of perforation is provided on 38 end face of first annular slot；As shown in figure 22, in two of the second arc groove 13 The 5th arc guide barrel 51 and the 6th arc guide barrel 52 are had in cambered surface；Driving is installed at circular hole 14 as shown in fig. 6, accommodating Mechanism 4；First arc groove 11, the second arc groove 13, the second arc guide barrel 12, first annular slot 38, first arc guide barrel 10 Central axis is overlapped with the central axis of active ring 7.

As shown in Fig. 7,8,9, the second annular groove 39 is provided in active ring 7, and the second annular groove 39 is matched with 3 rotation holes 50 It closes；As shown in Fig. 7,8,13, movement gear ring 40 is installed in second annular groove 39；As shown in Figure 13,14, gear ring 40 and 3 is moved A driving mechanism 4 coordinates；As shown in figure 3, opening the opposite end face of the first arc groove 11 on active ring 7 is fixedly mounted on driving shaft 5 On end face；As shown in Figure 4,5, it is provided with the holding tank 9 being not penetrated on 2 end face of driven torus；As shown in Figure 4,5, on 9 end face of holding tank It is circumferentially uniform to be provided with 3 spherical grooves 8；As shown in Figure 4,5, the opposite end face of holding tank 9 is opened on driven torus 2 to be installed with Driven shaft 1；As shown in figure 3,3 spherical grooves 8 coordinate with 3 driving mechanisms 4 respectively；As shown in figure 3, driven torus 2 passes through it On 9 inner headed face of holding tank and 7 periphery of active ring be rotatably assorted installation；As shown in figure 3, T shapes ring 6 is nested in 3 driving machines 4 outside of structure, and 6 end face of T shapes ring is fixedly mounted on 7 end face of active ring；As shown in figure 15, it adjusts on 3 end face of gear ring and is provided with T shapes Annular groove 25；Adjust being rotatably assorted on T shapes ring 6 by the T shapes annular groove 25 opened thereon and T shapes ring 6 of gear ring 3；Such as figure Shown in 12, adjusts gear ring 3 and 3 driving mechanisms 4 coordinate.

