A robot torque measuring device that is easy to install and disassemble

Abstract

The present invention discloses a robot torque measuring device that is easy to install and disassemble, comprising: a mounting sleeve, which is hollow and whose outer wall is used to install a tool power head; a connecting mechanism, which is inserted into the mounting sleeve and has a gap therewith, and the first end of the connecting mechanism is used to connect the robot end; a torque measuring assembly, which is used to measure the torque and is arranged on a side of the mounting sleeve close to the second end of the connecting mechanism, and one end of the torque measuring assembly is detachably connected to one end of the mounting sleeve; a first connecting part, which is arranged on the connecting mechanism; a first connecting matching part, which is arranged on the mounting sleeve and opposite to the first connecting part; a second connecting part, which is arranged on the second end of the connecting mechanism; and a second connecting matching part, which is arranged on the torque measuring assembly and opposite to the second connecting part. The device is easy to install and disassemble, and the measurement result is accurate.

Description

Technical Field

[0001] The invention belongs to the technical field of torque measurement, and in particular relates to a robot torque measurement device which is easy to install and disassemble. Background Art

[0002] In the field of grinding robots used in industrial robots, it is often necessary to calculate the load on the tool power head connected to the end of the robot to ensure that the load force can meet the requirements when grinding and cutting the workpiece.

[0003] In order to measure the load force on the tool power head connected to the end of the robot, it is usually necessary to install a torque sensor between the end of the robot and the tool power head to measure the load force on the power head. Since the torque sensor is only used in the experimental data measurement stage and needs to be removed after use, the convenience of installation and disassembly of the torque sensor is an important issue that robot application manufacturers need to consider.

[0004] Under the existing technology, the robot end is usually connected to one end of the torque sensor by means of flange and screw fastening. Similarly, the other end of the torque sensor is also connected to the tool power head by flange and screws, forming a connection form in which the robot end, the torque sensor and the tool power head are connected in series.

[0005] The existing form of serial connection of the robot end, torque sensor, and tool power head has the following disadvantages: first, the torque sensor is connected to the tool power head and the robot end through flanges and screws. During installation and disassembly, the tool power head, flange, and torque sensor must be removed one by one, which is time-consuming, labor-intensive and troublesome; secondly, this form of serial connection will cause the distance from the robot end to the tool power head end to be lengthened, which will in turn cause the robot load to be reduced accordingly, which is inconsistent with the actual load condition of the robot when the torque sensor is not installed, resulting in inaccurate measured data and no reference value, which in turn affects the actual load judgment of the tool power head. Summary of the invention

[0006] In order to solve the above problems, an object of the present invention is to provide a robot torque measuring device which is easy to install and disassemble, the device is easy to install and disassemble, and the measurement result is accurate.

[0007] To achieve the above object, the technical solution of the present invention is:

[0008] A robot torque measuring device that is easy to install and disassemble, comprising:

[0009] The mounting sleeve is hollow and its outer wall is used for mounting the tool power head;

[0010] A connecting mechanism is inserted through the mounting sleeve and has a gap therebetween, wherein a first end of the connecting mechanism is used to connect to a robot end;

[0011] A torque measuring assembly, used for measuring torque and arranged on a side of the mounting sleeve close to the second end of the connecting mechanism, one end of the torque measuring assembly being detachably connected to one end of the mounting sleeve;

[0012] A first connecting portion, provided on the connecting mechanism;

[0013] A first connecting and matching portion, disposed on the mounting sleeve and opposite to the first connecting portion;

[0014] A second connecting portion, provided at a second end of the connecting mechanism;

[0015] A second connection matching portion, provided on the torque measurement assembly and opposite to the second connection portion;

[0016] When the torque measurement assembly is installed, the first connection portion is disconnected from the first connection matching portion, and the second connection portion is fixedly connected to the second connection matching portion;

[0017] When the torque measurement assembly is disassembled, the second connection portion is disconnected from the second connection matching portion, and the first connection portion is fixedly connected to the first connection matching portion.

[0018] According to an embodiment of the present invention, the connecting mechanism comprises:

[0019] A connecting sleeve, which is hollow and passes through the mounting sleeve, wherein a first end of the connecting sleeve is used to connect to the end of the robot, and a second end extends out of the mounting sleeve and passes through one end of the torque measurement assembly, and the first connecting portion and the second connecting portion are both movably connected to the connecting sleeve;

[0020] A locking member, which is inserted into the connecting sleeve;

[0021] A driving assembly, used for driving the locking member to reciprocate in the connecting sleeve;

[0022] When the locking member moves in the first direction, the first connecting portion is driven to disconnect from the first connecting matching portion, and the second connecting portion is driven to connect with the second connecting matching portion;

[0023] When the locking member moves in the second direction, the second connecting portion is driven to disconnect from the second connecting matching portion, and the first connecting portion is driven to connect to the first connecting matching portion.

