CN105547211B - It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose - Google Patents
It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose Download PDFInfo
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- CN105547211B CN105547211B CN201511026528.7A CN201511026528A CN105547211B CN 105547211 B CN105547211 B CN 105547211B CN 201511026528 A CN201511026528 A CN 201511026528A CN 105547211 B CN105547211 B CN 105547211B
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- joint
- auxiliary stand
- fixture
- gas spring
- electric putter
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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)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a kind of adjustment of articulated coordinate machine pose and fixed auxiliary stand, including：Auxiliary stand main body and control unit, auxiliary stand main body include：Pedestal, the first fixture, the first support for supporting auxiliary stand main body have, the second fixture, gas spring, electric putter, the second support tool, the first joint, second joint, the 3rd joint, the 4th joint, first joint is located remotely from one end of pedestal, first joint, second joint, the 3rd joint and the 4th joint sequentially connect, 4th joint is located at close to one end of pedestal, connected by electric putter between second joint and the 4th joint, connected between the 3rd joint and the 4th joint by gas spring；First joint is provided with the first fixture of fixation measuring arm and the first support tool of support measuring arm；The second support tool of support measuring arm is provided between first joint and second joint；4th joint is provided with the second fixture of fixed gas spring and electric putter.
Description
Technical field
The invention belongs to coordinate measuring technology field, and in particular to the adjustment of articulated coordinate machine pose is auxiliary with fixing
Help support.
Background technology
Articulated coordinate machine is a kind of three coordinate measuring machine of the nonopiate co-ordinate-type of multiple degrees of freedom, generally has 6
The free degree.It copies human synovial structure, and structure is connected in series by six (rotation) joints by three measuring arms and a gauge head
Into space open-chain structure, so as to instead of linear measure longimetry benchmark with angular surveying benchmark.When being measured using measuring machine, survey
Head coordinate is the function of measuring machine kinematics parameters and its six joint angles.With traditional orthogonal coordinate system formula three-dimensional coordinates measurement
Machine is compared, and it has the advantages that measurement range is big, convenient, flexible, precision is higher, good environmental adaptability.But on the other hand, its
Structure is a kind of cascaded structure, and error component is more, and Transmitting error cofficient is big, control errors are complicated, so as to which its precision is difficult to
To guarantee.Moreover, articulated coordinate machine is also higher to manual request, it is necessary to which both hands are surveyed in measurement process
Measure and the shake of arm can also influence measurement accuracy.Therefore, the precision and can of articulated coordinate machine can how be improved
Reduce as much as possible becomes the research emphasis of articulated coordinate machine to artificial requirement in measurement process.
Articulated coordinate machine precision aspect is being improved, is being primarily present and improves process and assemble precision and optimum structural parameter
Demarcate two methods.The former will undoubtedly increase manufacturing cost and lengthen production cycle, increasing articulated type measurement of coordinates
Machine researcher is by target lock-on in the latter.The method of structural parameters calibration has many kinds at present, such as based on three coordinate measuring machine
Scaling method, optical calibration method, scaling method based on plane and distance etc..Most scaling methods are all among these
Certain auxiliary stand is needed to complete support and adjustment work.Such as《Articulated coordinate machine ginseng based on laser tracker
Number demarcation》In the holding clamp that is previously mentioned；《The research of articulated arm coordinate measuring machine calibration technique》Used in measurement bay；
《The design of articulated arm coordinate measuring machine calibration system》Used clamping tool；And《Six degree of freedom articulated type is flexible to sit
Co-ordinate measuring machine high-precision calibrating method》In used special fixture etc..Auxiliary stand in document above is required for according to demarcation
The difference of strategy and changes, compatible not strong, function is relatively simple.A kind of auxiliary stand of " tool is multi-purpose " is needed badly to the greatest extent may be used
Complete the role of above calibration experiment in energy ground.The appearance of new auxiliary stand can change articulated coordinate machine and only use one
The present situation of kind demarcation mode, make it possible that it carries out multimode and demarcated at many levels.