As shown in Figure 16,17, the driving mechanism 4 includes adjustment gear 15, transmission axle 41, the first arc strip 42, second Arc strip 43, the second arc protection block 45, the second support spring 46, third arc block 47, adjusts axis mechanism at the 4th arc block 44 16, the second arc block 17, the first arc protection block 18, promotion plectane 19, driving ball 20, limit plectane 21, promotion gear 22, spiral shell Bar 23, driving spring 24, the first support spring 26, the first arc block 27, limiting slot 28, as shown in Fig. 3,13, wherein screw rod 23 It is mounted on active ring 7 by screw-thread fit with the internal thread accommodated on circular hole 14 by external screw thread thereon；As shown in figure 13, It pushes the end face of gear 22 to be fixedly mounted on 23 end face of screw rod, and gear 22 is pushed to be engaged with gear ring 3 is adjusted；Such as Figure 13 institutes Show, 21 one end end face of limit plectane, which is fixedly mounted on, to push on 22 end face of gear；Driving spring 24, which is located at, to be accommodated in circular hole 14, is driven 24 one end of spring of moving is engaged with 23 end face of screw rod；As shown in figure 13,24 other end of driving spring, which is equipped with, pushes plectane 19； As shown in figure 17, the first arc block 27 and the second arc block are separately installed in the cambered surface of the both sides of the first arc protection block 18 17；As shown in figure 17, the semicircle orifice of perforation is provided on 18 end face of the first arc protection block；First arc protection block 18 passes through first Arc block 27 and the first arc guide barrel 10 be slidably matched and the peace that is slidably matched of the second arc block 17 and the second arc guide barrel 12 In the first arc groove 11；As shown in figure 17, it is separately installed with third arc in the cambered surface of the both sides of the second arc protection block 45 Shape block 47 and the 4th arc block 44；The semicircle orifice of perforation is provided on second arc protection block, 45 end face；As shown in Fig. 3,17, second Arc protection block 45 by third arc block 47 and third arc guide barrel 48 be slidably matched and the 4th arc block 44 and the 4th arc Shape guide groove 49 is slidably installed in the first arc groove 11；As shown in Fig. 3,13, adjusts axis mechanism 16 and be mounted on the second arc In shape slot 13, and adjusts axis mechanism 16 and coordinate with movement gear ring 40；As shown in figure 18, it is provided with perforation on 15 end face of adjustment gear Circular hole, and circumferentially uniform on the inner headed face of the circular hole it is provided with 4 limiting slots 28；As shown in figure 13, adjustment gear 15 is mounted on 16 one end of axis mechanism is adjusted, and adjustment gear 15 coordinates with gear ring 3 is adjusted；As shown in figure 17, the first support spring 26 is located at the In one arc groove 11,26 one end of the first support spring is fixedly mounted on 11 end face of the first arc groove, the first support spring 26 The other end is fixedly mounted on 18 end face of the first arc protection block；As shown in figure 17, the second support spring 46 is located at the first arc In slot 11,46 one end of the second support spring is fixedly mounted on 11 end face of the first arc groove, the other end of the second support spring 46 It is fixedly mounted on 45 end face of the second arc protection block；As shown in figure 17, driving ball 20 is located at driven torus 2 and the formation of active ring 7 Gap between, and drive ball 20 spherical outside surface respectively with the cambered surface of spherical groove 8 and promotion plectane 19 end face be engaged； The semicircle orifice shape that driving ball 20 is located at the semicircle orifice opened in the first arc protection block 18 and is opened in the first arc protection block 18 At cylindrical hole in；It is provided with teeth on the periphery at 41 both ends of transmission axle；Transmission axle 41 is mounted on rotation hole 50 by bearing It is interior, and the teeth opened in transmission axle 41 are engaged with the interior teeth on movement gear ring 40；As shown in figure 17, the first arc strip 42 1 It is provided with teeth on the intrados of end；As shown in figure 17, the first arc strip 42 keeps away from one end end faces of teeth and is fixedly mounted on second On 17 end face of arc block；As shown in figure 17, teeth are provided on the intrados of the second arc strip 43；As shown in figure 17, the second arc Article 43 one end end faces for keeping away from teeth are fixedly mounted on 44 end face of the 4th arc block；As shown in figure 17, the first arc strip 42 Coordinate with the teeth opened in transmission axle 41 with the teeth opened on the second arc strip 43, and the first arc strip 42 and the second arc The teeth opened on shape item 43 with the teeth opened in transmission axle 41 in the case where torque limiter is worked normally there are Gap.

As shown in figure 20, the adjusting axis mechanism 16 includes fixing axle 29, the 5th arc block 53, the 6th arc block 54, the One square groove 30, the second square groove 31, third square groove 32, the first square 33, (the first back-moving spring 34, connection strap 35, second reset bullet Spring 36, the second square 37 wherein successively open be not penetrated as shown in figure 19 on 29 periphery upper edge linear direction of fixing axle One square groove 30, third square groove 32 are connected between first square groove 30 and third square groove 32 by the second square groove 31；As shown in figure 20, First square 33 is by being slidably installed in the first square groove 30, and the second square 37 is by being slidably installed in third square groove In 32；As shown in Figure 20,21, linked together by connection strap 35 between the first square 33 and the second square 37, and connection strap 35 are located in the second square groove 31；As shown in figure 20, (the first back-moving spring 34 is located in the first square groove 30, (the first back-moving spring 34 1 End is fixedly mounted on 30 end face of the first square groove, and 34 other end of (the first back-moving spring is fixedly mounted on 33 end face of the first square； As shown in figure 20, second back-moving spring 36 is located in third square groove 32, and 36 one end of second back-moving spring is fixedly mounted on third party On 32 end face of slot, 36 other end of second back-moving spring is fixedly mounted on 37 end face of the second square；It is fixed as shown in Figure 17,23 5th arc block 53 and the 6th arc block 54 are installed on the inner headed face of axis 29；Fixing axle 29 passes through the 5th arc block 53 and the 5th Arc guide barrel 51 and the 6th arc block 54 and the 6th arc guide barrel 52 are slidably installed in the second arc groove 13；Fixing axle The teeth opened on 29 one end peripheries are engaged with the teeth on movement gear ring 40, other end periphery and the adjusting of fixing axle 29 The circular hole inner headed face opened on gear 15 is rotatably assorted installation.

