CN207212970U - Force-limiting device - Google Patents
Force-limiting device Download PDFInfo
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- CN207212970U CN207212970U CN201721245018.3U CN201721245018U CN207212970U CN 207212970 U CN207212970 U CN 207212970U CN 201721245018 U CN201721245018 U CN 201721245018U CN 207212970 U CN207212970 U CN 207212970U
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- flexible member
- force
- main body
- friction plate
- limiting device
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Abstract
The utility model discloses force-limiting device.The force-limiting device includes main body, and the side of main body offers body groove；First flexible member, the first flexible member are located in body groove；First friction plate, the first friction plate part are located in body groove and abut the first flexible member；Slide plate, slide plate pivot joint main body simultaneously abut with side of first friction plate away from body groove；Pressure regulator panel, the center of pressure regulator panel offer mounting hole, and pressure regulator panel offers the regulation board slot of connection mounting hole close to the side of main body, and one end of main body wears regulation board slot and is articulated in mounting hole；Second flexible member, the second flexible member are located in regulation board slot；Second friction plate, the second friction plate part are located in regulation board slot, and side abuts the second flexible member, and opposite side abuts slide plate.Force-limiting device described in the utility model, skidding power can be provided, in cooperation robot, realize that robot rotates by a small margin under external force；The force-limiting device small volume, used suitable for robot.
Description
Technical field
It the utility model is related to force-limiting device technical field, and in particular to a kind of force-limiting device.
Background technology
When traditional industrial robot gradually substitutes the work that dull, repeatability is high, danger is strong, cooperate robot
Each industrial circle will be slowly penetrated into, with people's cooperation.As one of global maximum industrial robot manufacturer, ABB
Its first cooperation robot YuMi was proposed in 2014, target market is the consumer electronics industry.YuMi will exist in April, 2015
Introduced to the market in Hanoverian, Germany industrial fair.YuMi " name from " you and I, works together ".The robot is gathered around
There are mechanical arm, force snesor and the embedded safety system that cushion wraps up, therefore can be worked shoulder to shoulder with the mankind, without any barrier
Hinder.Because its size is small, it can be arranged on common workbench.
Robot cooperate because considering safe and easy to operation performance, wishes to keep existing posture when power is off, will not
It is affected by gravity change；But the energy manual change posture under certain external force is wished to, and small in volume.This just needs to make
Force-limiting device is used, posture can be converted by a small margin by force-limiting device.
Utility model content
Based on this, the utility model provides a kind of force-limiting device, and it can provide skidding power, in cooperation robot,
Robot under external force can be achieved to rotate by a small margin；The force-limiting device small volume, use, use and the side of installation suitable for robot
Just.
In order to realize the purpose of this utility model, the utility model uses following technical scheme：
A kind of force-limiting device, including：
Main body, the side of the main body offer body groove；
First flexible member, first flexible member are located in the body groove；
First friction plate, the first friction plate part are located in the body groove, the side of first friction plate
Abut first flexible member；
Slide plate, the middle part of the slide plate be pivotally connected the main body and with the side of first friction plate away from the body groove
Abut；
Pressure regulator panel, the center of the pressure regulator panel offer mounting hole, and the pressure regulator panel is close to the master
The side of body offers the regulation board slot for connecting the mounting hole, and one end of the main body wears the regulation board slot and is articulated in
The mounting hole；
Second flexible member, second flexible member are located in the regulation board slot；
Second friction plate, the second friction plate part are located in the regulation board slot, and the one of second friction plate
Side abuts second flexible member, and side of second friction plate away from the regulation board slot abuts the slide plate.
Above-mentioned force-limiting device, in the power-off state, external force is acted in pressure regulator panel, when external force is more than the power of force-limiting device
It is outside that slide plate is stopped to realize that force-limiting device skids by object during square, so as to realize the purpose for changing cooperation robot pose；It is logical
The decrement of excess pressure adjustable plate regulation elasticity element come adjust force-limiting device skidding torque, the force-limiting device is arranged on cooperation machine
On device people, it is possible to realize the purpose of the posture by outer force transformation cooperation robot by a small margin；The parts of the force-limiting device
Reduce, simple in construction, volume very little, suitable for various sizes of cooperation robot, using with it is easy for installation.