[0024] 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 respectively arranged circumferentially, a plurality of first mounting through holes and a plurality of second mounting through holes are provided on the side wall of the connecting sleeve, and the plurality of first locking balls and the plurality of second locking balls are respectively arranged in the corresponding first mounting through holes and the second mounting through holes;

[0025] The first connection matching portion includes a first annular groove and a plurality of second grooves provided on the inner wall of the mounting sleeve, the first annular groove is opposite to the plurality of first locking balls, and the plurality of second grooves are respectively opposite to the plurality of second locking balls;

[0026] The second connecting portion includes a plurality of third locking balls arranged circumferentially, a plurality of third mounting through holes are provided on the side wall of the second end of the connecting sleeve, and a plurality of the third locking balls are arranged in the corresponding third mounting through holes;

[0027] The second connection matching portion is a third annular groove, one end of the torque measurement assembly is hollow and the inner wall is provided with the third annular groove opposite to the third locking balls;

[0028] The locking member is provided with a first circumferential inclined surface opposite to the first locking balls, a second circumferential inclined surface opposite to the second locking balls, and a third circumferential inclined surface opposite to the third locking balls, and the inclination direction of the third circumferential inclined surface is opposite to the first circumferential inclined surface and the second circumferential inclined surface;

[0029] When the locking member moves in the first direction, the third circumferential inclined surface moves toward the third locking balls and pushes one end of the third locking balls to enter and abut against the third annular groove, and the first circumferential inclined surface and the second circumferential inclined surface move away from the first locking balls and the second locking balls respectively;

[0030] When the locking piece moves in the second direction, the first circumferential inclined surface moves toward the first locking balls and pushes one end of the first locking balls to abut against the first annular groove, the second circumferential inclined surface moves toward the second locking balls and pushes one end of the second locking balls to abut against the corresponding second groove, and the third circumferential inclined surface moves away from the third locking balls.

[0031] According to an embodiment of the present invention, the locking member comprises:

[0032] a moving rod, a first end of which is connected to the driving assembly;

[0033] A first wheel disc is sleeved and fixedly connected to the moving rod, and the first circumferential inclined surface is formed on the circumferential outer wall of the first wheel disc;

[0034] A second wheel disc is sleeved and fixedly connected to the moving rod, and the second circumferential inclined surface is formed on the circumferential outer wall of the second wheel disc;

[0035] The third wheel disc is sleeved and fixedly connected to the second end of the moving rod, and the third circumferential inclined surface is formed on the circumferential outer wall of the third wheel disc.

[0036] According to an embodiment of the present invention, a first end of the connecting sleeve is provided with an adapter, an end of the adapter away from the connecting sleeve is provided with a mounting portion for connecting to a robot end, and the drive assembly is provided on the adapter.

[0037] 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 the piston of the cylinder.

[0038] According to an embodiment of the present invention, the driving assembly comprises:

[0039] A driving head is disposed in the cavity of the adapter and fixedly connected to the first end of the moving rod, wherein a sliding inclined groove is disposed inside the driving head;

[0040] A screw rod is provided in the radial direction of the moving rod and penetrates the adapter and the driving head, and the screw rod is rotatably connected to the adapter;

[0041] A slider, slidably connected to the sliding chute and threadedly connected to the screw;

[0042] The rotation of the screw rod drives the slider to move along it, and the slider drives the driving head and the moving rod to move.

[0043] According to an embodiment of the present invention, the torque measurement assembly comprises:

[0044] A blind cover, one end of which is open and the open end is detachably connected to one end of the mounting sleeve via a locking connection assembly;

[0045] A torque sensor is disposed in the cover and one end of the torque sensor is fixedly connected to the other end of the cover;

[0046] A locking sleeve is arranged at one end of the opening in the cover and is fixedly connected to the other end of the torque sensor. The locking sleeve is sleeved on the second end of the connecting sleeve. The third annular groove is arranged on the inner wall of the locking sleeve.

