CN112621817A

CN112621817A - Moment limiter with bidirectional rotation overload protection

Info

Publication number: CN112621817A
Application number: CN202011508712.6A
Authority: CN
Inventors: 黄昔光; 李晓然; 薛国锋; 李强
Original assignee: North China University of Technology
Current assignee: North China University of Technology
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-04-09

Abstract

The invention discloses a torque limiter with bidirectional rotation overload protection, which comprises an input end, an adjusting nut, a spring, an input cover, a roller and an output end, wherein a key groove matched with a guide flat key is formed in the input cover, the roller is inserted into a first groove, and the left end of the roller is clamped on a clamping groove of the output end. The overload protection function caused by forward and reverse rotation can be realized, the pretightening force of the spring gasket is applied through the adjusting nut, the roller is pressed between the input cover and the output end, when the rotating torque force between the input end and the output end exceeds a certain limit, and when the torque force received by the roller is greater than the pretightening force of the spring, the roller comes out and slips, so that the input end and the output end are separated, the torque limit protection is formed, and the overload protection effect is generated. The moment limiter can be popularized and applied, for example, as an overload protection device in mechanical transmission, the mechanism is simple, the assembly is convenient, and the moment limiter can be used under the conditions of various sizes.

Description

Moment limiter with bidirectional rotation overload protection

Technical Field

The invention relates to a rotary overload protection device, in particular to a torque limiter with bidirectional rotary overload protection.

Background

Nowadays, science and technology are changing day by day, robots and related technologies thereof are greatly developed, and the robots are widely applied to multiple fields such as military, industry, service industry and the like. As a key part of the robot, the robot joint plays an important role in the performance of the robot. However, the overload phenomenon frequently occurs during the actual use of the robot. How to ensure that the joint structure of the robot is not damaged under the condition of overload has become one of the key core technologies in the current robot technology.

At present, the research on joint overload protection devices is relatively few, and in the actual production process of a robot, the condition of joint load overload frequently occurs, so that the robot structure is difficult to ensure not to be damaged under the overload condition.

The existing torque limiter and torque limiter mainly rely on friction and slip to generate an overload protection effect, are large in size, have a plurality of constraint conditions for the use of a machine, are mainly used for industrial grade, and are difficult to install and use in a narrow robot joint space.

Disclosure of Invention

The invention aims to provide a torque limiter with bidirectional rotation overload protection.

The purpose of the invention is realized by the following technical scheme:

the invention relates to a torque limiter with bidirectional rotation overload protection, which comprises an input end 2 and an output end 9, wherein the left end of the input end 2 is connected with an input shaft 17, the input shaft 17 is provided with a key groove 3, a matched guide flat key 18 is fixed in the key groove 3 through a screw 4, an adjusting nut 5 is arranged on the input shaft 17 through thread fit, the left end of the adjusting nut 5 is connected with a first spring gasket, the left end of the first spring gasket is connected with a spring 6, the left end of the spring 6 is connected with a second spring gasket 15, the left ends of the second spring gasket 15 are connected with an input cover 7, and the input cover 7 is arranged on the input shaft 17 and is matched with the guide flat key 18;

the left end of the input shaft 17 is connected with an output shaft 16, and the output shaft 16 is connected with the output end 9 through a bearing 10.

According to the technical scheme provided by the invention, the moment limiter with bidirectional rotation overload protection provided by the embodiment of the invention can ensure that the robot joint is not damaged in an overload state by additionally arranging the overload protection module, is favorable for ensuring the safety of a human-robot-object and saves the production and manufacturing cost.

Drawings

Fig. 1 is a schematic diagram of an overall assembly structure of a torque limiter with bidirectional rotational overload protection according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an explosion analysis structure according to an embodiment of the present invention.

Fig. 3 is a schematic front sectional view of an embodiment of the present invention.

Fig. 4 is a schematic side view of an embodiment of the present invention.

In the figure:

1. the novel bearing comprises a threaded hole, 2, an input end, 3, a key groove, 4, a screw, 5, an adjusting nut, 6, a spring, 7, an input cover, 8, a roller, 9, an output end, 10, a bearing, 11, a positioning screw, 12, a screw gasket, 13, a clamping groove, 14, a first groove, 15, a second spring gasket, 16, an output shaft, 17, an input shaft, 18, a guide flat key and 19, and a threaded hole.

Detailed Description

The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.

