CN206029958U - Centrifuge robot tool quick change system - Google Patents
Centrifuge robot tool quick change system Download PDFInfo
- Publication number
- CN206029958U CN206029958U CN201621072575.5U CN201621072575U CN206029958U CN 206029958 U CN206029958 U CN 206029958U CN 201621072575 U CN201621072575 U CN 201621072575U CN 206029958 U CN206029958 U CN 206029958U
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- CN
- China
- Prior art keywords
- inner sleeve
- quill shaft
- locking device
- steel ball
- overcoat
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a centrifuge robot tool quick change system, including Z to slider, miniature electrical slip ring, torque motors and elasticity steel ball locking device, torque motors passes through support fixed mounting on Z is to the slider, and it has the quill shaft to run through in the torque motors, and the quill shaft is fixed as an organic whole with torque motors's rotor, miniature electrical slip ring is fixed in torque motors's top, and quill shaft both ends rotor and elasticity steel ball locking device with miniature electrical slip ring respectively are fixed, the support mounting has the bearing that is used for supporting the quill shaft, quill shaft, torque motors's rotor and elasticity steel ball locking device pass through flange dish fixed connection and are in the same place, elasticity steel ball locking device includes quick plug and endotheca, on quick plug is fixed in the ring flange, during quick plug's lower signal end passes ring flange to endotheca, communicates with each other inside quick plug's last signal end and the quill shaft. The utility model discloses the pipeline that can make centrifuge robot tool end directly not link with the upper end, free rotation that can not restriction instrument end.
Description
Technical field
This utility model is related to used centrifuge robot in the geotechnical centrifugal model test of Geotechnical Engineering field, specifically
It is related to a kind of centrifuge robot tool quick-change system.
Background technology
In Geotechnical Engineering field, geotechnical centrifugal model test is that geotechnical model is placed in the centrifuge of rotation at a high speed, profit
With the centrifugation field action higher than acceleration of gravity, the stress state of the original shape soil body is reproduced.In order to more really reflect Practical Project
Working condition, geotechnical centrifugal model test also requirement can in test carry out dynamic process simulation.The conduct of centrifuge robot
The special equipment of various dynamic construction process simulations, as which is flexible and efficient, the advantage of highly versatile, tries in geo- textile technique
Favor is enjoyed in testing.
Centrifuge robot, during centrifugal model test, is to simulate complete dynamic construction process and detect immediately,
Need to be continuously finished various test operations.A kind of different operating is often completed in process of the test, an instrument must be all changed, this will
Ask centrifuge robot possess automatic tool exchange function.Patent of invention CN102778890A discloses a kind of full electricity of four axle and drives
Geotechnical centrifuge device people, realizes centrifuge not automatic tool exchange function under stopped status using pneumatic gripping device；Hong Kong science and technology is big
The geotechnical centrifuge robot that uses also use identical instrument quick-change system (see《Geotechnical testament new technique-the 25 is native
Work test class hour conference Papers collection》：The technical paper that 366-371, Kong Linggang, Zhang Limin are write -- geotechnical centrifuge robot
General situation of development and application example)；The geotechnical centrifuge robot that French Ai Ke transmissions company develops, then using Motor drive three-jaw
The mode of chuck realizes all kinds of tool changings (see webpage www.actidyn.com).
Existing centrifuge robot typically rotates with tri- linear motions of X, Y, Z and about the z axis four coordinates of motion, utilizes
Tri- linear motion coordinates of X, Y, Z carry out space orientation, and complete tool changing operation by handgrip auxiliary.
There is following defect in existing centrifuge test robot tool quick-change system：
1) as handgrip used by existing centrifuge test robot tool quick-change system need to adopt motor or cylinder as drive
Move to lock or decontrol instrument, centrifuge robot works under high centrifugal field, needed for tool changing, drive electric wire or trachea to protect
Shield will be subject to be several times as much as the centrifugal force of self gravitation, be susceptible to destruction, thus the driving electric wire of existing instrument quick-change system or
Trachea protection difficulty is big；
If 2) centrifuge robot Z axis rotary freedom is excessive, necessarily makes circuit or pipeline that winding occurs, and then affect
Using function, therefore its Z axis rotary freedom is usually no more than 360 degree, but cannot thus realize automatic tool exchange
Carry out continuous rotation the function such as fetch earth, burrow under state, so as to limit the applying working condition field of centrifuge robot.