Between first arc block, 27 and first arc guide barrel 10 and the second arc block 17 and the second arc guide barrel 12 it Between be coated with lubricating oil.

The (the first back-moving spring 34 is in pressure with second back-moving spring 36 in present device original operating state Contracting state.

The coefficient of elasticity of first support spring 26 is 5 times of 24 coefficient of elasticity of driving spring.

The appearance and size of second square 37 is equal to the appearance and size of limiting slot 28.

The (the first back-moving spring 34 and second back-moving spring 36 are compressed spring；It drives the diameter of ball 20 to be equal to accommodate The diameter of circular hole 14.

Specific implementation mode is：First by present device be mounted on the turn of the screw robot torque output and input terminal it Between, staff at this time drives adjusting gear ring 3 to move, since the second square 37 at this time is not inserted into the limit in adjustment gear 15 In the slot 28 of position, so the adjusting gear ring 3 moved at this time will drive adjustment gear 15 to carry out spinning motion, the adjustment gear of movement 15 since the second square 37 will not coordinate with limiting slot 28, so adjustment gear 15 will not drive 29 rotary motion of fixing axle, fortune Dynamic adjusting gear ring 3, which will also drive, pushes gear 22 to move, and the promotion gear 22 of movement will drive screw rod 23 to move, movement Screw rod 23 will drive driving spring 24 to be moved along the axis direction for accommodating circular hole 14, and screw rod 23 at this time will drive promotion to justify Plate 19 moves, and pushes plectane 19 that will act on the elastic force of driving spring 24 and drive ball 20, driving ball 20 at this time will be tight It is pressed in spherical groove 8；The critical torque that torque limiter at this time is adjusted depends on the decrement of driving spring 24, works as torque When the decrement of driving spring 24 when the critical torque of limiter is less than the maximum compressibility of driving spring 24, and determine stubborn spiral shell After the rotation direction direction determination of bolt is tightened by silk robot, the torque input end of the robot of the turn of the screw at this time will drive driving shaft 5 The driving shaft 5 of movement, movement will drive active ring 7 to move, and active ring 7 will drive 3 driving mechanisms 4 to move, 3 drivings Mechanism 4 will drive driven torus 2 to move, and driven torus 2 will drive driven shaft 1 to move, and the driven shaft 1 of movement will drive stubborn spiral shell The output end motion of silk robot, the turn of the screw robot at this time are less than or wait to pretightning force when tightening of bolt and nut In the critical torque value that torque limiter is adjusted, during bolt is twisted by the turn of the screw robot, due to twisting bolt robot Control device break down, stubborn bolt robot at this time drives driving shaft 5, the 7 continual movement of active ring, but this When bolt will be tightened in place can not possibly be further continued for moving, twist bolt robot output end will be stopped movement, this When driven shaft 1, driven torus 2 will not move, but driving shaft 5 is also being moved with active ring 7, and driving ball 20 at this time will It is moved along the axis direction for accommodating circular hole 14 under the action of the drop formed between 2 end face of spherical groove 8 and driven torus, at this time Driving spring 24 will be compressed, driving ball 20 will not cause the end face between driven torus 2 and active ring 7 prodigious broken It is bad, it will not be destroyed to achieve the purpose that torque limiter in bolt robot is twisted in protection.