[0047] According to one embodiment of the present invention, the locking connection assembly comprises:

[0048] A connecting plug, one end of which is fixedly connected to the end wall of one end of the opening of the cover, and the other end of which is passed through and slidably connected to one end of the mounting sleeve, and the connecting plug is provided with a first notch;

[0049] A locking pin is inserted through the installation sleeve and the first notch, the locking pin is perpendicular to the axis of the connecting plug, and the locking pin is provided with a second notch;

[0050] An elastic member is passed through the mounting sleeve and has one end fixedly connected to the mounting sleeve and the other end radially abuts against the locking pin, wherein the elastic member applies elastic force to the locking pin to axially fix the locking pin in the mounting sleeve;

[0051] When the locking pin is rotated to make the first notch overlap with the second notch, the connecting plug can leave the mounting sleeve through the second notch, so that the blind cover is disconnected from the mounting sleeve.

[0052] According to one embodiment of the present invention, the first circumferential inclined surface, the second circumferential inclined surface and the third circumferential inclined surface are all provided with a "V"-shaped groove, and when the first locking ball, the second locking ball and the third locking ball enter the first annular groove, the second groove and the third annular groove respectively, the other ends thereof are all locked into the "V"-shaped groove.

[0053] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art:

[0054] (1) In the embodiment of the present invention, a mounting sleeve, a connecting mechanism, a torque measuring assembly, a first connecting portion, a first connecting fitting portion, a second connecting portion, and a second connecting fitting portion are provided. The torque measuring assembly can be quickly installed and disassembled through the first connecting portion and the first connecting fitting portion, and the second connecting portion and the second connecting fitting portion, and there is no need to disassemble the tool power head during installation and disassembly, which is very convenient. When the torque measuring assembly is installed, the second connecting portion and the second connecting fitting portion are fixedly connected, and the first connecting portion and the first connecting fitting portion are disconnected. The load of the tool power head is transmitted to the end of the robot through the mounting sleeve, the torque measuring assembly, and the connecting mechanism, so that the load force all passes through the torque measuring assembly, making the torque measurement more accurate and forming a "U"

[0055] The load force transmission route of the shape shortens the distance from the robot end to the tool power head, so as to reduce the force on the robot end. When disassembling the torque measurement assembly, the second connection part is disconnected from the second connection matching part, and the first connection part is connected to the first connection matching part, and the load of the tool power head is transmitted to the robot end through the installation sleeve and the connection mechanism.

[0056] (2) In the embodiment of the present invention, the movement of the locking member drives the disconnection and connection of the first connecting portion and the first connecting matching portion, and the second connecting portion and the second connecting matching portion, which is very convenient and quick.

[0057] (3) In the embodiment of the present invention, when the first locking ball, the second locking ball and the third locking ball enter the first annular groove, the second locking groove and the third annular groove respectively, the other ends of the first locking ball, the second locking ball and the third locking ball are all locked into the "V"

[0058] The shaped card slot makes the connection more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0060] Figure 1 This is a schematic diagram of the installation of a torque sensor in the prior art;

[0061] Figure 2 The overall installation diagram of the robot torque measurement device of the present invention which is easy to install and disassemble;

[0062] Figure 3 The driving assembly of the robot torque measuring device which is easy to install and disassemble is an overall cross-sectional view of the first embodiment of the present invention;

[0063] Figure 4 A schematic diagram of an installation sleeve of a robot torque measuring device that is easy to install and disassemble according to the present invention;

[0064] Figure 5 A cross-sectional view of the robot torque measuring device of the present invention, which is easy to install and disassemble, at the second locking ball;

[0065] Figure 6 A schematic diagram of the disassembly of the torque measuring assembly of the robot torque measuring device which is easy to install and disassemble according to the present invention;

[0066] Figure 7 A schematic diagram of load force transmission of a robot torque measuring device that is easy to install and disassemble according to the present invention;

[0067] Figure 8 A schematic diagram of the torque measuring assembly of the robot torque measuring device that is easy to install and disassemble according to the present invention when the torque measuring assembly is disassembled;

[0068] Fig. 9 The overall cross-sectional view of the driving assembly of the robot torque measuring device which is easy to install and disassemble according to the present invention is a second embodiment;

[0069] Fig.10 The adaption diagram of the moving rod when the driving assembly of the robot torque measuring device which is easy to install and disassemble of the present invention is the second embodiment;

[0070] Fig.11 Partial cross section of the locking connection assembly of the robot torque measuring device that is easy to install and disassemble according to the present invention Figure 1 ;

[0071] Fig.12Partial cross section of the locking connection assembly of the robot torque measuring device that is easy to install and disassemble according to the present invention Figure 2 ;

[0072] Fig.13 This is an enlarged cross-sectional view of the locking connection assembly of the robot torque measuring device that is easy to install and disassemble according to the present invention;

[0073] Fig.14 Schematic diagram of the robot torque measuring device which is easy to install and disassemble according to the present invention Figure 1 ;

[0074] Fig.15 A schematic diagram of a locking pin of a robot torque measuring device that is easy to install and disassemble according to the present invention;

[0075] Fig.16 A cross-sectional view of the robot torque measuring device that is easy to install and disassemble according to the present invention;

[0076] Fig.17 A schematic diagram of another embodiment of a connecting plug of a robot torque measuring device that is easy to install and disassemble according to the present invention;

[0077] Fig.18 A schematic diagram of a locking member of a robot torque measuring device that is easy to install and disassemble according to the present invention.