Simplifying manual operation, reducing articulated coordinate machine to the aspect of manual request, presently mainly pass through peace
Fill power assistive device to realize, such as《The balanced controls of flexible three-coordinate measuring machine》Utilized outside articulated coordinate machine
" arbitrarily stopping type air spring " does Auxiliary support to arm.《A kind of tunable gravitational equilibrium mechanism》It is middle to utilize gas spring and external stability
Device articulated coordinate machine is fixed etc..Design can reduce well above artificially trembles to measurement result
Influence, but all can only provide power-assisted to first order measuring arm, more complicated pose requirement and power-assisted requirement can not be met.
It is an object of the invention to provide a kind of multi-functional articulated coordinate machine pose adjustment and fixed auxiliary stand.
Fixation and the adjustment task of whole measuring arms can be completed.The more preferable pose needs of articulated coordinate machine can be met, carried
The overall precision of high measurement machine.The present invention can also complete the power-assisted task of measuring arm, can also two auxiliary stands coordinate and make
With more complicated power-assisted task is completed, articulated coordinate machine is reduced to manual request.
Moreover, the present invention has also reserved the region of installation extrinsic calibration equipment, can be pacified according to different calibration
Different calibration facilities is filled, improves utilization rate of equipment and installations.
The content of the invention
For problem present in above-mentioned calibration process, there is provided what a kind of articulated coordinate machine pose was adjusted and fixed
Auxiliary stand, including：Auxiliary stand main body and control unit, auxiliary stand main body include：For supporting auxiliary stand main body
Pedestal, the first fixture, the first support tool, the second fixture, gas spring, electric putter, the second support tool, the first joint, second joint, the 3rd
Joint, the 4th joint, the first joint are located remotely from one end of pedestal, the first joint, second joint, the 3rd joint and the 4th joint
Sequentially connecting, the 4th joint is located at close to one end of pedestal, is connected between second joint and the 4th joint by electric putter, the
Connected between three joints and the 4th joint by gas spring；First joint is provided with the first fixture of fixation measuring arm and support is surveyed
Measure the first support tool of arm；The second support tool of support measuring arm is provided between first joint and second joint；Set on 4th joint
There is the second fixture of fixed gas spring and electric putter.
Preferably, first joint is provided with first switch.
Preferably, wherein the gas spring is provided with second switch.
Preferably, the screw for fixing it with measuring arm is provided with first fixture.
Preferably, the first support tool moves horizontally adjustment according to measurement needs.
Preferably, the electric putter is controlled by control unit and lifted.
Preferably, it is carved with scale in the electric putter and gas spring.
It should be appreciated that foregoing description substantially and follow-up description in detail are exemplary illustration and explanation, should not
As the limitation to the claimed content of the present invention.
Brief description of the drawings
With reference to the accompanying drawing enclosed, the present invention more purpose, function and advantages will pass through the as follows of embodiment of the present invention
Description is illustrated, wherein：
Fig. 1 is articulated coordinate machine auxiliary stand schematic diagram.
Fig. 2 is articulated coordinate machine schematic diagram.
Embodiment
Fig. 1 is the schematic diagram of articulated coordinate machine auxiliary stand 100.As shown in figure 1, auxiliary stand 100 includes：It is auxiliary
Help rack body and control unit.Auxiliary stand main body includes：Pedestal 101, the first fixture 102, the folder of the first support tool 103, second
Tool 104, gas spring 105, electric putter 106, the second support have the 108, first joint 110, second joint 111, the 3rd joint 112, the
Four joints 113.Wherein the first joint 110 is provided with first switch 114, and gas spring 105 is provided with second switch 115.First closes
The first fixture 102 and the first support tool 103 are additionally provided with section 110.Second is provided between first joint 110 and second joint 111
Support tool 108.4th joint 113 is provided with the second fixture 104.The spiral shell for fixing it with measuring arm is provided with first fixture 102
Nail 109.Pedestal 101 is used to support auxiliary stand main body, and the first joint 110 is located remotely from one end of pedestal 101.First joint
110th, second joint 111, the 3rd joint 112 and the 4th joint 113 sequentially connect.4th joint 113 is located at close to pedestal
One end.Second joint 111 and the 4th is connected between joint 113 by electric putter 106.3rd joint 112 and the 4th joint 113 it
Between connected by gas spring 105.One triangle of formation between second joint 111, the 3rd joint 112 and the 4th joint 113
Structure.The articulated coordinate machine auxiliary stand of the present invention can be fixed on by optical table by screw according to measurement demand
Or on other measuring tables, and pedestal 101 itself also has certain counterweight, without fixed when simple task is completed.
Fig. 2 is articulated coordinate machine schematic diagram.As shown in Fig. 2 articulated coordinate machine 200 includes：First surveys
Measure arm 201, the second measuring arm 202, the 3rd measuring arm 203；5th joint 204, the 6th joint 205, the 7th joint the 206, the 8th
Joint 207, the 9th joint 208, the tenth joint 209, gauge head 210, pedestal 211.Articulated coordinate machine shown in Fig. 2, tool
There is six degree of freedom.Connected six rotatable joint structures by the first measuring arm 201, the second measuring arm 202, the 3rd measuring arm 203
Into space open-chain structure, the end of the structure is made up of gauge head 210.There is locking to fill for its 5th joint 204, the 6th joint 205
Put, can be needed to make the first measuring arm 201, the second measuring arm by the 5th joint 204 of locking, the 6th joint 205 according to measurement
202 positions are fixed.
By the first fixture 102 of articulated coordinate machine auxiliary stand 100 or the first support tool 103 come with articulated type
Coordinate measuring machine the 3rd measuring arm 203 fixes the relative position of the 3rd measuring arm 203 and auxiliary stand 100.Wherein the first support
Tool 103 can move horizontally adjustment according to measurement needs.Second fixture 104 is responsible for the relative of fixed gas spring 105 and electric putter 106
Position, can be locked by the second fixture 104 when articulated coordinate machine pose is without horizontal hunting.Electric putter 106 can lead to
The control lifting of control unit 107 crossed in Fig. 1, the second fixture 104 can also move up according to specific measurement needs.Electric putter 106
Scale is carved with gas spring 105, reference data can be provided for measurement.
When needing to fix the pose of a specific articulated coordinate machine 200, by articulated coordinate machine in Fig. 2
200 are adjusted to required pose, then by the first fixture 102 in auxiliary stand 100 (Fig. 1) by the measuring arm of screw 109 and the 3rd
203 fix, and the first switch 114 and the second switch 115 of gas spring 105 closed on the first joint 110, auxiliary stand
100 all joints will not rotate any more, and all measuring arms in articulated coordinate machine, and the 5th to the 8th joint will be consolidated
Live calmly.The 9th joint 208 near measuring machine gauge head 210 need to only be adjusted and the tenth joint 209 can be obtained by articulated type coordinate
The pose data of one determination of measuring machine 200.
In 200 vertical survey of articulated coordinate machine, the first fixture 102 in auxiliary stand 100 is fixed on measurement
In 3rd measuring arm 203 of machine 200, the first switch 114 in the first joint 110 and the second switch 115 of gas spring 105 are opened,
By the 3rd measuring arm 203 of traverse measurement machine, the second joint 111 of auxiliary stand 100, the 3rd joint the 112, the 4th is driven to close
The rotation of section 113, so that the elongation of gas spring 105 changes with the movement of the 3rd measuring arm 203 so that articulated type coordinate
Measuring machine 200 completes the task of single-point duplicate measurements.
When 200 horizontal survey of articulated coordinate machine, the first support tool 103 or the second support can be used to have 108 pairs of surveys
The second measuring arm 202 or the first measuring arm 201 of amount machine are supported, and can also close the switch of electric putter 106 as needed
To fix electric putter extended length or fix the elongation of gas spring 105 by controlling the second switch 115 of gas spring 105
Amount, auxiliary complete measurement task.