The decrement of driving spring 24 when the critical torque of torque limiter is equal to the maximum compression of driving spring 24 When amount, the torque input end of the robot of the turn of the screw at this time will drive driving shaft 5 to move, and the driving shaft 5 of movement will drive master Rotating ring 7 moves, and active ring 7 will drive 3 driving mechanisms 4 to move, and 3 driving mechanisms 4 will drive driven torus 2 to move, from Rotating ring 2 will drive driven shaft 1 to move, and the driven shaft 1 of movement will drive the output end motion of the turn of the screw robot, at this time The turn of the screw robot is less than or equal to pretightning force when tightening of bolt and nut the maximum torsion that torque limiter is adjusted Square value, when the turn of the screw robot twist bolt during, due to twist bolt robot control device break down, at this time twist Bolt robot drives driving shaft 5, the 7 continual movement of active ring, but bolt at this time will be tightened and in place can not It can be further continued for moving, movement will be stopped by twisting the output end of bolt robot, and driven shaft 1, driven torus 2 at this time will not be transported It is dynamic, but driving shaft 5 is also being moved with active ring 7, driving spring 24 at this time cannot continue to compress, and driving ball 20 will be right Prodigious destruction is caused in end face between driven torus 2 and active ring 7, so the first support spring 26 of design, the protection of the first arc Block 18, the second arc protection block 45, the second support spring 46 can avoid this type of circumstances from happening；The active ring 7 moved at this time Driving ball 20 will be driven to move, spherical groove 8 at this time will limit the movement for driving ball 20, so driving ball 20 at this time It will be limited and move by promotion arc groove, arc groove will push driving ball 20 to move, and be twisted according to set in advance The rotation direction direction of the tightened bolt of screw robot, driving ball 20 will drive the first arc protection block 18, the first arc successively Block 27 and the second arc block 17 drive the second arc protection block 45, third arc block 47 and third arc block 47 to transport successively Dynamic, according to the rotation direction direction of the tightened bolt of the turn of the screw robot set in advance, the second arc block 17 will drive the One arc strip 42 movement either the 4th arc block 44 will drive the second arc strip 43 movement movement the first arc strip 42 or Second arc strip 43 will drive transmission axle 41 to move, and transmission axle 41 will drive movement gear ring 40 to move, and movement gear ring 40 will Fixing axle 29 can be driven to move；The fixing axle 29 of movement will drive the first square 33 and the second square 37 to move；At this time One square 33 and the second square 37 will be under the (the first back-moving springs 34 of compression and the recovery force effect of second back-moving spring 36 It is moved along the first square groove 30 and the second square groove 31, the second square 37 at this time will be inserted in limiting slot 28, so that adjusting Save the state in key connection between gear 15 and fixing axle 29, adjustment gear 15 at this time will not rotation, the movement of movement Gear ring 40 will drive fixing axle 29 to move, and fixing axle 29 will drive adjustment gear 15 to surround the axial-movement of driven torus 2, transport Dynamic adjustment gear 15 will drive adjusting gear ring 3 to be moved to the opposite direction of increase by 24 decrement of driving spring is adjusted；Movement Adjusting gear ring 3 will drive successively gear 22, screw rod 23 is pushed to move, the decrement of driving spring 24 at this time will subtract Small, the torque value that torque limiter transmits at this time will not be that driving spring 24 cannot be by torque value when compressing, as work people Member do not find twist bolt machine manually make situation occur problem when, continue at this time operate the turn of the screw machine manually make, at this time twist Bolt robot is during carrying out tightening bolt, since the torque that torque limiter transmits reduces, so stubborn spiral shell at this time The output end of bolt robot will not move, so that driven shaft 1, driven torus 2 will not move, but driving shaft 5 and master Rotating ring 7 is also moving, but driving spring 24 at this time has been conditioned gear 15 and had reversely adjusted, so driving bullet at this time Spring 24 can be compressed；The work for the drop that driving ball 20 at this time will be formed between 2 end face of spherical groove 8 and driven torus The axis direction movement of circular hole 14 is accommodated with lower edge, driving spring 24 at this time will be compressed, driving ball 20 will not to from Prodigious destruction is caused in end face between rotating ring 2 and active ring 7, to reach protection twist bolt robot on torque limiter not It can be by the purpose destroyed；First arc protection block 18 and the purpose of the second arc protection block 45 design are easy for torque limiter During bi-directional drive, it can achieve the purpose that protect torque limiter.

In conclusion the above embodiment is not the restricted embodiment for being the present invention, all those skilled in the art On the basis of the substantive content of the present invention, several improvements and modifications can also be made, these improvements and modifications also should be regarded as this The protection domain of invention.

