CN113188700A - Robot torque measuring device convenient to mount and dismount - Google Patents
Robot torque measuring device convenient to mount and dismount Download PDFInfo
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- CN113188700A CN113188700A CN202110547319.6A CN202110547319A CN113188700A CN 113188700 A CN113188700 A CN 113188700A CN 202110547319 A CN202110547319 A CN 202110547319A CN 113188700 A CN113188700 A CN 113188700A
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- 238000009434 installation Methods 0.000 claims description 35
- 238000005259 measurement Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000013011 mating Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
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Abstract
The invention discloses a robot torque measuring device convenient to mount and dismount, which comprises: the mounting sleeve is hollow, and the outer wall of the mounting sleeve is used for mounting a cutter power head; the connecting mechanism penetrates through the mounting sleeve and has a gap with the mounting sleeve, and the first end of the connecting mechanism is used for connecting the tail end of the robot; the moment measuring component is used for measuring moment and arranged on one side of the mounting sleeve close to the second end of the connecting mechanism, and one end of the moment measuring component is detachably connected with one end of the mounting sleeve; the first connecting part is arranged on the connecting mechanism; the first connection matching part is arranged on the mounting sleeve and is opposite to the first connection part; the second connecting part is arranged at the second end of the connecting mechanism; and the second connection matching part is arranged on the moment measuring component and is opposite to the second connection part. The device is convenient to mount and dismount, and the measuring result is accurate.
Description
Technical Field
The invention belongs to the technical field of torque measurement, and particularly relates to a robot torque measuring device convenient to mount and dismount.
Background
For the field of polishing robots applied to industrial robots, the load on a cutter power head connected with the tail end of the robot is usually measured, so that the load force can meet the requirements when workpieces are polished and cut.
In order to measure the load force borne by a cutter power head connected with the tail end of a robot, a torque sensor is generally required to be installed between the tail end of the robot and the cutter power head so as to measure the load force borne by the power head.
In the prior art, the tail end of the robot is usually connected with one end of a torque sensor in a flange and screw fastening connection mode, and similarly, the other end of the torque sensor is also connected with a cutter power head through a flange and a screw, so that a connection mode that the tail end of the robot, the torque sensor and the cutter power head are connected in series is formed.
The existing form that the tail end of the robot, the torque sensor and the cutter power head are connected in series has the following defects: firstly, a torque sensor is connected with a cutter power head and the tail end of a robot through a flange and a screw, and the cutter power head, the flange and the torque sensor need to be detached one by one during installation and detachment, so that time, labor and trouble are wasted; secondly, the distance from the tail end of the robot to the power head end of the cutter is lengthened due to the series connection, and then the load of the robot is correspondingly reduced, so that the actual load working condition of the robot is inconsistent with the actual load working condition of the robot when no torque sensor is installed, measured data are inaccurate and have no reference value, and further the actual load judgment of the power head of the cutter is influenced.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a robot torque measuring device which is convenient to mount and dismount, and has accurate measurement results.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a robot torque measuring device convenient to mount and dismount comprises:
the mounting sleeve is hollow, and the outer wall of the mounting sleeve is used for mounting a cutter power head;
the connecting mechanism penetrates through the mounting sleeve and has a gap with the mounting sleeve, and the first end of the connecting mechanism is used for connecting the tail end of the robot;
the moment measuring component is used for measuring moment and arranged on one side of the mounting sleeve close to the second end of the connecting mechanism, and one end of the moment measuring component is detachably connected with one end of the mounting sleeve;
the first connecting part is arranged on the connecting mechanism;
the first connection matching part is arranged on the mounting sleeve and is opposite to the first connection part;
the second connecting part is arranged at the second end of the connecting mechanism;
the second connection matching part is arranged on the moment measuring component and is opposite to the second connection part;
when the moment measuring assembly is installed, the first connecting part is disconnected with the first connecting matching part, and the second connecting part is fixedly connected with the second connecting matching part;
when the moment measuring assembly is disassembled, the second connecting part is disconnected with the second connecting matching part, and the first connecting part is fixedly connected with the first connecting matching part.
According to an embodiment of the invention, the connection mechanism comprises:
the connecting shaft sleeve is hollow and penetrates through the mounting sleeve, the first end of the connecting shaft sleeve is used for connecting the tail end of the robot, the second end of the connecting shaft sleeve extends out of the mounting sleeve and penetrates through one end of the torque measuring assembly, and the first connecting part and the second connecting part are movably connected to the connecting shaft sleeve;
the locking piece is arranged in the connecting shaft sleeve in a penetrating way;
the driving assembly is used for driving the locking piece to reciprocate in the connecting shaft sleeve;
when the locking piece moves towards a first direction, the first connecting part is driven to be disconnected from the first connecting matching part, and the second connecting part is driven to be connected with the second connecting matching part;
when the locking piece moves towards the second direction, the second connecting portion is driven to be disconnected from the second connecting matching portion, and the first connecting portion is driven to be connected with the first connecting matching portion.
According to an embodiment of the present invention, the first connecting portion includes a plurality of first locking balls and a plurality of second locking balls, which are circumferentially arranged, respectively, a plurality of first mounting through holes and a plurality of second mounting through holes are formed in a side wall of the connecting sleeve, and the plurality of first locking balls and the plurality of second locking balls are respectively disposed in the corresponding first mounting through holes and the second mounting through holes;
the first connecting matching part comprises a first annular clamping groove and a plurality of second clamping grooves, the first annular clamping groove and the plurality of first locking balls are arranged on the inner wall of the mounting sleeve, the first annular clamping groove is opposite to the plurality of first locking balls, and the plurality of second clamping grooves are respectively opposite to the plurality of second locking balls;
the second connecting part comprises a plurality of third locking balls which are circumferentially arranged, a plurality of third mounting through holes are formed in the side wall of the second end of the connecting shaft sleeve, and the plurality of third locking balls are arranged in the corresponding third mounting through holes;
the second connecting and matching part is a third annular clamping groove, one end of the torque measuring component is hollow, and the inner wall of the torque measuring component is provided with the third annular clamping groove opposite to the third locking balls;
the locking piece is provided with a first circumferential inclined plane opposite to the first locking balls, a second circumferential inclined plane opposite to the second locking balls and a third circumferential inclined plane opposite to the third locking balls, and the inclination direction of the third circumferential inclined plane is opposite to that of the first circumferential inclined plane and the second circumferential inclined plane;
when the locking piece moves towards the first direction, the third circumferential inclined surface moves towards the third locking balls and pushes one end of the third circumferential inclined surface to enter and abut against the third annular clamping groove, and the first circumferential inclined surface and the second circumferential inclined surface respectively move away from the first locking ball and the second locking ball;
when the retaining member moves to the second direction, first circumference inclined plane is to a plurality of first locking ball removes and promotes its one end to get into conflict in first ring groove the second circumference inclined plane is to a plurality of the second locking ball removes and promotes its one end to get into conflict in corresponding in the second draw-in groove, third circumference inclined plane is kept away from the third locking ball removes.
According to an embodiment of the present invention, the locker includes:
a movable rod, a first end of the movable rod being connected to the driving assembly;
the first wheel disc is sleeved and fixedly connected with the moving rod, and the first circumferential inclined plane is formed on the circumferential outer wall of the first wheel disc;
the second wheel disc is sleeved and fixedly connected with the moving rod, and the second circumferential inclined plane is formed on the circumferential outer wall of the second wheel disc;
and the third wheel disc is sleeved and fixedly connected with the second end of the moving rod, and the third circumferential inclined plane is formed on the circumferential outer wall of the third wheel disc.
According to an embodiment of the invention, an adapter is arranged at a first end of the connecting shaft sleeve, an installation part used for being connected with the tail end of a robot is arranged at one end, far away from the connecting shaft sleeve, of the adapter, and the driving assembly is arranged on the adapter.
According to an embodiment of the present invention, the driving assembly is a cylinder, and the first end of the moving rod is fixedly connected to a piston of the cylinder.
According to an embodiment of the present invention, the driving assembly includes:
the driving head is arranged in the cavity of the adapter and fixedly connected to the first end of the moving rod, and a sliding chute is arranged in the driving head;
the screw rod penetrates through the adaptor and the driving head along the radial direction of the moving rod and is rotationally connected with the adaptor;
the sliding block is connected to the sliding chute in a sliding mode and is connected to the screw rod in a threaded mode;
the screw rotates to drive the sliding block to move along the screw, and the sliding block drives the driving head and the moving rod to move.
According to an embodiment of the invention, the torque measurement assembly comprises:
the blank cap is provided with an opening at one end, and the opening end is detachably connected to one end of the mounting sleeve through a locking and connecting assembly;
the torque sensor is arranged in the blank cap, and one end of the torque sensor is fixedly connected with the other end of the blank cap;
the locking sleeve is arranged at one end of the opening in the blank cap and fixedly connected to the other end of the torque sensor, the locking sleeve is arranged at the second end of the connecting shaft sleeve, and the third annular clamping groove is arranged on the inner wall of the locking sleeve.
According to an embodiment of the invention, the locking connection assembly comprises:
the connecting plug is fixedly connected to the end wall of one end of the opening of the blank cap at one end, penetrates through the other end of the opening of the blank cap and is connected to one end of the mounting sleeve in a sliding mode, and a first notch is formed in the connecting plug;
the locking pin penetrates through the mounting sleeve and the first notch, is perpendicular to the axis of the connecting plug and is provided with a second notch;
the elastic piece penetrates through the mounting sleeve, one end of the elastic piece is fixedly connected to the mounting sleeve, the other end of the elastic piece radially abuts against the locking pin, and the elastic piece applies elastic force to the locking pin so as to enable the locking pin to be axially fixed in the mounting sleeve;
when the locking pin is rotated to enable the first notch and the second notch to coincide, the connecting plug can leave the mounting sleeve through the second notch, so that the blank cap is disconnected with the mounting sleeve.
According to an embodiment of the present invention, the first circumferential inclined plane, the second circumferential inclined plane, and the third circumferential inclined plane are respectively provided with a "V" shaped groove, and when the first locking ball, the second locking ball, and the third locking ball respectively enter the first annular groove, the second annular groove, and the third annular groove, the other ends of the first locking ball, the second locking ball, and the third locking ball are respectively clamped into the "V" shaped groove.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
(1) the torque measuring device is provided with an installation sleeve, a connecting mechanism, a torque measuring assembly, a first connecting part, a first connecting matching part, a second connecting part and a second connecting matching part. The first connecting portion of accessible and first connection cooperation portion, second connecting portion are connected cooperation portion with the second and are installed, dismantle moment measurement assembly fast, and need not to dismantle the cutter unit head when just installing and dismantling, and is very convenient. When the moment measuring assembly is installed, the second connecting portion is fixedly connected with the second connecting matching portion, the first connecting portion is disconnected with the first connecting matching portion, the load of the cutter power head is transmitted to the tail end of the robot through the installation sleeve, the moment measuring assembly and the connecting mechanism, so that the load force completely passes through the moment measuring assembly, the moment measurement is more accurate, and a U shape is formed "
The load force transmission route reduces the distance from the tail end of the robot to the power head of the cutter, so that the force borne by the tail end of the robot is reduced. When the moment measuring assembly is disassembled, the second connecting part is disconnected with the second connecting matching part, the first connecting part is connected with the first connecting matching part, and the load of the cutter power head is transmitted to the tail end of the robot through the mounting sleeve and the connecting mechanism.
(2) In the embodiment of the invention, the first connecting part and the first connecting matching part and the second connecting matching part are driven to be disconnected and connected by moving the locking part, so that the operation is very convenient and fast.
(3) In the embodiment of the invention, when the first locking ball, the second locking ball and the third locking ball respectively enter the first annular clamping groove, the second clamping groove and the third annular clamping groove, the other ends of the first locking ball, the second locking ball and the third locking ball are clamped in the V "
The clamping groove is formed, so that the connection is more stable.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a schematic view of a prior art torque sensor installation;
FIG. 2 is a schematic view of the overall installation of the robot torque measuring device of the present invention with easy installation and disassembly;
FIG. 3 is an overall sectional view of a first embodiment of a drive assembly of the robot torque measuring device of the present invention, which is easy to assemble and disassemble;
FIG. 4 is a schematic view of an installation sleeve of the robot torque measuring device of the present invention, which is convenient to install and disassemble;
FIG. 5 is a cross-sectional view of the robot torque measuring device of the present invention at the second locking ball for easy assembly and disassembly;
FIG. 6 is a schematic view of the robot torque measuring device of the present invention with the torque measuring assembly removed for easy assembly and disassembly;
FIG. 7 is a schematic view of the load force transmission of the robot moment measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 8 is a schematic view of the robot torque measuring device of the present invention with easy assembly and disassembly when the disassembly of the torque measuring assembly is completed;
FIG. 9 is an overall cross-sectional view of a second embodiment of the drive assembly of the robot torque measuring device of the present invention that is easy to install and remove;
FIG. 10 is a diagram of a second embodiment of a drive assembly of the robot torque measuring device according to the present invention;
FIG. 11 is a partial sectional view of a first locking connection assembly of the robot torque measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 12 is a partial sectional view of a locking and connecting assembly of the robot torque measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 13 is an enlarged cross-sectional view of the locking connection assembly of the robot torque measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 14 is a first schematic view of the robot torque measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 15 is a schematic view of a locking pin of the robot torque measuring device of the present invention, which is easy to assemble and disassemble;
FIG. 16 is a cross-sectional view of the robot torque measuring device of the present invention with easy assembly and disassembly;
FIG. 17 is a schematic view of another embodiment of a connecting plug of the robot torque measuring device of the present invention, which is convenient to assemble and disassemble;
FIG. 18 is a schematic view of a locking member of the robot torque measuring device of the present invention, which is easy to assemble and disassemble.
Description of reference numerals:
1: a cutter power head; 2: a robot end; 3: a torque sensor; 4: installing a sleeve; 5: a connecting mechanism; 6: a torque measurement component; 7: connecting the shaft sleeve; 8: a first locking ball; 9: a second locking ball; 10: a third locking ball; 11: a first ring-shaped card slot; 12: a second card slot; 13: a third ring slot; 14: a travel bar; 15: a first wheel disc; 16: a second wheel disc; 17: a third wheel disc; 18: a first circumferential chamfer; 19: a second circumferential chamfer; 20: a third circumferential slope; 21: a V-shaped clamping groove; 22: an adapter; 23: a cylinder; 24: a piston; 25: a drive head; 26: a sliding chute; 27: a screw; 28: a slider; 29: covering the blank with a cover; 30: locking the flange; 31: locking a ring; 32: a connecting plug; 33: a first notch; 34: a locking pin; 35: a second notch; 36: a spring plunger; 37: a clamp spring; 38: a gas joint; 39: an open slot; 40: a planar slot; 41: a locking surface; 42: and (7) sealing the cover.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Referring to fig. 1 to 18, the core of the present invention is to provide a robot torque measuring device with convenient assembly and disassembly, which includes an installation sleeve 4, a connection mechanism 5, a torque measuring assembly 6, a first connection portion, a first connection mating portion, a second connection portion and a second connection mating portion. The mounting sleeve 4 is hollow, and the outer wall of the mounting sleeve is used for mounting the cutter power head 1; the connecting mechanism 5 penetrates through the mounting sleeve 4 and has a gap with the mounting sleeve, and the first end of the connecting mechanism 5 is used for connecting the tail end 2 of the robot; the moment measuring component 6 is used for measuring moment and is arranged on one side of the mounting sleeve 4 close to the second end of the connecting mechanism 5, and one end of the moment measuring component 6 is detachably connected to one end of the mounting sleeve 4; the first connecting part is arranged on the connecting mechanism 5; the first connection matching part is arranged on the mounting sleeve 4 and is opposite to the first connection part; the second connecting part is arranged at the second end of the connecting mechanism 5; the second connection matching part is arranged on the moment measuring component 6 and is opposite to the second connection part.
When the moment measuring assembly 6 is installed, the first connecting part is disconnected with the first connecting matching part, and the second connecting part is fixedly connected with the second connecting matching part;
when the moment measuring assembly 6 is disassembled, the second connecting part and the second connecting matching part are disconnected, and the first connecting part and the first connecting matching part are fixedly connected.
The torque measuring assembly 6 is rapidly installed and disassembled through the first connecting part and the first connecting matching part, the second connecting part and the second connecting matching part, and the power head 1 of the cutter does not need to be disassembled when the assembly and the disassembly are carried out, so that the tool is very convenient. When installing moment measurement element 6, cooperation portion fixed connection is connected with the second to the second connecting portion, first connecting portion and first connection cooperation portion disconnection connection, the load of cutter unit head 1 is through installation cover 4, moment measurement element 6 and coupling mechanism 5 transmit terminal 2 of robot, make the load power all pass through moment measurement element 6, make the moment measure more accurate, and formed the load power transmission route of "U" shape (refer to fig. 7), the distance of terminal 2 to cutter unit head 1 of robot has been reduced, in order to reduce the power that terminal 2 of robot received. When the moment measuring assembly 6 is disassembled, the second connecting part and the second connecting matching part are disconnected, the first connecting part and the first connecting matching part are connected, and the load of the cutter power head 1 is transmitted to the tail end 2 of the robot through the mounting sleeve 4 and the connecting mechanism 5.
The following describes the robot torque measuring device of the present invention with easy assembly and disassembly in detail:
the installation sleeve 4 is a cuboid structure with a through hole in the middle, and two opposite outer walls on the installation sleeve 4 are respectively provided with a cutter power head 1 through bolts.
The connecting mechanism 5 comprises a connecting sleeve 7, a locking member and a driving assembly. Connecting axle sleeve 7 cavity just wears to locate in installation cover 4, and connecting axle sleeve 7's first end is used for connecting the terminal 2 of robot, the second end stretches out installation cover 4 and wears to locate the one end of moment measuring subassembly 6, and connecting axle sleeve 7 is the step axle sleeve, and the diameter of its first end is greater than the second end. First connecting portion and second connecting portion all swing joint in connecting axle sleeve 7.
The retaining member wears to locate in connecting axle sleeve 7, and drive assembly is used for driving retaining member reciprocating motion in connecting axle sleeve 7.
When the locking piece moves towards the first direction, the first connecting part is driven to be disconnected with the first connecting matching part, and the second connecting part is driven to be connected with the second connecting matching part;
when the locking piece moves towards the second direction, the second connecting part is driven to be disconnected from the second connecting matching part, and the first connecting part is driven to be connected with the first connecting matching part.
Specifically, the first connecting portion includes a plurality of first locking balls 8 and a plurality of second locking balls 9 that the circumference was arranged respectively, is equipped with a plurality of first mounting through-holes and a plurality of second mounting through-holes that the circumference was arranged on the lateral wall of connecting axle sleeve 7 respectively, and a plurality of first locking balls 8 are located respectively in a plurality of first mounting through-holes that correspond, and a plurality of second mounting through-holes that correspond are located respectively to a plurality of second locking balls 9.
First connection cooperation portion is including locating first ring groove 11 and a plurality of second draw-in groove 12 on the installation cover 4 inner wall, and a plurality of second draw-in grooves 12 circumference are arranged, and first ring groove 11 is the dovetail groove in this embodiment. And the first ring-shaped clamping groove 11 is opposite to the plurality of first locking balls 8, and the plurality of second clamping grooves 12 are respectively opposite to the plurality of second locking balls 9.
The second connecting portion comprises a plurality of third locking balls 10 which are circumferentially arranged, a plurality of third mounting through holes which are circumferentially arranged are formed in the side wall of the second end of the connecting shaft sleeve 7, and the plurality of third locking balls 10 are arranged in the corresponding third mounting through holes.
The second connection matching portion is a third ring-shaped clamping groove 13, the third ring-shaped clamping groove 13 is also a trapezoidal groove in the embodiment, one end of the torque measurement component 6 is hollow, and the third ring-shaped clamping groove 13 is arranged on the inner wall of the torque measurement component 6 and is opposite to the plurality of third locking balls 10.
In this embodiment, the number of the first locking balls 8, the number of the second locking balls 9, and the number of the third locking balls 10 are all 4, and the number of the second locking grooves 12 is 4.
The locking member is provided with a first circumferential inclined surface 18 opposite to the plurality of first locking balls 8, a second circumferential inclined surface 19 opposite to the plurality of second locking balls 9, and a third circumferential inclined surface 20 opposite to the plurality of third locking balls 10, and the inclination direction of the third circumferential inclined surface 20 is opposite to that of the first circumferential inclined surface 18 and the second circumferential inclined surface 19.
When the locking member moves towards the first direction, the third circumferential inclined surface 20 moves towards the third locking balls 10 and pushes one end of each third locking ball to enter and abut against the third annular clamping groove 13, so that the connecting shaft sleeve 7 and the torque measuring component 6 are axially and radially fixed, and the load of the cutter power head 1 can be transmitted to the tail end 2 of the robot through the mounting sleeve 4, the torque measuring component 6 and the connecting mechanism 5. And the first circumferential inclined plane 18 and the second circumferential inclined plane 19 are respectively far away from the first locking ball 8 and the second locking ball 9 to move, so that the connection between the connecting shaft sleeve 7 and the mounting sleeve 4 is disconnected, the load force of the cutter power head 1 completely passes through the torque measuring assembly 6, and the torque measurement is more accurate.
When the locking piece moves towards the second direction, the first circumferential inclined plane 18 moves towards the first locking balls 8 and pushes one end of each first locking ball to enter and abut against the first annular clamping groove 11, the second circumferential inclined plane 19 moves towards the second locking balls 9 and pushes one end of each second locking ball to enter and abut against the corresponding second clamping groove 12, the first locking balls 8 and the first annular clamping grooves 11 are in clamping fit to enable the connecting shaft sleeve 7 and the mounting sleeve 4 to be axially and radially fixed, and the second locking balls 9 and the second clamping grooves 12 are in clamping fit to enable the connecting shaft sleeve 7 and the mounting sleeve 4 to be radially fixed and circumferentially and rotationally fixed, so that the connecting shaft sleeve 7 and the mounting sleeve 4 are fixedly connected. At the same time, the third circumferential inclined surface 20 moves away from the third locking ball 10, so that the connection between the connecting sleeve 7 and the torque measuring assembly 6 is disconnected, and the purpose of disassembling the torque measuring assembly 6 is achieved.
Specifically, the torque measuring assembly 6 includes a blank cap 29, the torque sensor 3, and a locking sleeve. The blank cap 29 has an open end detachably connected to one end of the mounting sleeve 4 through a locking connection assembly, the mounting sleeve 4 is fixedly connected with the blank cap 29 through the locking connection assembly, and the load force can be transmitted to the blank cap 29 through the mounting sleeve 4. The torque sensor 3 is disposed in the lid 29 and has one end fixedly connected to the other end of the lid 29. The lock sleeve penetrates through one end of the opening in the blank cap 29 and is fixedly connected to the other end of the torque sensor 3, the second end of the connecting shaft sleeve 7 is sleeved with the lock sleeve, and the third annular clamping groove 13 is formed in the inner wall of the lock sleeve.
In this embodiment, the locking sleeve includes a locking flange 30 and a locking ring 31, half of the third ring slot 13 is disposed on the inner wall of the opposite side of the locking flange 30 and the locking ring 31, and the locking flange 30 and the locking ring 31 are tightly attached to each other to form a complete third ring slot 13, so that the manufacturing of the locking sleeve is more convenient.
The locking connection assembly includes a connection plug 32, a locking pin 34 and an elastic member. One end of the connecting plug 32 is fixedly connected to the end wall of the open end of the blank cap 29 through a bolt, and the end wall of the open end of the blank cap 29 in this embodiment is of a flange structure. The other end of the connecting plug 32 penetrates through and is slidably connected in a sliding hole at one end of the mounting sleeve 4, the connecting plug 32 is provided with a first notch 33, and the first notch 33 can be a circular notch or an arc notch. Referring to fig. 16, the first notch 33 is a circular notch in this embodiment; referring to fig. 17, in another embodiment, the first notch 33 is a circular arc notch.
The locking pin 34 is arranged in the opening of the mounting sleeve 4 and the first notch 33 in a penetrating manner, the locking pin 34 is perpendicular to the axis of the connecting plug 32, the locking pin 34 is provided with a second notch 35, and the second notch 35 is also an arc notch.
The elastic member is disposed through the mounting sleeve 4, one end of the elastic member is fixed to the mounting sleeve 4, the other end of the elastic member radially abuts against the locking pin 34, and the elastic member applies an elastic force to the locking pin 34 to axially fix the locking pin in the mounting sleeve 4, in this embodiment, the elastic member is a spring plunger 36.
When the locking pin 34 is rotated to bring the first notch 33 and the second notch 35 into coincidence, the connecting plug 32 can leave the mounting sleeve 4 through the second notch 35, so as to disconnect the blank cap 29 from the mounting sleeve 4. When the blank cap 29 is connected with the mounting sleeve 4, the connecting plug 32 is plugged into the sliding hole at one end of the mounting sleeve 4, the first notch 33 and the second notch 35 are overlapped, and when the connecting plug 32 passes through the second notch 35 and completely enters the sliding hole of the mounting sleeve 4, the locking pin 34 is rotated to enable the first notch 33 and the second notch 35 to be staggered, so that the axial movement of the connecting plug 32 is limited by the locking pin 34, and the purpose of fixedly connecting the mounting sleeve 4 and the blank cap 29 is achieved.
One end of the locking pin 34 extends out of the mounting sleeve 4 and is provided with a clamp spring 37. Furthermore, the locking pin 34 is further provided with a planar slot 40, one end of the elastic element abuts against the planar slot 40, and the bottom of the planar slot 40 is a plane. The side end of the locking pin 34 in the second notch 35 is provided with a locking surface 41, and when the first notch 33 and the second notch 35 are dislocated, the locking surface 41 abuts against a side wall of the first notch 33, so that the locking is firmer.
In this embodiment, the locking and connecting assemblies are provided with 4 sets, which are respectively arranged on four corners of the blank cap 29, so as to achieve the purpose of limiting the axial rotation of the torque measuring assembly 6 and the connecting shaft sleeve 7.
Specifically, the locking member includes a moving bar 14, a first wheel 15, a second wheel 16, and a third wheel 17. The first end of the travel bar 14 is connected to the drive assembly. The first wheel disc 15, the second wheel disc 16 and the third wheel disc 17 are all sleeved and fixedly connected with the moving rod 14, the first circumferential inclined plane 18 is formed on the circumferential outer wall of the first wheel disc 15, the second circumferential inclined plane 19 is formed on the circumferential outer wall of the second wheel disc 16, and the third circumferential inclined plane 20 is formed on the circumferential outer wall of the third wheel disc 17.
The first end of connecting axle sleeve 7 is equipped with adaptor 22, and the one end that connecting axle sleeve 7 was kept away from to adaptor 22 is equipped with the installation department that is used for being connected with terminal 2 of robot, and the installation department is the flange structure in this embodiment, and drive assembly locates on adaptor 22.
In the first embodiment, the driving assembly is a cylinder 23, and the first end of the movable rod 14 is connected to a piston 24 of the cylinder 23. The adaptor 22 is further provided with two air connectors 38 communicating with the cylinder 23, and the piston 24 of the cylinder 23 drives the movable rod 14 to reciprocate.
In the second embodiment, the drive assembly includes a drive head 25, a screw 27 and a slider 28. The driving head 25 is disposed in the cavity of the adaptor 22 and is fixedly connected to the first end of the moving rod 14, a sliding chute 26 is disposed inside the driving head 25, and an opening slot 39 is further disposed in the middle of the driving head 25. The screw 27 is inserted through the adaptor 22 and the opening groove 39 of the driving head 25 in the radial direction of the moving rod 14, and the screw 27 is rotatably connected to the adaptor 22. The slider 28 is slidably connected to the slide chute 26 and is threadedly connected to the screw 27.
The screw 27 rotates to move the slider 28 along the screw, and the slider 28 moves to move the driving head 25 and the moving rod 14, so as to realize the reciprocating movement of the moving rod 14.