In wherein some embodiments, the main body include main board and with the integrally formed connection of the main board
Cylinder, the body groove are opened in the side that the main board sets the connecting cylinder.
In wherein some embodiments, the pressure regulator panel includes swivel plate and integrally formed with the swivel plate
Plate is housed, the regulation board slot is opened in the side of the collecting plate.
In wherein some embodiments, the main body screw is connected to the mounting hole.
In wherein some embodiments, the size of the slide plate is more than the main body, the first flexible member, the first friction
The maximum part of size in piece, pressure regulator panel, the second flexible member and the second friction plate.
In wherein some embodiments, all portions of the slide plate are provided with an at least protuberance.
In wherein some embodiments, first flexible member, the second flexible member are shell fragment, and the shell fragment is in ring
Shape, the middle part of the shell fragment are pivotally connected the main body.
In wherein some embodiments, the surface of the shell fragment is in irregular shape.
In wherein some embodiments, first flexible member, the second flexible member are elastic washer.
In wherein some embodiments, first flexible member, the second flexible member are spring part, first bullet
Property element one end connect the main body, the other end connects first friction plate；One end connection of second flexible member
The pressure regulator panel, the other end connect second friction plate.
In wherein some embodiments, main hole is offered in the main body, is offered on first flexible member
One shell fragment hole, the second shell fragment hole is offered on second flexible member, the first friction plate is offered on first friction plate
Hole, the second friction film perforation is offered on second friction plate, slide plate hole, the main hole, first are offered on the slide plate
Shell fragment hole, the second shell fragment hole, the first friction film perforation, the second friction film perforation and slide plate hole are interconnected, for installation connecting element.
Brief description of the drawings
Fig. 1 is the overall structure diagram of force-limiting device described in the preferred embodiment of the utility model one；
Fig. 2 is A-A in Fig. 1 to sectional view；
Fig. 3 is the decomposing schematic representation of the force-limiting device described in Fig. 1.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.Preferred embodiment of the present utility model is given in accompanying drawing.But the utility model can come in fact in many different forms
It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to public affairs of the present utility model
Open the understanding more thorough and comprehensive of content.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is simply in term used in the description of the present utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Embodiment
Fig. 1 to Fig. 3 is refer to, is a kind of force-limiting device 100 of the present utility model, for the motor installed in cooperation robot
On axle so that can be rotated by a small margin in the presence of external force during the power-off of cooperation robot, so as to change posture, with more suitable
Ying Yu is used.
Above-mentioned force-limiting device 100, including be arranged in order main body 10, slide plate 40, between main body 10 and slide plate 40
First friction plate 30, the first flexible member 20 being clamped between the friction plate 30 of main body 10 and first, pressure regulator panel 50, it is located at
The second friction plate 70 between slide plate 40 and pressure regulator panel 50, it is clamped between the friction plate 70 of pressure regulator panel 50 and second
Second flexible member 60；The middle part of main body 10 wears the first flexible member 20, the first friction plate 30, slide plate 40, second rubbed successively
Pad 70, the second flexible member 60 and pressure regulator panel 50 are simultaneously pivotally connected with pressure regulator panel 50.
Fig. 2 is refer to, wherein in an embodiment, main hole 13 is offered in main body 10, is opened on the first flexible member 20
Provided with the first shell fragment hole, the second shell fragment hole is offered on the second flexible member 60, the first friction is offered on the first friction plate 30
Film perforation 31, the second friction film perforation 71 is offered on the second friction plate 70, slide plate hole 41, above-mentioned main hole are offered on slide plate 40
13rd, the first shell fragment hole, the second shell fragment hole, the first friction film perforation 31, second friction film perforation 71 and slide plate hole 41 are interconnected, main
Body 10 wears the first above-mentioned shell fragment hole, the first friction film perforation 31, the friction of slide plate hole 41, second shell fragment of film perforation 71 and second successively
The mounting hole threaded connection of Kong Bingyu pressure regulator panels 50.Above-mentioned main hole 13 is worn by connector, can be by the force-limiting device
100 are connected in cooperation robot.
Fig. 2 is refer to, main body 10 offers body groove 11 towards the one side of slide plate 40, and body groove 11 is used to be installed with first
The friction plate 30 of flexible member 20 and first.First flexible member 20 is located in body groove 11, and the part of the first friction plate 30 is installed with
In in body groove 11, the side of the first friction plate 30 abuts the first flexible member 20.Slide plate 40 middle part pivot joint main body 10 and with
Side of first friction plate 30 away from body groove 11 abuts.
Please with reference to Fig. 2 and Fig. 3, alternatively, main body 10 includes main board 12 and integrally formed with main board 12
Connecting cylinder 13, body groove 11 are opened in the side that main board 12 sets connecting cylinder 13.So main body 10 from the side, forms T words
Type, it is convenient to be connected with pressure regulator panel 50.
Please with reference to Fig. 1 to Fig. 3, wherein in an embodiment, the size of slide plate 40 is more than main body 10, the first flexible member
20th, the maximum part of size in the first friction plate 30, pressure regulator panel 50, the second flexible member 60 and the second friction plate 70, this
Sample exterior object can conveniently block slide plate 40, realize and skid.In the present embodiment, 40 elongated shape of slide plate is set.Other are implemented
In example, the shapes such as slide plate 40 can also be in the form of annular discs.
Fig. 1 is continued referring to, further, an at least protuberance 41 is provided with all portions of slide plate 40, with more convenient outer
Portion's object blocks slide plate 40.In a wherein embodiment, the protuberance 41 is a protrusion ear.In other embodiments, the protuberance
41 can also be arc-shaped, square shape, not influence its use.In the present embodiment, protrusion ear quantity is 6, wherein slide plate 40
Opposite end two protrusion ears are respectively set, the both sides of slide plate 40 respectively set a protrusion ear.
Refer to Fig. 2, the center of pressure regulator panel 50 offers mounting hole 51, pressure regulator panel 50 close to main body 10 one
Side offers the regulation board slot 52 for connecting above-mentioned mounting hole 51, and one end of main body 10 wears regulation board slot 52 and is articulated in mounting hole
In 51, thus pressure regulator panel 50 can rotate relative to main body 10, or main body 10 can rotate relative to pressure regulator panel 50.
Please with reference to Fig. 1 and Fig. 3, wherein in an embodiment, the swivel plate 53 of pressure regulator panel 50 and the one of swivel plate 53
The collecting plate 54 of shaping, regulation board slot 52 are opened in the side for housing plate 54, and mounting hole 51 is through swivel plate 53 with housing plate 54.
In a wherein embodiment, the section of swivel plate is in regular hexagon shape.
In the present embodiment, internal thread, accordingly, main body 10 are provided with inwall of the plate 54 corresponding to mounting hole 51 is housed
The outer wall of connecting cylinder 13 is provided with external screw thread, and so as to which connecting cylinder 13 is threadedly coupled with mounting hole 51, realization body 10 is adjusted with pressure
Plate 50 is threadedly coupled.So when by external force rotating mass 10 or pressure regulator panel 50, it is possible to change main body 10 and pressure
The distance between adjustable plate 50.It is to be appreciated that main body 10 can also be connected to mounting hole 51, example using other articulated manners
Such as by way of connector connection, it is possible to achieve the effect mutually rotated.
Second flexible member 60 is located in regulation board slot 52, and the part of the second friction plate 70 is located in regulation board slot 52,
The side of second friction plate 70 abuts the second flexible member 60, and opposite side abuts slide plate 40.Adjust pressure regulator panel 50 and main body
The distance between 10, the decrement of the first flexible member 20 and/or the second flexible member 60 can be adjusted, is rubbed so as to change first
The frictional force of the friction plate 70 of pad 30 and/or second.The deformation force of first flexible member 20 is applied to the first friction plate 30, and second
The deformation force of flexible member 60 is applied to the second friction plate 70, and thus the first friction plate 30 and the second friction plate 70 clamp slide plate
40.Thus, by adjusting the distance between pressure regulator panel 50 and main body 10, to adjust the torque of the skidding of slide plate 40, to adapt to
In different working scenes and different cooperation robots.
Alternatively, the first flexible member 20, the second flexible member 60 are shell fragment, and shell fragment can realize the work of compression
With deformation force is applied on the first friction plate 30 and the second friction plate 70.In the present embodiment, the first flexible member 20,
Two flexible members 60 are the shell fragment of shape in a ring, and the middle part pivot joint main body 10 of shell fragment, the surface of shell fragment is in irregular shape, so
Deformation can be better achieved.
It is to be appreciated that the first flexible member 20, the second flexible member 60 can also be spring part, also may be used by spring part
To realize the effect of compression.One end connection main body 10 of first flexible member 20, the other end connect the first friction plate 30；The
One end connection pressure regulator panel 50 of two flexible members 60, the other end connect the second friction plate 70, are achieved in that elastic deformation.One
One or more can be set in spring part in individual body groove 11, and multiple spring part deformation forces are bigger.Similarly, a regulation board slot
One or more can be set in spring part in 52.
First flexible member 20, the second flexible member 60 can also be elastic washer, such as the bullet such as wave washer, O-ring
Property part.The connected mode of elastic washer is identical with shell fragment.
In the power-off state, external force is acted in pressure regulator panel 50, when external force is more than the torque of force-limiting device 100, outside
Portion stops slide plate 40 to realize that force-limiting device 100 skids by object, the force-limiting device is arranged in cooperation robot, you can with reality
Now change the purpose of cooperation robot pose.The parts of the force-limiting device are reduced, simple in construction, volume very little, suitable for difference
The cooperation robot of size.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model patent scope.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
- A kind of 1. force-limiting device, it is characterised in that including：Main body, the side of the main body offer body groove；First flexible member, first flexible member are located in the body groove；First friction plate, the first friction plate part are located in the body groove, and the side of first friction plate abuts First flexible member；Slide plate, the middle part of the slide plate are pivotally connected the main body and supported with the side of first friction plate away from the body groove Connect；Pressure regulator panel, the center of the pressure regulator panel offer mounting hole, and the pressure regulator panel is close to the main body Side offers the regulation board slot for connecting the mounting hole, and one end of the main body wears the regulation board slot and is articulated in described Mounting hole；Second flexible member, second flexible member are located in the regulation board slot；Second friction plate, the second friction plate part are located in the regulation board slot, and the side of second friction plate is supported Second flexible member is connect, side of second friction plate away from the regulation board slot abuts the slide plate.
- 2. force-limiting device according to claim 1, it is characterised in that：The main body include main board and with the main board Integrally formed connecting cylinder, the body groove are opened in the side that the main board sets the connecting cylinder.
- 3. force-limiting device according to claim 1 or 2, it is characterised in that：The pressure regulator panel include swivel plate and with The integrally formed collecting plate of swivel plate, the regulation board slot are opened in the side of the collecting plate.
- 4. force-limiting device according to claim 1 or 2, it is characterised in that：The main body screw is connected to the mounting hole.
- 5. force-limiting device according to claim 1, it is characterised in that：The size of the slide plate is more than the main body, the first bullet Property element, the first friction plate, pressure regulator panel, the maximum part of size in the second flexible member and the second friction plate.
- 6. force-limiting device according to claim 1 or 5, it is characterised in that：All portions of the slide plate are provided with an at least protuberance.
- 7. force-limiting device according to claim 1, it is characterised in that：First flexible member, the second flexible member are Shell fragment, shape, the middle part of the shell fragment are pivotally connected the main body to the shell fragment in a ring.
- 8. force-limiting device according to claim 7, it is characterised in that：The surface of the shell fragment is in irregular shape.
- 9. force-limiting device according to claim 1, it is characterised in that：First flexible member, the second flexible member are Elastic washer.
- 10. force-limiting device according to claim 1, it is characterised in that：First flexible member, the second flexible member are Spring part, one end of first flexible member connect the main body, and the other end connects first friction plate；Second bullet Property element one end connect the pressure regulator panel, the other end connects second friction plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721245018.3U CN207212970U (en) | 2017-09-26 | 2017-09-26 | Force-limiting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721245018.3U CN207212970U (en) | 2017-09-26 | 2017-09-26 | Force-limiting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207212970U true CN207212970U (en) | 2018-04-10 |
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ID=61819299
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721245018.3U Active CN207212970U (en) | 2017-09-26 | 2017-09-26 | Force-limiting device |
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|---|---|
| CN (1) | CN207212970U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107725627A (en) * | 2017-09-26 | 2018-02-23 | 深圳市卓博机器人有限公司 | Force-limiting device |
-
2017
- 2017-09-26 CN CN201721245018.3U patent/CN207212970U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107725627A (en) * | 2017-09-26 | 2018-02-23 | 深圳市卓博机器人有限公司 | Force-limiting device |
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