[0078] Description of reference numerals:

[0079] 1: tool head; 2: robot end; 3: torque sensor; 4: mounting sleeve; 5: connection mechanism; 6: torque measurement assembly; 7: connecting sleeve; 8: first locking ball; 9: second locking ball; 10: third locking ball; 11: first annular groove; 12: second groove; 13: third annular groove; 14: moving rod; 15: first wheel disc; 16: second wheel disc; 17: third wheel disc; 18: first circumferential inclined surface; 19: second circumferential inclined surface; 20: third Circumferential inclined surface; 21: "V"-shaped groove; 22: adapter; 23: cylinder; 24: piston; 25: drive head; 26: sliding inclined groove; 27: screw; 28: slider; 29: cover; 30: locking flange; 31: locking ring; 32: connecting plug; 33: first notch; 34: locking pin; 35: second notch; 36: spring plunger; 37: retaining ring; 38: gas joint; 39: opening groove; 40: flat groove; 41: locking surface; 42: sealing cover. DETAILED DESCRIPTION

[0080] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0081] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0082] See also Figures 1 to 18 The core of the present invention is to provide a robot torque measuring device that is easy to install and disassemble, including a mounting sleeve 4, a connecting mechanism 5, a torque measuring assembly 6, a first connecting portion, a first connecting fitting portion, a second connecting portion and a second connecting fitting portion. The mounting sleeve 4 is hollow and its outer wall is used to install the tool power head 1; the connecting mechanism 5 is inserted into the mounting sleeve 4 and has a gap therewith, and the first end of the connecting mechanism 5 is used to connect the robot end 2; the torque measuring assembly 6 is used to measure the torque 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 torque measuring assembly 6 is detachably connected to one end of the mounting sleeve 4; the first connecting portion is arranged on the connecting mechanism 5; the first connecting fitting portion is arranged on the mounting sleeve 4 and is opposite to the first connecting portion; the second connecting portion is arranged at the second end of the connecting mechanism 5; the second connecting fitting portion is arranged on the torque measuring assembly 6 and is opposite to the second connecting portion.

[0083] When the torque measuring assembly 6 is installed, the first connecting portion is disconnected from the first connecting matching portion, and the second connecting portion is fixedly connected to the second connecting matching portion;

[0084] When the torque measuring assembly 6 is disassembled, the second connecting portion is disconnected from the second connecting matching portion, and the first connecting portion is fixedly connected to the first connecting matching portion.

[0085] The torque measuring assembly 6 can be quickly installed and removed through the first connection part and the first connection matching part, and the second connection part and the second connection matching part, and it is very convenient to install and remove the torque measuring assembly 6, and there is no need to remove the tool power head 1 during installation and removal. When the torque measuring assembly 6 is installed, the second connection part is fixedly connected to the second connection matching part, and the first connection part is disconnected from the first connection matching part. The load of the tool power head 1 is transmitted to the robot end 2 through the installation sleeve 4, the torque measuring assembly 6 and the connection mechanism 5, so that the load force passes through the torque measuring assembly 6, making the torque measurement more accurate, and forming a "U"-shaped load force transmission route (see Figure 7 ), shortening the distance between the robot end 2 and the tool power head 1, so as to reduce the force on the robot end 2. When the torque measuring assembly 6 is disassembled, the second connection part is disconnected from the second connection matching part, and the first connection part is connected to the first connection matching part, and the load of the tool power head 1 is transmitted to the robot end 2 through the mounting sleeve 4 and the connecting mechanism 5.

[0086] The robot torque measuring device which is easy to install and disassemble of the present invention is described in detail below:

[0087] In this embodiment, the mounting sleeve 4 is a rectangular parallelepiped structure with a through hole in the middle. A tool power head 1 is respectively mounted on two opposite outer walls of the mounting sleeve 4 by bolts.