Furthermore, the first circumferential inclined plane 18, the second circumferential inclined plane 19 and the third circumferential inclined plane 20 are all provided with a V-shaped clamping groove 21, and the other ends of the first locking ball 8, the second locking ball 9 and the third locking ball 10 are clamped into the V-shaped clamping groove 21 when entering the first annular clamping groove 11, the second annular clamping groove 12 and the third annular clamping groove 13 respectively, so that the connection is more stable.
The working process of the present invention is further explained as follows:
when the moment measuring component 6 is installed, firstly, the moment measuring component 6 is sleeved on the connecting shaft sleeve 7, the connecting plug 32 is plugged into the sliding hole at one end of the installing sleeve 4, the driving component drives the moving rod 14, the first wheel disc 15, the second wheel disc 16 and the third wheel disc 17 to move towards the first direction, and the third circumferential inclined plane 20 moves towards the 4 third locking balls 10 and pushes one end of each third locking ball to enter and abut against the third annular clamping groove 13. At the same time, the first circumferential inclined surface 18 and the second circumferential inclined surface 19 move away from the first locking ball 8 and the second locking ball 9, respectively, so that the first locking ball 8 and the second locking ball 9 are released from the first annular clamping groove 11 and the second clamping groove 12, respectively. Finally, the locking pin 34 is rotated to lock with the connecting plug 32.
The torque measuring assembly 6 is removed in a reverse procedure to the mounting procedure, and finally the side cover of the mounting sleeve 4 is sealed with the cap 42 to prevent dust from entering when the torque measuring assembly 6 is removed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110547319.6A CN113188700B (en) | 2021-05-19 | 2021-05-19 | A robot torque measuring device that is easy to install and disassemble |
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| CN202110547319.6A CN113188700B (en) | 2021-05-19 | 2021-05-19 | A robot torque measuring device that is easy to install and disassemble |
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| CN113188700B CN113188700B (en) | 2025-01-10 |
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| US5086901A (en) * | 1991-02-14 | 1992-02-11 | Applied Robotics, Inc. | Robot overload detection device |
| US6230555B1 (en) * | 1996-12-05 | 2001-05-15 | Daimlerchrysler Ag | Measuring device for measuring the braking moment in a motor vehicle |
| CN105157994A (en) * | 2015-05-05 | 2015-12-16 | 济南凯镭迪精密仪器有限公司 | Suspension spring torsional moment testing machine and suspension spring torsional moment testing method |
| CN205049278U (en) * | 2015-09-02 | 2016-02-24 | 北京长江源科技发展有限公司 | Torque -measuring apparatus of tool bit lifting and drop rotating mechanism |
| CN208171491U (en) * | 2017-11-24 | 2018-11-30 | 成都瑞戈科技有限公司 | Test the auxiliary mould of ball stud turning moment |
| CN214748581U (en) * | 2021-05-19 | 2021-11-16 | 上海戴屹科技有限公司 | Robot torque measuring device convenient to mount and dismount |
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2021
- 2021-05-19 CN CN202110547319.6A patent/CN113188700B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5086901A (en) * | 1991-02-14 | 1992-02-11 | Applied Robotics, Inc. | Robot overload detection device |
| US6230555B1 (en) * | 1996-12-05 | 2001-05-15 | Daimlerchrysler Ag | Measuring device for measuring the braking moment in a motor vehicle |
| CN105157994A (en) * | 2015-05-05 | 2015-12-16 | 济南凯镭迪精密仪器有限公司 | Suspension spring torsional moment testing machine and suspension spring torsional moment testing method |
| CN205049278U (en) * | 2015-09-02 | 2016-02-24 | 北京长江源科技发展有限公司 | Torque -measuring apparatus of tool bit lifting and drop rotating mechanism |
| CN208171491U (en) * | 2017-11-24 | 2018-11-30 | 成都瑞戈科技有限公司 | Test the auxiliary mould of ball stud turning moment |
| CN214748581U (en) * | 2021-05-19 | 2021-11-16 | 上海戴屹科技有限公司 | Robot torque measuring device convenient to mount and dismount |
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