CN104535026A - Rotary joint capable of realizing variable freedom by using magneto-rheological technology - Google Patents
Rotary joint capable of realizing variable freedom by using magneto-rheological technology Download PDFInfo
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- CN104535026A CN104535026A CN201410733923.8A CN201410733923A CN104535026A CN 104535026 A CN104535026 A CN 104535026A CN 201410733923 A CN201410733923 A CN 201410733923A CN 104535026 A CN104535026 A CN 104535026A
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- axle
- left end
- stator module
- axle sleeve
- rotor assembly
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Disclosed in the invention is a rotary joint capable of realizing variable freedom by using a magneto-rheological technology. A rotator assembly, a stator assembly, sealing cover inner units, and sealing cover outer units. A conductive coil winds around the stator assembly; and inner wall annular comb teeth of the stator assembly and the outer wall annular comb teeth of the rotator assembly are intersected in a one-to-one correspondence mode. A space unit encircled by the outer wall annular comb teeth of the rotator assembly, the inner wall annular comb teeth of the stator assembly, and the sealing cover inner units and sealing cover outer units at the two ends is filled with magnetorheological fluid. When the conductive coil is electrified, the state of the magnetorheological fluid poured between the rotor assembly and the stator assembly is changed from the liquid state to a solid state; and thus the damping between the rotor assembly and the stator assembly is increased and no relative motion is caused, so that the freedom of the rotary joint is changed.
Description
Technical field
The present invention relates to articulated coordinate machine field, specifically a kind of rotary joint adopting magnetic converting technique to realize articulated coordinate machine variable freedom.
Background technology
Articulated coordinate machine is a kind of surveying instrument be in series between two by rotary joint by several connecting rods, and the angular encoder that the position of its gauge head is installed by rotary joint decides.At present, the main manufacturer of articulated coordinate machine has Faro, and under normal circumstances, articulated coordinate machine is made up of 6 or 7 rotary joints Cimcore and Romer..Each joint be connected can rotate around more than one axis.
In the measuring process of reality, when using articulated coordinate machine to measure object in little measured zone, only need rotate wherein a part of rotary joint just can realize testee surveying work, also ensure that articulated coordinate machine has high measurement accuracy in little measured zone like this.U.S. Pat. No. 5829148 describes a kind of unrestricted articulated coordinate machine of rotation of joint.In its little measured zone, articulate rotation can introduce more error source, reduces the measuring accuracy of articulated coordinate machine in its little measured zone.The document parameter self-calibration method of arm-type articulated coordinate machine " become research " proposes to adopt particular jig to fix one of them or several rotary joint to realize the object of articulated coordinate machine variable freedom.
Magnetic flow liquid is as a kind of novel intellectual material.Under additional magnetic field conditions, the rheological that magnetic flow liquid has can present the change of several order of magnitude; Liquid-solid mutual conversion is very fast; Its change is reversible and controlled.By above advantage, magnetic flow liquid is widely used in the fields such as machine, car seat vibroshock, clutch coupling.But at present, magnetic flow liquid is not also applied on coordinate measuring machine, especially on articulated coordinate machine.
Summary of the invention
The object of the invention is to design a kind of rotary joint adopting magnetic converting technique to realize variable freedom, to solve articulated coordinate machine in prior art in the rotation of little its all rotary joint of measured zone internal cause and the measuring accuracy caused is low, and the problem of variable freedom cannot be realized.