[0088] The connection mechanism 5 includes a connection sleeve 7, a locking member and a driving assembly. The connection sleeve 7 is hollow and is inserted into the mounting sleeve 4. The first end of the connection sleeve 7 is used to connect the robot end 2, and the second end extends out of the mounting sleeve 4 and is inserted into one end of the torque measurement assembly 6. The connection sleeve 7 is a stepped sleeve, and the diameter of the first end is larger than the second end. The first connection part and the second connection part are both movably connected to the connection sleeve 7.

[0089] The locking piece is inserted into the connecting sleeve 7 , and the driving assembly is used to drive the locking piece to reciprocate in the connecting sleeve 7 .

[0090] When the locking member moves in the first direction, the first connecting portion is driven to disconnect from the first connecting matching portion, and the second connecting portion is driven to connect with the second connecting matching portion;

[0091] When the locking member moves in the second direction, the second connecting portion is driven to disconnect from the second connecting matching portion, and the first connecting portion is driven to connect to the first connecting matching portion.

[0092] Specifically, the first connecting portion includes a plurality of first locking balls 8 and a plurality of second locking balls 9 that are arranged circumferentially, and a plurality of first mounting through holes and a plurality of second mounting through holes that are arranged circumferentially are provided on the side walls of the connecting sleeve 7. The plurality of first locking balls 8 are respectively arranged in the corresponding plurality of first mounting through holes, and the plurality of second locking balls 9 are respectively arranged in the corresponding plurality of second mounting through holes.

[0093] The first connection matching part includes a first annular groove 11 and a plurality of second grooves 12 provided on the inner wall of the mounting sleeve 4. The plurality of second grooves 12 are arranged circumferentially. In this embodiment, the first annular groove 11 is a trapezoidal groove. The first annular groove 11 is opposite to the plurality of first locking balls 8, and the plurality of second grooves 12 are opposite to the plurality of second locking balls 9 respectively.

[0094] The second connecting portion includes a plurality of third locking balls 10 arranged circumferentially, and a plurality of third mounting through holes arranged circumferentially are provided on the side wall of the second end of the connecting sleeve 7, and the plurality of third locking balls 10 are arranged in the corresponding third mounting through holes.

[0095] The second connecting fitting portion is a third annular groove 13. In this embodiment, the third annular groove 13 is also a trapezoidal groove. One end of the torque measuring component 6 is hollow. The third annular groove 13 is arranged on the inner wall of the torque measuring component 6 and is opposite to a plurality of third locking balls 10.

[0096] In this embodiment, the number of the first locking balls 8 , the second locking balls 9 and the third locking balls 10 are all four and are evenly distributed around the circumference, and the number of the second locking grooves 12 is also four accordingly.

[0097] The locking member is provided with a first circumferential inclined surface 18 opposite to the first locking balls 8, a second circumferential inclined surface 19 opposite to the second locking balls 9, and a third circumferential inclined surface 20 opposite to the 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.

[0098] When the locking member moves in the first direction, the third circumferential inclined surface 20 moves toward the third locking balls 10 and pushes one end of the third locking balls 10 to enter and abut against the third annular groove 13, so that the connecting sleeve 7 and the torque measuring assembly 6 are fixed axially and radially, and the load of the tool power head 1 can be transmitted to the robot end 2 through the mounting sleeve 4, the torque measuring assembly 6 and the connecting mechanism 5. 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 connection between the connecting sleeve 7 and the mounting sleeve 4 is disconnected, so that the load force of the tool power head 1 passes through the torque measuring assembly 6, so that the torque measurement is more accurate.

[0099] When the locking member moves in the second direction, the first circumferential inclined surface 18 moves toward the first locking balls 8 and pushes one end of the balls to enter and abut against the first annular groove 11, and the second circumferential inclined surface 19 moves toward the second locking balls 9 and pushes one end of the balls to enter and abut against the corresponding second groove 12. The first locking balls 8 and the first annular groove 11 are engaged to fix the connecting sleeve 7 and the mounting sleeve 4 axially and radially, and the second locking balls 9 and the second groove 12 are engaged to fix the connecting sleeve 7 and the mounting sleeve 4 radially and circumferentially, so that the connecting 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, so as to achieve the purpose of disassembling the torque measuring assembly 6.

[0100] Specifically, the torque measurement assembly 6 includes a cover 29, a torque sensor 3 and a locking sleeve. One end of the cover 29 is open and the open end is detachably connected to one end of the mounting sleeve 4 through a locking connection assembly. The mounting sleeve 4 and the cover 29 are fixedly connected through the locking connection assembly, so that the load force can be transmitted to the cover 29 through the mounting sleeve 4. The torque sensor 3 is arranged in the cover 29 and one end of the torque sensor 3 is fixedly connected to the other end of the cover 29. The locking sleeve is inserted into the open end in the cover 29 and fixedly connected to the other end of the torque sensor 3, and the locking sleeve is sleeved on the second end of the connecting shaft sleeve 7, and the third annular groove 13 is arranged on the inner wall of the locking sleeve.