Utility model content
The purpose of this utility model is that to solve the above problems and provides a kind of centrifuge robot tool quick change
System.
This utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of centrifuge robot tool quick-change system, including the Z-direction slide block installed in centrifuge robot Z axis end,
Miniature electric slip ring, torque motor and elastic steel ball locking device；
The torque motor is fixedly installed on the Z-direction slide block by support, and running through in the torque motor has hollow
Axle, the quill shaft are fixed as one with the rotor of the torque motor；
The miniature electric slip ring is fixed on the top of the torque motor by slip ring spider, the upper end of the quill shaft with
The rotor of the miniature electric slip ring is fixedly connected, and the elastic steel ball locking device is fixed on the lower end of the quill shaft；
The support is provided with the bearing for supporting the quill shaft, and the lower end of the quill shaft is through after the bearing
It is fixedly connected with the elastic steel ball locking device；
The quill shaft, the rotor of the torque motor are fixedly connected by ring flange with the elastic steel ball locking device
Together；
The elastic steel ball locking device includes quick plug and the inner sleeve for snapping in instrument, and the quick plug is fixed
On the ring flange, the lower signal connection end of the quick plug passes through the ring flange and extends in the inner sleeve, institute
The upper signal connection end for stating quick plug is communicated with the hollow mandrel interior.
Specifically, the elastic steel ball locking device include the inner sleeve, the quick plug, overcoat, Unlockable nut and
Two ball collars, the inner sleeve are fixedly connected with the ring flange, the overcoat, two ball collars and the unblock
Nut is from top to bottom sequentially sleeved in described and puts, and is provided with spring and some steel balls, institute between the inner sleeve and the overcoat
The side wall for stating inner sleeve is provided with some spherical pores, side wall of the spherical pore through the inner sleeve, one a pair of some steel balls
Should be installed in some spherical pores, the upper internal face of the overcoat is that the conical surface fit together with some steel balls is tied
Structure, the inner sleeve and the overcoat are respectively arranged with the upper and lower shaft shoulder, and the Spring Card is loaded between the upper and lower shaft shoulder, described
Spherical pore is located above the shaft shoulder of the inner sleeve, and two ball collars are enclosed within described and put and be located under the overcoat
Side, is slidable connection structure between upper and lower two ball collars, and the Unlockable nut is to be threadedly coupled with the inner sleeve
Structure, the Unlockable nut are fixedly connected with the ball collar of lower section by screw, and the outer ring surface of the Unlockable nut sets
It is equipped with the boss corresponding with tool rack draw-in groove.
Further, the lower surface of the ring flange is provided with two pins for instrument radial positioning, the pin
Extend in the inner sleeve.
Further, the inner sleeve is provided with the screw hole, described quick for inserting for being fixedly connected with ring flange
The fast interface of plug and the screw thread for connecting the Unlockable nut.
Further, the overcoat is the two halves formula structure linked together by screw and pin.
The beneficial effects of the utility model are：
This utility model realizes the locking and unblock of centrifuge robot tool by elastic steel ball locking device, and sets
Miniature electric slip ring and the torque motor with quill shaft is put, is made centrifuge robot tool end without the pipeline direct-connected with upper end, is entered
Without limiting rotating freely for tool ends end, the applying working condition field of centrifuge robot is increased.