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of rotary joint adopting magnetic converting technique to realize variable freedom, it is characterized in that: include horizontally disposed axle sleeve, outside axle sleeve, level connection joint has a pair symmetrical connecting rod, axle sleeve right-hand member is set to the running-on of undergauge, pair of horns contact bearing is provided with in the horizontal direction in axle sleeve, one of them angular contact bearing is arranged in axle sleeve right-hand member running-on, another angular contact bearing is arranged in axle sleeve, and the angular contact bearing be arranged in axle sleeve is outside equipped with external thread and is screwed with gland nut, the axle of cannulated is rotatablely equipped with in two angular contact bearings, the right-hand member of axle passes from axle sleeve right-hand member, the left end of axle stretches out relative to the angular contact bearing be arranged in axle sleeve, on axle between two angular contact bearings, fixed cover is equipped with rotor assembly, rotor assembly outer wall is provided with multi-ring annular comb, axle sleeve internal fixtion is provided with the stator module be enclosed within outside rotor assembly, described gland nut compresses stator module in stator module left upper part, the conductive coil be wound on stator module is provided with between stator module and axle sleeve, described stator module inwall is provided with multi-ring annular comb, and wall circular comb intersects with the outer wall circular comb one_to_one corresponding of rotor assembly in stator module, space is had between wall circular comb and the outer wall circular comb of rotor assembly in adjacent stator module, described rotor assembly two ends are installed with in the gland bonnet that is enclosed within axle respectively, bottom, stator module two ends is installed with outside the gland bonnet that is enclosed within outside axle respectively, with in the gland bonnet of end with gland bonnet outer toward each other and combine closely, by in the gland bonnet at two ends, two ends, space between wall circular comb in the outer wall circular comb of gland bonnet outer closure rotor assembly and stator module, at the outer wall circular comb of rotor assembly, wall circular comb in stator module, magnetic flow liquid is filled with in the space surrounded in the gland bonnet of two ends and outside gland bonnet, fixed disc is provided with in described axle sleeve left end running-on, angular encoder is provided with between fixed disc and axle left end, the center of angular encoder has a central through hole, angular encoder right-hand member to stretch in the axle left end mouth of pipe and coordinates with the axle left end mouth of pipe, angular encoder left end is fixed on fixed disc, pull bar is provided with in axle, the center of pull bar has a central through hole, the left end of pull bar is provided with external thread, pull bar left end stretches in angular encoder central through hole, screw togather pull bar by nut to compress and fixed angle scrambler, signal and power lead are by the central through hole of pull bar, signal and power lead left end pass from axle sleeve left end running-on through after fixed disc, signal and power lead right-hand member stretch in axle.
Described a kind of rotary joint adopting magnetic converting technique to realize variable freedom, it is characterized in that: be provided with in the aluminum spacer ring that is enclosed within axle between described rotor assembly and axle, stator module is set with outside aluminum spacer ring, it is outside upper that described conductive coil is wound on aluminum spacer ring.
Described a kind of rotary joint adopting magnetic converting technique to realize variable freedom, is characterized in that: with in the gland bonnet of end and gland bonnet outer between be respectively arranged with grommet type seals.
Described a kind of rotary joint adopting magnetic converting technique to realize variable freedom, it is characterized in that: the angular contact bearing left end outer be arranged in axle sleeve compresses bearing clamping sleeve, bearing clamping sleeve center has a central through hole, and bearing clamping sleeve is fixedly connected with gland nut by bolt, the left end of axle is provided with external thread, be provided with the angular contact bearing gland nut be screwed on axle left end in bearing clamping sleeve central through hole, and angular contact bearing gland nut is pressed on the angular contact bearing left end be arranged in axle sleeve.
Described a kind of rotary joint adopting magnetic converting technique to realize variable freedom, is characterized in that: the material outside described rotor assembly, stator module, gland bonnet and in gland bonnet all adopts high permeability material silicon steel, or the pig iron.
The invention has the advantages that:
1, operability is high
When articulated coordinate machine is in little measured zone, be energized to conductive coil, the state of the magnetic flow liquid poured between rotor assembly and stator module becomes solid-state by liquid state, make the damping between its rotor assembly and stator module increase and produce without relative motion, namely change the degree of freedom of rotary joint.Vice versa.This process only needs can be realized by the power on/off of control coil, simple, convenient.
2, when articulated coordinate machine is in little measured zone, along with the minimizing of degree of freedom quantity, the quantity of error source also reduces thereupon, improves the measuring accuracy of articulated coordinate machine in this measured zone.
3, when articulated coordinate machine is in little measured zone, by changing the state of the magnetic flow liquid poured between rotor and stator module, realizing the effect of articulated type measurement of coordinates variable freedom, greatly reducing the labour intensity of survey crew.
4, the present invention is simple and compact for structure, without the need to installing the function that particular jig can realize the variable freedom of articulated coordinate machine at rotary joint place.
Accompanying drawing explanation
Fig. 1 is structure cut-open view of the present invention.