Claims

1. the torque limiter that a kind of twocouese in the turn of the screw robot is protected, it is characterised in that：It include driven shaft, Driven torus adjusts gear ring, driving mechanism, driving shaft, T shapes ring, active ring, spherical groove, holding tank, the first arc guide barrel, the One arc groove, first annular slot, the second annular groove, movement gear ring, third arc guide barrel, the 4th arc guide barrel, rotation hole, second Arc guide barrel, the 6th arc guide barrel, the second arc groove, accommodates circular hole, T shape annular grooves, wherein active ring end face at the 5th arc guide barrel The upper circumferentially uniform receiving circular hole for being provided with 3 perforations；It is provided with internal thread on the inner headed face of 3 receiving circular holes；

3 structures accommodated at circular hole and its mounting structure are identical, for one of them, are provided on active ring end face and do not pass through The first logical arc groove；First arc groove is communicated with circular hole is accommodated；About receiving on one of first arc groove intrados Circular hole is symmetrically provided with the first arc guide barrel and third arc guide barrel；Justify about receiving on another intrados of first arc groove Hole is symmetrically provided with the second arc guide barrel and the 4th arc guide barrel；Second arc guide barrel and the 4th arc guide barrel are outside active ring Disc is distributed；Active ring is opened and is provided with the first annular slot being not penetrated on the end face of the first arc groove；First annular slot is with first Arc guide barrel and the 4th arc guide barrel communicate；It is provided with the rotation hole being not penetrated on first annular slot end face；First annular slot end face On be provided with the second arc groove of perforation；The 5th arc guide barrel and the 6th arc are had on two intrados of the second arc groove Guide groove；It accommodates and driving mechanism is installed at circular hole；First arc groove, the second arc groove, the 5th arc guide barrel, the 6th arc are led Slot, the second arc guide barrel, first annular slot, the first arc guide barrel central axis overlapped with the central axis of active ring；

The second annular groove is provided in active ring, and the second annular groove and 3 rotation holes coordinate；Movement is installed in the second annular groove Gear ring；It moves gear ring and 3 driving mechanisms coordinates；The opposite end face of the first arc groove is opened on active ring is fixedly mounted on driving shaft On end face；The holding tank being not penetrated is provided on driven torus end face；It is circumferentially uniform on holding tank end face to be provided with 3 spherical grooves； The opposite end face of holding tank is opened on driven torus is installed with driven shaft；3 spherical grooves coordinate with 3 driving mechanisms respectively； Driven torus is rotatably assorted installation by holding tank inner headed face thereon and active ring periphery；T shape rings are nested in 3 driving mechanisms Outside, and T shape rings end face is fixedly mounted on active ring end face；It adjusts and is provided with T shape annular grooves on gear ring end face；Gear ring is adjusted to pass through The T shapes annular groove opened thereon is rotatably assorted with T shape rings on T shape rings；It adjusts gear ring and 3 driving mechanisms coordinates；

The driving mechanism includes adjustment gear, transmission axle, the first arc strip, the second arc strip, the 4th arc block, the second arc Protection block, the second support spring, third arc block, adjust axis mechanism, the second arc block, the first arc protection block, push plectane, It drives ball, limit plectane, push gear, screw rod, driving spring, the first support spring, the first arc block, limiting slot, wherein spiral shell Bar is mounted on by screw-thread fit on active ring by external screw thread thereon with the internal thread accommodated on circular hole；Push the end of gear Face is fixedly mounted on screw rod end face, and gear is pushed to be engaged with gear ring is adjusted；Limit plectane one end end face, which is fixedly mounted on, to push away On moving gear end face；Driving spring, which is located at, to be accommodated in circular hole, and driving spring one end is engaged with screw rod end face；Driving spring is another One end is equipped with promotion plectane；It is separately installed with the first arc block and the second arc in the cambered surface of the both sides of first arc protection block Block；The semicircle orifice of perforation is provided on first arc protection block end face；First arc protection block passes through the first arc block and the first arc Being slidably matched for shape guide groove and being slidably installed in the first arc groove for the second arc block and the second arc guide barrel；Second Third arc block and the 4th arc block are separately installed in the cambered surface of the both sides of arc protection block；On second arc protection block end face It is provided with the semicircle orifice of perforation；Second arc protection block by third arc block and third arc guide barrel be slidably matched and the 4th Arc block is slidably installed with the 4th arc guide barrel in the first arc groove；It adjusts axis mechanism and is mounted on the second arc groove It is interior, and adjust axis mechanism and movement gear ring cooperation；The circular hole of perforation is provided on adjustment gear end face, and on the inner headed face of the circular hole It is circumferentially uniform to be provided with 4 limiting slots；Adjustment gear, which is mounted on, adjusts axis mechanism one end, and adjustment gear is matched with gear ring is adjusted It closes；First support spring is located in the first arc groove, and first support spring one end is fixedly mounted on the first arc groove end face, the The other end of one support spring is fixedly mounted on the first arc protection block end face；Second support spring is located at the first arc groove Interior, second support spring one end is fixedly mounted on the first arc groove end face, and the other end of the second support spring is fixedly mounted on On second arc protection block end face；Driving ball is located between the gap that driven torus and active ring are formed, and drives the spherical outside surface of ball The end face with the cambered surface of spherical groove and promotion plectane is engaged respectively；Driving ball, which is located at, to be opened in the first arc protection block In the cylindrical hole that the semicircle orifice opened on semicircle orifice and the first arc protection block is formed；The semicircle opened in first arc protection block The axis for the cylindrical hole that the semicircle orifice opened on hole and the first arc protection block is formed is overlapped with the axis for accommodating circular hole；Transmission axle It is provided with teeth on the periphery at both ends；Transmission axle by bearing be mounted on rotation hole in, and the teeth opened in transmission axle with Move the interior teeth engagement on gear ring；It is provided with teeth on first arc strip one end intrados；First arc strip keeps away from teeth One end end face is fixedly mounted on the second arc block end face；It is provided with teeth on the intrados of second arc strip；Second arc strip is remote One end end face for leaving teeth is fixedly mounted on the 4th arc block end face；The tooth opened on first arc strip and the second arc strip Tooth coordinates with the teeth opened in transmission axle, and the teeth opened on the first arc strip and the second arc strip in transmission axle There are gaps in the case where torque limiter is worked normally for the teeth opened；

The adjusting axis mechanism includes fixing axle, the first square groove, the 5th arc block, the 6th arc block, the second square groove, third party Slot, the first square, (the first back-moving spring, connection strap, second back-moving spring, the second square, wherein fixing axle periphery ascender line Property successively opens the first square groove being not penetrated, third square groove on direction, passes through the second square groove between the first square groove and third square groove Connection；First square is by being slidably installed in the first square groove, and the second square is by being slidably installed in third square groove It is interior；It is linked together by connection strap between first square and the second square, and connection strap is located in the second square groove；First resets Spring is located in the first square groove, and (the first back-moving spring one end is fixedly mounted on the first square groove end face, and (the first back-moving spring is another End is fixedly mounted on the first square end face；Second back-moving spring is located in third square groove, and peace is fixed in second back-moving spring one end On third square groove end face, the second back-moving spring other end is fixedly mounted on the second square end face；The inner headed face of fixing axle On the 5th arc block and the 6th arc block are installed；Fixing axle passes through the 5th arc block and the 5th arc guide barrel and the 6th arc block With being slidably installed in the second arc groove for the 6th arc guide barrel；The teeth opened on the periphery of fixing axle one end and movement Teeth engagement on gear ring, the circular hole inner headed face opened on the other end periphery of fixing axle and adjustment gear are rotatably assorted peace Dress.

2. the torque limiter that a kind of twocouese in the turn of the screw robot according to claim 20 is protected, special Sign is：It is coated between the second arc block and the second arc guide barrel between first arc block and the first arc guide barrel Lubricating oil.

3. the torque limiter that a kind of twocouese in the turn of the screw robot according to claim 30 is protected, special Sign is：The (the first back-moving spring is in compression shape with second back-moving spring in present device original operating state State.

4. the torque limiter that a kind of twocouese in the turn of the screw robot according to claim 1 is protected, special Sign is：The coefficient of elasticity of first support spring is 5 times of driving spring coefficient of elasticity.

5. the torque limiter that a kind of twocouese in the turn of the screw robot according to claim 1 is protected, special Sign is：The appearance and size of second square is equal to the appearance and size of limiting slot.

6. the torque limiter that a kind of twocouese in the turn of the screw robot according to claim 1 is protected, special Sign is：The (the first back-moving spring and second back-moving spring are compressed spring；It drives the diameter of ball to be equal to and accommodates circular hole Diameter.