[0101] In this embodiment, the locking sleeve includes a locking flange 30 and a locking ring 31. Half of the third annular groove 13 is provided on the inner wall of the locking flange 30 and the locking ring 31 facing each other, and the locking flange 30 and the locking ring 31 are tightly attached to each other to form a complete third annular groove 13, which makes it more convenient to manufacture the locking sleeve.

[0102] The locking connection assembly includes a connection plug 32, a locking pin 34 and an elastic member. One end of the connection plug 32 is fixedly connected to the end wall of the opening end of the cover 29 by bolts. In this embodiment, the end wall of the opening end of the cover 29 is a flange structure. The other end of the connection plug 32 is inserted and slidably connected to the sliding hole at one end of the installation sleeve 4, and the connection plug 32 is provided with a first notch 33, which can be a circular notch or a circular arc notch. Fig.16 In this embodiment, the first notch 33 is a circular notch; see Fig.17 In another embodiment, the first notch 33 is an arc notch.

[0103] The locking pin 34 is inserted into the opening of the installation sleeve 4 and the first notch 33 . 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 , which is also an arc notch.

[0104] The elastic member is passed through the mounting sleeve 4 and one end of the elastic member is fixedly connected to the mounting sleeve 4 and the other end radially contacts the locking pin 34 . The elastic member applies elastic force to the locking pin 34 to axially fix it in the mounting sleeve 4 . In this embodiment, the elastic member is a spring plunger 36 .

[0105] When the locking pin 34 is rotated to make the first notch 33 and the second notch 35 overlap, the connecting plug 32 can leave the mounting sleeve 4 through the second notch 35, so that the blind cover 29 is disconnected from the mounting sleeve 4. When the blind cover 29 is connected to the mounting sleeve 4, the connecting plug 32 is inserted into the sliding hole at one end of the mounting sleeve 4, and the first notch 33 and the second notch 35 are overlapped. 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 make the first notch 33 and the second notch 35 misaligned, so that the axial movement of the connecting plug 32 is limited by the locking pin 34, so as to achieve the purpose of fixed connection between the mounting sleeve 4 and the blind cover 29.

[0106] One end of the locking pin 34 extends out of the mounting sleeve 4 and is provided with a retaining spring 37. Furthermore, the locking pin 34 is also provided with a plane card slot 40, one end of the elastic member abuts against the plane card slot 40, and the bottom of the plane card slot 40 is a plane. The locking pin 34 is provided with a locking surface 41 at the side end of the second notch 35. When the first notch 33 and the second notch 35 are misaligned, the locking surface 41 abuts against a side wall of the first notch 33, making the locking more secure.

[0107] In this embodiment, four groups of locking connection components are provided, which are respectively provided at the four corners of the cover 29 to achieve the purpose of limiting the axial rotation of the torque measuring component 6 and the connecting sleeve 7.

[0108] Specifically, the locking member includes a moving rod 14, a first wheel disc 15, a second wheel disc 16 and a third wheel disc 17. The first end of the moving rod 14 is connected to the driving assembly. The first wheel disc 15, the second wheel disc 16 and the third wheel disc 17 are all sleeved and fixedly connected to the moving rod 14, the first circumferential inclined surface 18 is formed on the circumferential outer wall of the first wheel disc 15, the second circumferential inclined surface 19 is formed on the circumferential outer wall of the second wheel disc 16, and the third circumferential inclined surface 20 is formed on the circumferential outer wall of the third wheel disc 17.

[0109] A first end of the connecting sleeve 7 is provided with an adapter 22 , and an end of the adapter 22 away from the connecting sleeve 7 is provided with a mounting portion for connecting to the robot end 2 . In this embodiment, the mounting portion is a flange structure, and the drive assembly is arranged on the adapter 22 .

[0110] In the first embodiment, the driving assembly is a cylinder 23, and the first end of the moving rod 14 is fixedly connected to the piston 24 of the cylinder 23. The adapter 22 is also provided with two air joints 38 connected to the cylinder 23, and the movement of the piston 24 of the cylinder 23 drives the moving rod 14 to reciprocate.