Embodiment
As shown in Figure 1, a kind of rotary joint adopting magnetic converting technique to realize variable freedom, include horizontally disposed axle sleeve 3, outside axle sleeve 3, level connection joint has an annulus 1, axle sleeve 3 right-hand member is set to the running-on of undergauge, pair of horns contact bearing 11 is provided with in the horizontal direction in axle sleeve 3, 18, one of them angular contact bearing 11 is arranged in axle sleeve 3 right-hand member running-on, another angular contact bearing 18 is arranged in axle sleeve 3, and the angular contact bearing 18 be arranged in axle sleeve 3 is outside equipped with external thread and is screwed with gland nut 5, two angular contact bearings 11, the axle 12 of cannulated is rotatablely equipped with in 18, the right-hand member of axle 12 passes from axle sleeve 3 right-hand member, the left end of axle 12 stretches out relative to the angular contact bearing 18 be arranged in axle sleeve 3, two angular contact bearings 11, on axle 12 between 18, fixed cover is equipped with rotor assembly 9, rotor assembly 9 outer wall is provided with multi-ring annular comb, axle sleeve 3 internal fixtion is provided with the stator module 10 be enclosed within outside rotor assembly 9, gland nut 5 compresses stator module 10 in stator module 10 left upper part, the conductive coil 7 be wound on stator module 10 is provided with between stator module 10 and axle sleeve 3, stator module 10 inwall is provided with multi-ring annular comb, and wall circular comb intersects with rotor assembly 9 outer wall circular comb one_to_one corresponding in stator module 10, space is had between wall circular comb and the outer wall circular comb of rotor assembly 9 in adjacent stator module 10, rotor assembly 9 two ends to be installed with in the gland bonnet that is enclosed within axle 12 20 respectively, 22, bottom, stator module 10 two ends is installed with the gland bonnet outer 6 be enclosed within outside axle respectively, 24, with in the gland bonnet of end with gland bonnet outer toward each other and combine closely, by in the gland bonnet at two ends 20, 22, gland bonnet outer 6, two ends, space between wall circular comb in the outer wall circular comb of 24 enclosed rotor assembly 9 and stator module 10, at the outer wall circular comb of rotor assembly 9, wall circular comb in stator module 10, in the gland bonnet of two ends 20, 22 and gland bonnet outer 6, magnetic flow liquid is filled with in 24 spaces surrounded, fixed disc 2 is provided with in axle sleeve 3 left end running-on, angular encoder 15 is provided with between fixed disc 2 and axle 12 left end, the center of angular encoder 15 has a central through hole, angular encoder 15 right-hand member stretches into relatively rotate in the axle 12 left end mouth of pipe and with the axle 12 left end mouth of pipe and coordinates, angular encoder 15 left end is fixed on fixed disc 2, pull bar 16 is provided with in axle 12, the center of pull bar 16 has a central through hole, pull bar 16 left end stretches in angular encoder 15 central through hole, screw togather pull bar 16 by nut 14 to compress and fixed angle scrambler, signal and power lead 13 pass the central through hole of pull bar 16, signal and power lead 13 left end pass from axle sleeve 3 left end running-on through after fixed disc 2, signal and power lead 13 right-hand member stretch in axle 12.
To be provided with in the aluminum spacer ring that is enclosed within axle 12 21 between rotor assembly 9 and axle 12, stator module 10 is set with aluminum spacer ring outer 8, conductive coil 7 is wound on aluminum spacer ring outer 8.
Be provided with grommet type seals 19 with in the gland bonnet of end between 6 and gland bonnet outer 20, in gland bonnet, between 22 and gland bonnet outer 24, be provided with grommet type seals 23.
The angular contact bearing 18 left end outer be arranged in axle sleeve 3 compresses bearing clamping sleeve 4, bearing clamping sleeve 4 center has central through hole, and bearing clamping sleeve 4 is fixedly connected with gland nut 5 by bolt, the left end of axle 12 is provided with external thread, be provided with the angular contact bearing gland nut 17 be screwed on axle 12 left end in bearing clamping sleeve 4 central through hole, and angular contact bearing gland nut 17 is pressed on angular contact bearing 18 left end be arranged in axle sleeve 3.
In rotor assembly 9, stator module 10, gland bonnet outer 6,24 and gland bonnet, the material of 20,22 all adopts high permeability material silicon steel, or the pig iron.
The present invention includes the connecting rod 1 connected as adjacent two rotary joints; For installing axle 12 and the axle sleeve 3 of two angular contact bearings 11 and 18; For the container of filling magnetic flow liquid by rotor assembly 9, stator module 10, gland bonnet outer 6 and 24, in gland bonnet 20 and 22, grommet type seals 19 and 23, aluminum spacer ring outer 8, in aluminum spacer ring 24 and conductive coil 7 form; Also has the angular encoder 15 for measuring the change of turning axle rotational angle.