With reference to the explanation of the invention disclosed here and practice, other embodiment of the invention is for those skilled in the art
It all will be readily apparent and understand.Illustrate and embodiment is to be considered only as exemplary, of the invention true scope and purport is equal
It is defined in the claims.
Claims (7)
1. a kind of articulated coordinate machine pose adjustment and fixed auxiliary stand, including：Auxiliary stand main body and control are single
Member,
Auxiliary stand main body includes：Pedestal, the first fixture, the first support for supporting auxiliary stand main body have, the second fixture, gas
Spring, electric putter, the second support tool, the first joint, second joint, the 3rd joint, the 4th joint,
First joint is located remotely from one end of pedestal, and the first joint, second joint, the 3rd joint and the 4th joint sequentially connect
Connect, the 4th joint be located at close to pedestal one end, connected between second joint and the 4th joint by electric putter, the 3rd joint and
Connected between 4th joint by gas spring；
First joint is provided with the first fixture of fixation measuring arm and the first support tool of support measuring arm；
The second support tool of support measuring arm is provided between first joint and second joint；
4th joint is provided with the second fixture of fixed gas spring and electric putter.
2. auxiliary stand according to claim 1, wherein first joint is provided with first switch.
3. auxiliary stand according to claim 1, wherein the gas spring is provided with second switch.
4. auxiliary stand according to claim 1, wherein being provided with fix it with measuring arm on first fixture
Screw.
5. auxiliary stand according to claim 1, wherein first support tool moves horizontally adjustment according to measurement needs.
6. auxiliary stand according to claim 1, lifted wherein the electric putter is controlled by control unit.
7. auxiliary stand according to claim 1, wherein being carved with scale in the electric putter and gas spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511026528.7A CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510661787 | 2015-10-14 | ||
| CN2015106617870 | 2015-10-14 | ||
| CN201511026528.7A CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105547211A CN105547211A (en) | 2016-05-04 |
| CN105547211B true CN105547211B (en) | 2018-03-27 |
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| CN201511026528.7A Active CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
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| CN111795644B (en) * | 2020-07-15 | 2024-04-16 | 四川大学 | Positive intersection point laser double-measuring head pose calibration test piece |
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| DE19536147A1 (en) * | 1995-09-28 | 1997-04-03 | Ruthmann Anton Gmbh & Co | Hand-operated apparatus for use in dismantling old vehicles |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
| CN101288955A (en) * | 2008-05-23 | 2008-10-22 | 浙江大学 | Tunable gravitational equilibrium mechanism |
| CN201189660Y (en) * | 2008-05-23 | 2009-02-04 | 浙江大学 | Adjustable gravitational equilibrium device |
| EP2068067A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Supporting tripod for articulated arm measuring machines |
| CN103185558A (en) * | 2011-11-18 | 2013-07-03 | 海克斯康计量公司 | Measuring device comprising an arm with a ratchet mechanism |
| CN103335575A (en) * | 2009-11-06 | 2013-10-02 | 六边形度量衡股份公司 | Improved articulated arm |
-
2015
- 2015-12-31 CN CN201511026528.7A patent/CN105547211B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19536147A1 (en) * | 1995-09-28 | 1997-04-03 | Ruthmann Anton Gmbh & Co | Hand-operated apparatus for use in dismantling old vehicles |
| EP2068067A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Supporting tripod for articulated arm measuring machines |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
| CN101288955A (en) * | 2008-05-23 | 2008-10-22 | 浙江大学 | Tunable gravitational equilibrium mechanism |
| CN201189660Y (en) * | 2008-05-23 | 2009-02-04 | 浙江大学 | Adjustable gravitational equilibrium device |
| CN103335575A (en) * | 2009-11-06 | 2013-10-02 | 六边形度量衡股份公司 | Improved articulated arm |
| CN103185558A (en) * | 2011-11-18 | 2013-07-03 | 海克斯康计量公司 | Measuring device comprising an arm with a ratchet mechanism |
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| 柔性三坐标测量机的平衡机构;王春花 等;《组合机床与自动化加工技术》;20060530(第5期);59-61 * |
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| CN105547211A (en) | 2016-05-04 |
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