The torque limiter with bidirectional rotation overload protection of the present invention has the preferred embodiments as shown in fig. 1 and fig. 2:

the input shaft 2 is connected with an input shaft 17 at the left end, a key groove 3 is formed in the input shaft 17, a matched guide flat key 18 is fixed in the key groove 3 through a screw 4, an adjusting nut 5 is arranged on the input shaft 17 through thread fit, the left end of the adjusting nut 5 is connected with a first spring gasket, the left end of the first spring gasket is connected with a spring 6, the left end of the spring 6 is connected with a second spring gasket 15, the left ends of the second spring gasket 15 are connected with an input cover 7, and the input cover 7 is arranged on the input shaft 17 and matched with the guide flat key 18;

The bearing 10 is fixed on an output shaft 16 through a set screw 11 and a screw gasket 12.

The left end face of the input cover 7 is provided with a plurality of first grooves 14 at equal intervals along the circumferential direction, rollers 8 are inserted into the first grooves 14, and the left ends of the rollers 8 are clamped on clamping grooves 13 of the output end 9.

According to the moment limiter with bidirectional rotation overload protection, the robot joint provided with the moment limiter can ensure that the robot joint structure is not damaged in an overload state, and the safety of man-machine-object is ensured.

The specific embodiment is as follows:

as shown in fig. 1 to 4, includes: the input end, the adjusting nut, the spring, the input cover, the roller and the output end; the input end left end face is connected with an input shaft, a threaded hole is formed in the upper portion of the input end, a key groove matched with the guide flat key is formed in the input shaft, a threaded hole matched with a screw is formed in the key groove, the guide flat key is fixed on the input shaft through the screw, external threads are matched with an adjusting nut on the input shaft of the input end, the left end of the adjusting nut is connected with a fixing ring, the left end of the fixing ring is connected with a spring, the left end of the spring is connected with a spring gasket, the left end of the spring gasket is connected with an input cover, the input cover is installed on the input shaft of the input end through the guide flat key, a first groove is formed in the left side of the input cover along the circumferential direction at equal intervals, a roller is inserted into the first groove, and the left end of. The right side of the output end is provided with clamping grooves which are matched with the first grooves in the input cover at equal intervals along the circumferential direction, the output end is connected with an output shaft on the input end through a bearing, and the bearing is fixed on the output shaft through a positioning screw and a screw gasket.

The invention generates overload protection function by the friction and the slip of the roller. The torque limiter for overload protection of the robot joint comprises an input end, an adjusting nut, a spring, an input cover, a roller and an output end, wherein two rotation directions of the torque limiter can generate the overload protection effect, a pre-tightening force of a spring gasket is applied through the adjusting nut, the roller is pressed between the input cover and the output end, when the rotation torque force between the input end and the output end exceeds a certain limit, the torque force applied to the roller is larger than the pre-tightening force of the spring, the roller comes out, the slipping phenomenon occurs, the input end and the output end are separated, the torque limiting protection is formed, and the overload protection effect is generated. When the moment limiter becomes a transmission mechanism, the mechanism is simple, the assembly is convenient, and the moment limiter can be used under the condition of various sizes.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The torque limiter with the bidirectional rotation overload protection function is characterized by comprising an input end (2) and an output end (9), wherein the left end of the input end (2) is connected with an input shaft (17), the input shaft (17) is provided with a key groove (3), a matched guide flat key (18) is fixed in the key groove (3) through a screw (4), the input shaft (17) is provided with an adjusting nut (5) in a threaded fit mode, the left end of the adjusting nut (5) is connected with a first spring gasket, the left end of the first spring gasket is connected with a spring (6), the left end of the spring (6) is connected with a second spring gasket (15), the left ends of the second spring gasket (15) are connected with an input cover (7), and the input cover (7) is arranged on the input shaft (17) and is matched with the guide flat key (18);

the left end of the input shaft (17) is connected with an output shaft (16), and the output shaft (16) is connected with the output end (9) through a bearing (10).

2. Moment limiter with bidirectional rotational overload protection according to claim 1, characterized in that the bearing (10) is fixed to the output shaft (16) by means of a set screw (11) and a screw washer (12).

3. The torque limiter with bidirectional rotational overload protection according to claim 1 or 2, wherein the left end surface of the input cover (7) is provided with a plurality of first grooves (14) at equal intervals along the circumferential direction, the rollers (8) are inserted into the first grooves (14), and the left ends of the rollers (8) are clamped on the clamping grooves (13) of the output end (9).