Be nested together for the rotor assembly 9 of the container of filling magnetic flow liquid and stator module 10,20 and 22 will to be connected with it in described gland bonnet respectively by screw at the two ends of rotor assembly 9, again by outer for O-ring seal lid 24 by screw and stator module 10 be connected, in order to ensure between 20 and gland bonnet outer 24, to there is good sealing in described gland bonnet, in gland bonnet, install a grommet type seals 23 additional between 20 and gland bonnet outer 24; In order to ensure magnetic circuit well through described stator module and described rotor assembly crossover sites mutually, install aluminum spacer ring 21 and aluminum spacer ring outer 8 respectively additional at rotor assembly 9 inwall and stator module 10 outer wall; Conductive coil 7 adopts enameled wire coiling on the outer wall of aluminum spacer ring outer 8 to form; Magnetic flow liquid is filled into by stator module 10, rotor assembly 9, gland bonnet 20 and 22, in the container that forms of gland bonnet outer 6 and 24 and grommet type seals 19 and 23, in the gland bonnet that grommet type seals 19 is sleeved on 20, then gland bonnet outer 6 is connected by screw and stator module 10.According to Faradic electricity magnetisation effect, when conductive coil 7 is energized, near conductive coil, produce magnetic field.In addition, in order to ensure in rotor assembly 9, stator module 10, gland bonnet outer 6 and 24 and gland bonnet that 20 and 22 have good magnetic conductivity, its material all selects high permeability material silicon steel, or the pig iron.
First, connected between axle 12 and axle sleeve 3 by angular contact bearing 11; Secondly, the container set being used for filling magnetic flow liquid is contained in axle 12, and utilizes gland nut 5 and axle sleeve to be threaded connection to be compressed; Again, on the axle 12 be sleeved on by angular contact bearing 18, the internal axle sleeve of angular contact bearing 18 utilizes screw thread to be connected by gland nut 17 with axle 12, and its outer shaft is connected by screw with gland nut 5 by bearing clamping sleeve 4; Finally, one end of axle 12 will be sleeved on the angular encoder 15 measuring rotary joint amount of spin, described pull bar 16 penetrates from the other end of axle 12 and passes the central through hole of described angular encoder 15, wherein pull bar 16 center has a diameter to be the central through hole of 6mm, signal and power lead 13 pass, recycle described nut 14 to be connected with pull bar 16 by screw thread, and play the effect compressing angular encoder 15, and by fixed disc 2, the rotor of angular encoder 15 is connected with axle sleeve 3.
By connecting rod 1 to be sleeved on axle sleeve 3 and to be connected by screw between adjacent rotary joint, or undertaken connecting by axle 12.In order to ensure that the magnetic field person produced after described conductive coil 7 is energized has an impact to other assemblies of rotary joint inside, can reduce its weight again, axle sleeve 3, bearing clamping sleeve 4, gland nut 5, axle 12 and pull bar 16 all adopt aircraft aluminum simultaneously.
The rotary joint of articulated coordinate machine variable freedom can be realized, when coil 7 is energized, magnetic field can be produced at conductive coil 7 place according to galvanomagnetic effect, the state of magnetic flow liquid is made to become solid-state by liquid state, damping force between rotor assembly 9 and stator module 10 increases greatly, reach and make can not produce relative rotation between the axle sleeve 3 of rotary joint and axle 12, namely achieve the function of rotary joint variable freedom; Vice versa.
When the gauge head activity of articulated coordinate machine is to testee region, be energized to this kind of rotary joint, to realize the object changing articulated coordinate machine variable freedom, improve the measuring accuracy of articulated coordinate machine in little measured zone, reduce the labour intensity of survey crew.
Claims (5)
1. the rotary joint adopting magnetic converting technique to realize variable freedom, it is characterized in that: include horizontally disposed axle sleeve, outside axle sleeve, level connection joint has an annulus, axle sleeve right-hand member is set to the running-on of undergauge, pair of horns contact bearing is provided with in axle sleeve, one of them angular contact bearing is arranged in axle sleeve right-hand member running-on, another angular contact bearing is arranged in axle sleeve, and the angular contact bearing be arranged in axle sleeve is outside equipped with external thread and is screwed with gland nut, the axle of cannulated is rotatablely equipped with in two angular contact bearings, the right-hand member of axle passes from axle sleeve right-hand member, the left end of axle stretches out relative to the angular contact bearing be arranged in axle sleeve, on axle between two angular contact bearings, fixed cover is equipped with rotor assembly, rotor assembly outer wall is provided with multi-ring annular comb, axle sleeve internal fixtion is provided with the stator module be enclosed within outside rotor assembly, described gland nut compresses stator module in stator module left upper part, the conductive coil be wound on stator module is provided with between stator module and axle sleeve, described stator module inwall is provided with multi-ring annular comb, and wall circular comb intersects with the outer wall circular comb one_to_one corresponding of rotor assembly in stator module, space is had between wall circular comb and the outer wall circular comb of rotor assembly in adjacent stator module, described rotor assembly two ends are installed with in the gland bonnet that is enclosed within axle respectively, bottom, stator module two ends is installed with outside the gland bonnet that is enclosed within outside axle respectively, with in the gland bonnet of end with gland bonnet outer toward each other and combine closely, by in the gland bonnet at two ends, two ends, space between wall circular comb in the outer wall circular comb of gland bonnet outer closure rotor assembly and stator module, at the outer wall circular comb of rotor assembly, wall circular comb in stator module, magnetic flow liquid is filled with in the space surrounded in the gland bonnet of two ends and outside gland bonnet, fixed disc is provided with in described axle sleeve left end running-on, angular encoder is provided with between fixed disc and axle left end, the center of angular encoder has a central through hole, angular encoder right-hand member to stretch in the axle left end mouth of pipe and coordinates with the axle left end mouth of pipe, angular encoder left end is fixed on fixed disc, pull bar is provided with in axle, the center of pull bar has a central through hole, the left end of pull bar is provided with external thread, pull bar left end stretches in angular encoder central through hole, screw togather pull bar by nut to compress and fixed angle scrambler, signal and power lead are by the central through hole of pull bar, signal and power lead left end pass from axle sleeve left end running-on through after fixed disc, signal and power lead right-hand member stretch in axle.
2. a kind of rotary joint adopting magnetic converting technique to realize variable freedom according to claim 1, it is characterized in that: be provided with in the aluminum spacer ring that is enclosed within axle between described rotor assembly and axle, stator module is set with outside aluminum spacer ring, it is outside upper that described conductive coil is wound on aluminum spacer ring.
3. a kind of rotary joint adopting magnetic converting technique to realize variable freedom according to claim 1, is characterized in that: with in the gland bonnet of end and gland bonnet outer between be respectively arranged with grommet type seals.
4. a kind of rotary joint adopting magnetic converting technique to realize variable freedom according to claim 1, it is characterized in that: the angular contact bearing left end outer be arranged in axle sleeve compresses bearing clamping sleeve, bearing clamping sleeve center has a central through hole, and bearing clamping sleeve is fixedly connected with gland nut by bolt, the left end of axle is provided with external thread, be provided with the angular contact bearing gland nut be screwed on axle left end in bearing clamping sleeve central through hole, and angular contact bearing gland nut is pressed on the angular contact bearing left end be arranged in axle sleeve.
5. a kind of rotary joint adopting magnetic converting technique to realize variable freedom according to claim 1, is characterized in that: the material outside described rotor assembly, stator module, gland bonnet and in gland bonnet all adopts high permeability material silicon steel, or the pig iron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410733923.8A CN104535026A (en) | 2014-12-04 | 2014-12-04 | Rotary joint capable of realizing variable freedom by using magneto-rheological technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410733923.8A CN104535026A (en) | 2014-12-04 | 2014-12-04 | Rotary joint capable of realizing variable freedom by using magneto-rheological technology |
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| CN104535026A true CN104535026A (en) | 2015-04-22 |
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| CN201410733923.8A Pending CN104535026A (en) | 2014-12-04 | 2014-12-04 | Rotary joint capable of realizing variable freedom by using magneto-rheological technology |
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Cited By (4)
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| CN108992838A (en) * | 2018-07-31 | 2018-12-14 | 太原理工大学 | A kind of controllable type hysteresis damper joint recovering tool |
| CN109015739A (en) * | 2018-06-21 | 2018-12-18 | 西北工业大学 | A kind of healing robot variation rigidity flexible joint |
| CN109139736A (en) * | 2018-10-29 | 2019-01-04 | 徐州工程学院 | A kind of multiple excitation magnetic coil magnetic rheological clutch |
| CN112697030A (en) * | 2020-11-27 | 2021-04-23 | 珠海格力智能装备有限公司 | Detection equipment and detection system for processing workpiece |
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Cited By (6)
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| CN109015739A (en) * | 2018-06-21 | 2018-12-18 | 西北工业大学 | A kind of healing robot variation rigidity flexible joint |
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