[0111] In the second embodiment, the driving assembly includes a driving head 25, a screw rod 27 and a slider 28. The driving head 25 is disposed in the cavity of the adapter 22 and fixedly connected to the first end of the moving rod 14. A sliding inclined groove 26 is provided inside the driving head 25, and an open groove 39 is also provided in the middle of the driving head 25. The screw rod 27 is provided in the adapter 22 and the open groove 39 of the driving head 25 along the radial direction of the moving rod 14, and the screw rod 27 is rotatably connected to the adapter 22. The slider 28 is slidably connected to the sliding inclined groove 26 and is threadedly connected to the screw rod 27.

[0112] The screw rod 27 rotates to drive the slider 28 to move along it, and the movement of the slider 28 drives the driving head 25 and the moving rod 14 to move, so as to realize the reciprocating movement of the moving rod 14.

[0113] Furthermore, a "V"-shaped groove 21 is provided on the first circumferential inclined surface 18, the second circumferential inclined surface 19 and the third circumferential inclined surface 20. When the first locking ball 8, the second locking ball 9 and the third locking ball 10 enter the first annular groove 11, the second groove 12 and the third annular groove 13 respectively, the other ends thereof are all inserted into the "V"-shaped groove 21, making the connection more stable.

[0114] The working process of the present invention is further described below:

[0115] When installing the torque measuring assembly 6, first, sleeve the torque measuring assembly 6 on the connecting sleeve 7, and insert the connecting plug 32 into the sliding hole at one end of the mounting sleeve 4. The driving assembly drives the moving rod 14, the first wheel disc 15, the second wheel disc 16 and the third wheel disc 17 to move in the first direction, and the third circumferential inclined surface 20 moves toward the four third locking balls 10 and pushes one end thereof to enter and abut against the third annular 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 respectively released from the first annular groove 11 and the second groove 12. Finally, the locking pin 34 is rotated to lock it with the connecting plug 32.

[0116] When disassembling the torque measuring assembly 6, the process is opposite to the installation process. When the torque measuring assembly 6 is finally removed, a sealing cover 42 is placed on the side cover of the mounting sleeve 4 to prevent dust from entering.

[0117] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A robot torque measuring device that is easy to install and disassemble, characterized in that: include: The mounting sleeve is hollow and its outer wall is used for mounting the tool power head; A connecting mechanism is inserted through the mounting sleeve and has a gap therebetween, wherein a first end of the connecting mechanism is used to connect to a robot end; A torque measuring assembly, used for measuring torque and arranged on a side of the mounting sleeve close to the second end of the connecting mechanism, one end of the torque measuring assembly being detachably connected to one end of the mounting sleeve; A first connecting portion, provided on the connecting mechanism; A first connecting and matching portion, disposed on the mounting sleeve and opposite to the first connecting portion; A second connecting portion, provided at a second end of the connecting mechanism; A second connection matching portion, provided on the torque measurement assembly and opposite to the second connection portion; When the torque measurement assembly is installed, the first connection portion is disconnected from the first connection matching portion, and the second connection portion is fixedly connected to the second connection matching portion; When the torque measurement assembly is disassembled, the second connection portion is disconnected from the second connection matching portion, and the first connection portion is fixedly connected to the first connection matching portion; The connecting mechanism comprises: A connecting sleeve, which is hollow and passes through the mounting sleeve, wherein a first end of the connecting sleeve is used to connect to the end of the robot, and a second end extends out of the mounting sleeve and passes through one end of the torque measurement assembly, and the first connecting portion and the second connecting portion are both movably connected to the connecting sleeve; A locking member, which is inserted into the connecting sleeve; A driving assembly, used for driving the locking member to reciprocate in the connecting sleeve; When the locking member moves in the first direction, the first connecting portion is driven to disconnect from the first connecting matching portion, and the second connecting portion is driven to connect with the second connecting matching portion; When the locking member moves in the second direction, the second connecting portion is driven to disconnect from the second connecting matching portion, and the first connecting portion is driven to connect with the first connecting matching portion; The first connecting portion comprises a plurality of first locking balls and a plurality of second locking balls which are arranged circumferentially, a plurality of first mounting through holes and a plurality of second mounting through holes are provided on the side wall of the connecting sleeve, and the plurality of first locking balls and the plurality of second locking balls are respectively arranged in the corresponding first mounting through holes and the second mounting through holes; The first connection matching portion includes a first annular groove and a plurality of second grooves provided on the inner wall of the mounting sleeve, the first annular groove is opposite to the plurality of first locking balls, and the plurality of second grooves are respectively opposite to the plurality of second locking balls; The second connecting portion includes a plurality of third locking balls arranged circumferentially, a plurality of third mounting through holes are provided on the side wall of the second end of the connecting sleeve, and a plurality of the third locking balls are arranged in the corresponding third mounting through holes; The second connection matching portion is a third annular groove, one end of the torque measuring assembly is hollow and the inner wall is provided with the third annular groove opposite to the third locking balls; The locking member is provided with a first circumferential inclined surface opposite to the first locking balls, a second circumferential inclined surface opposite to the second locking balls, and a third circumferential inclined surface opposite to the third locking balls, and the inclination direction of the third circumferential inclined surface is opposite to the first circumferential inclined surface and the second circumferential inclined surface; When the locking member moves in the first direction, the third circumferential inclined surface moves toward the third locking balls and pushes one end of the third locking balls to enter and abut against the third annular groove, and the first circumferential inclined surface and the second circumferential inclined surface move away from the first locking balls and the second locking balls respectively; When the locking member moves in the second direction, the first circumferential inclined surface moves toward the first locking balls and pushes one end of the first locking balls to abut against the first annular groove, the second circumferential inclined surface moves toward the second locking balls and pushes one end of the second locking balls to abut against the corresponding second groove, and the third circumferential inclined surface moves away from the third locking balls; The torque measurement assembly comprises: A blind cover, one end of which is open and the open end is detachably connected to one end of the mounting sleeve via a locking connection assembly; A torque sensor is disposed in the cover and one end of the torque sensor is fixedly connected to the other end of the cover; A locking sleeve is arranged at one end of the opening in the cover and is fixedly connected to the other end of the torque sensor, the locking sleeve is sleeved on the second end of the connecting sleeve, and the third annular groove is arranged on the inner wall of the locking sleeve; The first circumferential inclined surface, the second circumferential inclined surface and the third circumferential inclined surface are all provided with "V"-shaped grooves, and when the first locking ball, the second locking ball and the third locking ball enter the first annular groove, the second groove and the third annular groove respectively, the other ends thereof are all locked in the "V"-shaped grooves.

2. The robot torque measuring device that is easy to install and disassemble according to claim 1 is characterized in that: The locking member comprises: a moving rod, a first end of which is connected to the driving assembly; A first wheel disc is sleeved and fixedly connected to the moving rod, and the first circumferential inclined surface is formed on the circumferential outer wall of the first wheel disc; A second wheel disc is sleeved and fixedly connected to the moving rod, and the second circumferential inclined surface is formed on the circumferential outer wall of the second wheel disc; The third wheel disc is sleeved and fixedly connected to the second end of the moving rod, and the third circumferential inclined surface is formed on the circumferential outer wall of the third wheel disc.

3. The robot torque measuring device that is easy to install and disassemble according to claim 2 is characterized in that: A first end of the connecting sleeve is provided with an adapter, an end of the adapter away from the connecting sleeve is provided with a mounting portion for connecting to a robot end, and the driving assembly is provided on the adapter.

4. The robot torque measuring device that is easy to install and disassemble according to claim 2 is characterized in that: The driving assembly is a cylinder, and the first end of the moving rod is fixedly connected to the piston of the cylinder.

5. The robot torque measuring device that is easy to install and disassemble according to claim 3 is characterized in that: The drive assembly comprises: A driving head is disposed in the cavity of the adapter and fixedly connected to the first end of the moving rod, wherein a sliding inclined groove is disposed inside the driving head; A screw rod is provided in the radial direction of the moving rod and penetrates the adapter and the driving head, and the screw rod is rotatably connected to the adapter; A slider, slidably connected to the sliding chute and threadedly connected to the screw; The rotation of the screw rod drives the slider to move along it, and the slider drives the driving head and the moving rod to move.

6. The robot torque measuring device that is easy to install and disassemble according to claim 1 is characterized in that: The locking connection assembly comprises: A connecting plug, one end of which is fixedly connected to the end wall of one end of the opening of the cover, and the other end of which is passed through and slidably connected to one end of the mounting sleeve, and the connecting plug is provided with a first notch; A locking pin is inserted through the installation sleeve and the first notch, the locking pin is perpendicular to the axis of the connecting plug, and the locking pin is provided with a second notch; An elastic member is passed through the mounting sleeve and has one end fixedly connected to the mounting sleeve and the other end radially abuts against the locking pin, wherein the elastic member applies elastic force to the locking pin to axially fix the locking pin in the mounting sleeve; When the locking pin is rotated to make the first notch overlap with the second notch, the connecting plug can leave the mounting sleeve through the second notch, so that the blind cover is disconnected from the mounting sleeve.

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