Description of the drawings
Fig. 1 is the structure principle chart of centrifuge robot tool quick-change system described in the utility model；
Fig. 2 is the sectional view of centrifuge robot tool quick-change system described in the utility model；
Fig. 3 is the partial enlarged drawing in Fig. 2 at A, and major embodiment has gone out the sectional structure of locking device；
Fig. 4 is the first visual angle schematic diagram of inner sleeve described in the utility model；
Fig. 5 is the second visual angle schematic diagram of inner sleeve described in the utility model；
Fig. 6 is the structural representation of Unlockable nut described in the utility model；
In figure：The miniature electric slip rings of 1-, 2- slip ring spiders, 3- torque motors, 4- ring flanges, 5- elastic steel ball locking devices,
6- instruments, 7- tool racks, 8-Z is to slide block, 9- quill shafts, 10- bearings, 11- overcoats, 12- springs, 13- ball collars, 14- solutions
Split nut, 15- are inserted soon, 16- steel balls, 17- inner sleeves, 18- supports, the fast interfaces of 19-, and 20- screw holes, the 21- shaft shoulders, 22- are spherical
Hole, 23- screw threads, 24- pins, 25- boss.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, this utility model is included installed in centrifuge robot Z axis end
The Z-direction slide block 8 at end, miniature electric slip ring 1, torque motor 3 and elastic steel ball locking device 5；
Torque motor 3 is fixedly installed on Z-direction slide block 8 by support 18, through there is quill shaft 9 in torque motor 3, hollow
Axle 9 is fixed as one (in figure, the rotor of torque motor 3 is not expressly shown) with the rotor of torque motor 3, is set in the middle of quill shaft 9
There is through hole to pass through so as to measurement circuit；Miniature electric slip ring 1 is fixed on the top of torque motor 3, slip ring spider by slip ring spider 2
2 be connected on 3 shell of torque motor by screw, and miniature electric slip ring 1 only has the circuit needed for weak electric signal transmission, it is to avoid height
The big problem of gas circuit or fluid path sealing difficulty under centrifugal field, the upper end of quill shaft 9 are fixedly connected with the rotor of miniature electric slip ring 1,
Elastic steel ball locking device 5 is fixed on the lower end of quill shaft 9；Support 18 is provided with the bearing 10 for supporting quill shaft 9, bearing
10 are capable of achieving to be rotatably connected with Z-direction slide block 8, and the lower end of quill shaft 9 is fixed with elastic steel ball locking device 5 through after bearing 10
Connection；Quill shaft 9, the rotor of torque motor 3 and elastic steel ball locking device 5 are fixed together by ring flange 4；Elasticity
Ball lock device 5 includes quick plug 15 and the inner sleeve 17 for snapping in instrument 6, and quick plug 15 is fixed on ring flange 4,
The lower signal connection end of quick plug 15 passes through ring flange 4 and extends in inner sleeve 17, the upper signal connection end of quick plug 15
With communicate inside quill shaft 9.
Elastic steel ball locking device 5 includes inner sleeve 17, quick plug 15, overcoat 11, Unlockable nut 14 and two ball axles
Ring 13, inner sleeve 17 are fixedly connected with ring flange 4, and 11, two ball collars 13 of overcoat and Unlockable nut 14 from top to bottom cover successively
In inner sleeve 17, spring 12 and some steel balls 16 between inner sleeve 17 and overcoat 11, is provided with, the side wall of inner sleeve 17 is provided with some
Spherical pore 22, side wall of the spherical pore 22 through inner sleeve 17, some steel balls 16 are corresponded and are installed in some spherical pores 22, overcoat
11 upper internal face is the cone structure fit together with some steel balls 16, and the conical surface is for clamping steel ball 16, the angle of the conical surface
Ensure that 16 self-locking of steel ball.Inner sleeve 17 and overcoat 11 are respectively arranged with the upper and lower shaft shoulder 21, and spring 12 is installed in the upper and lower shaft shoulder
Between 21, spring 12 is in compressive state, and overcoat 11 is remained relative to inner sleeve 17 a downward power, in addition overcoat
11 also receive a downward centrifugal force, and the two are made every effort to promote makes the inner conical surface of overcoat 11 that steel ball 16 is pressed to 6 side of instrument, and generation can be protected
The thrust held, 6 termination of instrument are provided with corresponding spherical annular groove, so as to complete the axial locking of instrument 6.Spherical pore 22 is located at
Above the shaft shoulder 21 of inner sleeve 17, two ball collars 13 are enclosed within inner sleeve 17 and are located at below overcoat 11, upper and lower two balls
It is slidable connection structure between collar 13, affects with the relative rotation of inner sleeve 17 so as to prevent overcoat 11 to be unlocked nut 14.
Unlockable nut 14 is screw connection structure with inner sleeve 17, and Unlockable nut 14 passes through screw and the fixation of ball collar 13 of lower section connects
Connect, the outer ring surface of Unlockable nut 14 is provided with the boss 25 corresponding with 7 draw-in groove of tool rack, and tool rack 7 is fixed on soil test
Centrifuge test model casing bottom, its quantity can be installed according to actual needs, and tool rack 7 is used for depositing all kinds of possess same-interface
Instrument 6, Unlockable nut 14 is used for the unblock of locking device and operates, and boss 25 facilitates implementation the phase of Unlockable nut 14 and inner sleeve 17
To moving the movement so as to realize overcoat 11.When instrument 6 is locked, ball collar 13 is not contacted with overcoat 11；When needing unblock,
Unlockable nut 14 is blocked by tool rack 7, and torque motor 3 rotates with power driven tools 6 and presses to outward so as to drive nut and ball collar 13
Set 11, makes 11 conical surface of overcoat leave steel ball 16, realizes the axially unlocked of instrument 6.
The lower surface of ring flange 4 is provided with two pins 24 for 6 radial positioning of instrument, and pin 24 extends to inner sleeve 17
In.
Inner sleeve 17 be provided with for be fixedly connected with ring flange 4 screw hole 20, insert for inserting the fast of quick plug 15
Interface 19 and the screw thread 23 for connecting Unlockable nut 14.
For ease of processing and installing, overcoat 11 is the two halves formula structure linked together by screw and pin.
Compared with prior art, this utility model has the advantage that：
1) elastic steel ball locking device is without driving pipeline, it is to avoid pipeline occurs to destroy under centrifugal field；
2) centrifuge robot tool quick-change system will not be restricted to the rotation of robot tool end, so that centrifuge machine
The applying working condition field of device people is wider；
3) elastic steel ball locking device utilizes spring force and overcoat centrifugal force double locking, and structure possesses self-locking work(
Can, locking mechanism is solid and reliable；
4) elastic steel ball locking device, is made fast without additional tripper using the rotary shaft rotation unblock of centrifuge robot
Change system structure more simple compact；
5) integrated micro electric slip ring, arranges fast slotting on instrument and locking device, facilitates the connection of signal line, make centrifugation
Machine robot versatility is higher.
Preferred embodiment of the present utility model is these are only, it is not to limit this utility model, all in this practicality
Any modification, equivalent and improvement for being made within new spirit and principle etc., should be included in guarantor of the present utility model
In the range of shield.
Claims (5)
1. a kind of centrifuge robot tool quick-change system, including the Z-direction slide block installed in centrifuge robot Z axis end, its
It is characterised by：Also include miniature electric slip ring, torque motor and elastic steel ball locking device；
The torque motor is fixedly installed on the Z-direction slide block by support, and running through in the torque motor has quill shaft, institute
The rotor that quill shaft is stated with the torque motor is fixed as one；
The miniature electric slip ring is fixed on the top of the torque motor by slip ring spider, the upper end of the quill shaft with it is described
The rotor of miniature electric slip ring is fixedly connected, and the elastic steel ball locking device is fixed on the lower end of the quill shaft；
The support is provided with the bearing for supporting the quill shaft, the lower end of the quill shaft through after the bearing with institute
State elastic steel ball locking device to be fixedly connected；
The quill shaft, the rotor of the torque motor and the elastic steel ball locking device are fixedly connected on one by ring flange
Rise；
The elastic steel ball locking device includes quick plug and the inner sleeve for snapping in instrument, and the quick plug is fixed on institute
State on ring flange, the lower signal connection end of the quick plug passes through the ring flange and extends in the inner sleeve, described fast
The upper signal connection end of fast plug is communicated with the hollow mandrel interior.
2. centrifuge robot tool quick-change system according to claim 1, it is characterised in that：The elastic steel ball locking
Device includes the inner sleeve, the quick plug, overcoat, Unlockable nut and two ball collars, the inner sleeve and the flange
Disk is fixedly connected, and the overcoat, two ball collars and the Unlockable nut are from top to bottom sequentially sleeved in described and put,
Spring and some steel balls is provided between the inner sleeve and the overcoat, and the side wall of the inner sleeve is provided with some spherical pores, institute
Side wall of the spherical pore through the inner sleeve is stated, some steel balls are corresponded and are installed in some spherical pores, described outer
The upper internal face of set is the cone structure fit together with some steel balls, and the inner sleeve and the overcoat are respectively arranged with
The upper and lower shaft shoulder, loaded between the upper and lower shaft shoulder, the spherical pore is located above the shaft shoulder of the inner sleeve Spring Card, and two
The individual ball collar is enclosed within described and puts and be located at below the overcoat, between upper and lower two ball collars is
Slidable connection structure, the Unlockable nut are screw connection structure with the inner sleeve, and the Unlockable nut is by screw with
The ball collar of side is fixedly connected, and the outer ring surface of the Unlockable nut is provided with the boss corresponding with tool rack draw-in groove.
3. centrifuge robot tool quick-change system according to claim 2, it is characterised in that：The lower end of the ring flange
Face is provided with two pins for instrument radial positioning, and the pin is extended in the inner sleeve.
4. centrifuge robot tool quick-change system according to claim 2, it is characterised in that：The inner sleeve is provided with use
In the screw hole being fixedly connected with ring flange, the fast interface for inserting the quick plug and for being connected the unblock spiral shell
Female screw thread.
5. centrifuge robot tool quick-change system according to claim 2, it is characterised in that：The overcoat is by screw
The two halves formula structure linked together with pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621072575.5U CN206029958U (en) | 2016-09-23 | 2016-09-23 | Centrifuge robot tool quick change system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621072575.5U CN206029958U (en) | 2016-09-23 | 2016-09-23 | Centrifuge robot tool quick change system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029958U true CN206029958U (en) | 2017-03-22 |
Family
ID=58296325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621072575.5U Withdrawn - After Issue CN206029958U (en) | 2016-09-23 | 2016-09-23 | Centrifuge robot tool quick change system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029958U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166758A (en) * | 2016-09-23 | 2016-11-30 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
| CN107088888A (en) * | 2017-05-23 | 2017-08-25 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
| CN109939843A (en) * | 2019-05-05 | 2019-06-28 | 中国工程物理研究院总体工程研究所 | A kind of high acceleration centrifuge motor interlocking positioning device |
| CN111185881A (en) * | 2018-11-14 | 2020-05-22 | 武义博海电动工具有限公司 | Multifunctional electric tool with quick-change connector |
| CN111273173A (en) * | 2020-03-24 | 2020-06-12 | 昌荣电机（深圳）有限公司 | Motor function test system |
-
2016
- 2016-09-23 CN CN201621072575.5U patent/CN206029958U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166758A (en) * | 2016-09-23 | 2016-11-30 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
| CN106166758B (en) * | 2016-09-23 | 2018-03-23 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
| CN107088888A (en) * | 2017-05-23 | 2017-08-25 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
| CN111185881A (en) * | 2018-11-14 | 2020-05-22 | 武义博海电动工具有限公司 | Multifunctional electric tool with quick-change connector |
| CN109939843A (en) * | 2019-05-05 | 2019-06-28 | 中国工程物理研究院总体工程研究所 | A kind of high acceleration centrifuge motor interlocking positioning device |
| CN109939843B (en) * | 2019-05-05 | 2023-09-29 | 中国工程物理研究院总体工程研究所 | Motor interlocking positioning device for high-acceleration centrifugal machine |
| CN111273173A (en) * | 2020-03-24 | 2020-06-12 | 昌荣电机（深圳）有限公司 | Motor function test system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170322 Effective date of abandoning: 20180323 |