CN205466302U - Be used for articular torque limiter of robot arm - Google Patents
Be used for articular torque limiter of robot arm Download PDFInfo
- Publication number
- CN205466302U CN205466302U CN201620134554.5U CN201620134554U CN205466302U CN 205466302 U CN205466302 U CN 205466302U CN 201620134554 U CN201620134554 U CN 201620134554U CN 205466302 U CN205466302 U CN 205466302U
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- China
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- torque limiter
- groove
- output lid
- robot arm
- splined shaft
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Abstract
The utility model discloses a be used for articular torque limiter of robot arm, including solid fixed ring, the left end middle part of output lid is equipped with the spacing groove that matches with the integral key shaft, the inner chamber of the third recess ball head plunger that has all pegged graft, the inner chamber of first recess is equipped with the spring, the right side middle part of output lid is equipped with the second recess, this be used for articular torque limiter of robot arm is by the integral key shaft, gu fixed ring, ball head plunger constitutes with the output lid, two rotation directions of torque limiter all can take place to skid, because the inside spring of installing of ball head plunger thread, when the rotation torsion of output lid exceedes certain limit, the ball pressurized, and then compression spring, motor and drive mechanism are protected to the internal motion takes place to skid to the ball, rotate torsion when being less than torque limiter's friction torque when output lid, this torque limiter becomes drive mechanism, its simple structure, convenient assembling, the most crucial be the size can design very little.
Description
Technical field
This utility model relates to robot torque limiter technical field, is specially one for robot
The torque limiter of shoulder joint.
Background technology
The arm of guest-meeting robot can often be shaken hands with guests, but the dynamics that everyone shakes hands is different,
If the biggest people of some strength is probably by the snap arm of robot, it is therefore necessary in robot
The joint of arm is installed torque limiter and is protected robot arm hardware.The most in the art, have very
Many torque limiters, mainly have ball-type torque limiter and friction type torque limiter.Ball-type moment of torsion
Limiter built-in precise ball mechanism, when moment of torsion, to exceed setting value, driving side and load-side completely disengaged；
Friction type torque limiter applies pressure by disk spring phase friction plate, when moment of torsion exceedes setting value,
Produce friction slip between making active and passive side refer to, but the size of both the above torsional protector is too big, all
It is industry rank, it is difficult to use in the small space of robot arm, and the moment of torsion limit of some toy
Device processed has cannot two rotation directions.
Utility model content
The purpose of this utility model is to provide a kind of torque limiter for robot arm joint, with
The problem solving to propose in above-mentioned background technology.
For achieving the above object, this utility model provides following technical scheme: a kind of for robot arm
The torque limiter in joint, including retainer ring, the outer end leaving certain gaps uncovered by the economic plan of described retainer ring, described retainer ring
Top be provided with screwed hole, the right-hand member of described retainer ring is provided with splined shaft, the right side of described splined shaft
Circumferentially being uniformly provided with draw-in groove, described splined shaft is in the font of falling T, and the right-hand member of described splined shaft is provided with defeated
Go out lid, in the middle part of the left end of described output lid, be provided with the stopper slot mated with splined shaft, a left side for described output lid
Side is the most equidistantly provided with the 3rd groove, and the inner chamber of described 3rd groove is all plugged with bulb plunger, described
The front end of bulb plunger is connected to the upper surface with draw-in groove, and the inner chamber of described bulb plunger is provided with the first groove,
The inner chamber of described first groove is provided with spring, and the right side central of described output lid is provided with the second groove.
Preferably, the right-hand member of described stopper slot is provided with neonychium.
Preferably, described spring is no less than one.
Compared with prior art, the beneficial effects of the utility model are: this is used for robot arm joint
Torque limiter is made up of splined shaft, retainer ring, bulb plunger and output lid, and torque limiter two turns
All can skid in dynamic direction, due to bulb plunger thread internal installing spring, when the rotation of output lid is turned round
When power exceedes certain limit, ball pressurized, and then compression spring, ball inward occurs to skid and protect
Protect motor and drive mechanism, when output lid rotates the moment of friction that torsion is less than torque limiter, this torsion
Square limiter becomes drive mechanism；Its simple in construction, easy to assembly, most critical is that size can design
The least.
Accompanying drawing explanation
Fig. 1 is that this utility model faces cross-sectional view；
Fig. 2 is this utility model side structure schematic diagram；
Fig. 3 is this utility model part-structure schematic diagram.
In figure: 1 retainer ring, 11 breach, 2 splined shafts, 3 bulb plungers, 31 first grooves, 32 bullets
Spring, 4 output lid, 41 second grooves, 42 stopper slots, 43 the 3rd grooves, 5 screwed holes, 6 draw-in grooves.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technology in this utility model embodiment
Scheme is clearly and completely described, it is clear that described embodiment is only this utility model one
Divide embodiment rather than whole embodiments.Based on the embodiment in this utility model, this area is common
The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into this
The scope of utility model protection.
Referring to Fig. 1-3, this utility model provides a kind of technical scheme: a kind of for robot arm joint
Torque limiter, including retainer ring 1, the outer end leaving certain gaps uncovered by the economic plan 11 of described retainer ring 1, described fixing
The top of ring 1 is provided with screwed hole 5, and the right-hand member of described retainer ring 1 is provided with splined shaft 2, described splined shaft
The right side of 2 is circumferentially uniformly provided with draw-in groove 6, described splined shaft 2 in the font of falling T, described splined shaft 2
Right-hand member be provided with output lid 4, described output lid 4 left end in the middle part of be provided with spacing with what splined shaft 2 mated
Groove 42, the right-hand member of described stopper slot 42 is provided with neonychium, it is to avoid friction, and part causes damage, reduces
Noise, makes the effect of whole equipment advantageously, and the left side of described output lid 4 is the most equidistantly provided with the
Three grooves 43, the inner chamber of described 3rd groove 43 is all plugged with bulb plunger 3, described bulb plunger 3
Front end is connected to and the upper surface of draw-in groove 6, and the inner chamber of described bulb plunger 3 is provided with the first groove 31, institute
The inner chamber stating the first groove 31 is provided with spring 32, and described spring 32 is no less than one, in order to use more
It is permanent to add, and can be alleviated the workload of single spring 32 by multiple springs 32, and the life-span of use is longer,
The right side central of described output lid 4 is provided with the second groove 41.
Embodiment the most of the present utility model, for the ordinary skill people of this area
For Yuan, it is possible to understand that can be real to these in the case of without departing from principle of the present utility model and spirit
Executing example to carry out multiple change, revise, replace and modification, scope of the present utility model is by claims
And equivalent limits.
Claims (3)
1., for a torque limiter for robot arm joint, including retainer ring (1), its feature exists
In: the outer end leaving certain gaps uncovered by the economic plan (11) of described retainer ring (1), the top of described retainer ring (1) is provided with spiral shell
Pit (5), the right-hand member of described retainer ring (1) is provided with splined shaft (2), described splined shaft (2)
Right side is circumferentially uniformly provided with draw-in groove (6), described splined shaft (2) in the font of falling T, described splined shaft
(2) right-hand member is provided with output lid (4), is provided with and splined shaft in the middle part of the left end of described output lid (4)
(2) stopper slot (42) mated, the left side of described output lid (4) is the most equidistantly provided with the 3rd groove
(43), the inner chamber of described 3rd groove (43) is all plugged with bulb plunger (3), described bulb plunger (3)
Front end be connected to and the upper surface of draw-in groove (6), it is recessed that the inner chamber of described bulb plunger (3) is provided with first
Groove (31), the inner chamber of described first groove (31) is provided with spring (32), the right side of described output lid (4)
Middle side part is provided with the second groove (41).
A kind of torque limiter for robot arm joint the most according to claim 1, it is special
Levy and be: the right-hand member of described stopper slot (42) is provided with neonychium.
A kind of torque limiter for robot arm joint the most according to claim 1, it is special
Levy and be: described spring (32) is no less than one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620134554.5U CN205466302U (en) | 2016-02-22 | 2016-02-22 | Be used for articular torque limiter of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620134554.5U CN205466302U (en) | 2016-02-22 | 2016-02-22 | Be used for articular torque limiter of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466302U true CN205466302U (en) | 2016-08-17 |
Family
ID=56678675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620134554.5U Active CN205466302U (en) | 2016-02-22 | 2016-02-22 | Be used for articular torque limiter of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103203A (en) * | 2019-04-30 | 2019-08-09 | 合肥工业大学 | The Wire driven robot system and control method of modular reconfigurable Compliant Assembly |
-
2016
- 2016-02-22 CN CN201620134554.5U patent/CN205466302U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103203A (en) * | 2019-04-30 | 2019-08-09 | 合肥工业大学 | The Wire driven robot system and control method of modular reconfigurable Compliant Assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |