CN105987675B - Radial type measures arm and the method for using its measuring part - Google Patents
Radial type measures arm and the method for using its measuring part Download PDFInfo
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Abstract
Radial type measures arm and the method for using its measuring part.A method of for measuring arm (1) measuring part using radial type, articulated measurement arm (1), which has, is provided with the measuring head (9) for being directed toward component and at least one connector for being equipped at least one rotary encoder (12,13,14,15), it the described method comprises the following steps: focusing in the first measurement point on the part, the measurement arm (1) uses the first measurement position；Measurement arm (1) is moved to the second measurement position to focus in the second measurement point of the component, to capture the geometrical characteristic of the component based on these measurement points；Determine the capture accuracy of the geometrical characteristic carried out according to the first position and the second position of the measurement arm.Radial type measurement arm (1) is able to carry out according to the method for the present invention.
Description
Technical field
The present invention relates to coordinate metrology fields, and relate more specifically to three-dimensional measurement arm.
Background technique
Three-dimensional measurement machine is the measuring instrument used in Dimensions metrology, the measuring instrument be designed to capture to
The coordinate of the difference of measuring part, for example to check the size of the component, geometry (geometry) and/or shape
Consistency.
These machines generally include pedestal (base), are equipped with measurement arm on the base, have in the end of the measurement arm
Measuring head.Measurement arm generally includes the rigid portion for example linked together using the pivot and/or spherojoint that are provided with encoder
Section (segment), the movement of these encoder precise measurements these sections relative to each other.Measuring head has to be measured for capturing
Measure the device of the point on object.
There are two kinds of major type of measuring heads, they pass through with component contact or do not measure with component contact
To distinguish.For contact measurement head, measuring head has the probe (probe) with component contact.The capture of coordinate or automatic logical
The contact crossed between detection probe and parts surface is ordered, or by operator using order button (when probe and component
When desired region contacts, operator activates the order button) it orders.For non-cpntact measurement head, measuring head is passed comprising optics
Sensor (scanner), the optical sensor generally include: laser diode localizer (pointer) illuminates component to be measured
Surface zonule；And camera, reflected light is captured, by calculating emitted optical signal and by the surface of component to be measured
Delay between the optical signal of reflection obtains its range measurement.Can continuously or by operator using order button (when
When the desired region of sensor and component contacts, operator activates the order button) capture command is issued as needed.
When issuing capture command, the relative position for measuring the different sections of arm is saved in the place for linking to the measurement arm
In the memory for managing unit.The processing unit is set with the relative position of size, section based on section and measuring head information
Determine the coordinate for the measurement point being typically attached in the frame of reference of pedestal.Correctly handle these coordinates make it possible to obtain it is to be measured
Measure size, shape and the geometry of component.
The angular encoder (angular encoder) for being attached to the end of rigid section is such as point encoder.These are compiled
Code device usually has the circular slab for indicating several equidistant points, these equidistant points are all on single circle.During primary rotation,
Sensor (according to the property that these are put, can be Magnetic Sensor or optical sensor) in its counting unit front to what is passed through
The number of point is counted, and the amplitude of realized rotation is thus calculated.Measurement arm usually have there are four angular encoder:
Rotation around vertical axis of the first rigid section of the first encoder measurement measurement arm relative to rigid base；
Rotation around trunnion axis of the first rigid section of second encoder measurement measurement arm relative to rigid base；
First rigid portion of the second rigid section of third encoder measurement measurement arm relative to the measurement arm hinged with it
The rotation around trunnion axis of section；
4th encoder measures measuring head relative to its second rigid section for measuring arm being installed in around trunnion axis
Rotation.
In the presence of many factors for being easy to influence measurement accuracy, comprising:
End-play (play) and radial internal clearance in the axis of the bearing of arm connection；
The bending of the section of absolute rigidity is not provided；
The resolution ratio of each encoder.
The error generated by these different factors can with the amplitude of the movement of the different elements (element) of measurement arm and
Increase.In general, the change in location for constituting each of element (section, connector, encoder etc.) of arm is bigger, then measurement error
Negative effect it is bigger.
Therefore, it when being moved to another measurement point from a measurement point, will inaccurately be accumulated from active, from
And the determination of the coordinate of measurement point and it is therefore desirable for measurement geometrical characteristic (difference between such as measurement point) determination
Aspect causes overall inaccurate.
Summary of the invention
It is an object of the invention to increase precision related with using the arm capture coordinate of measurement point is measured.
For this purpose, providing a kind of method for using radial type (articulated) measurement arm measure component, institute
Stating radial type measurement arm has the measuring head and at least one rotary encoder for being provided with direction (pointing) component, the side
Method the following steps are included:
It focuses in the first measurement point on the part, the measurement arm uses the first measurement position；
The measurement arm is moved to the second measurement position to focus in the second measurement point of the component, to be based on
These measurement points capture the geometrical characteristic of the component；
Determine the accuracy of the capture carried out according to the first position and the second position of the measurement arm.
Therefore, the operator for measuring arm has information related with the precision for the measurement that they had carried out just now, so that he
Can adapt to them and how to be conceived to reduce this inaccurate move the measurement arm.
According to an advantageous embodiment, measurement method according to the present invention includes following additional step: will with really
The related indicator of fixed accuracy (indicator) is sent to the operator for being responsible for mobile articulated measurement arm.
The operator is then able to determine whether that it is necessary to re-start while changing the second measurement position of arm
Measurement, to obtain the capture accuracy for being greater than predetermined threshold.
According to another embodiment, according to the method for the present invention include following additional step: determining articulated survey
The second measurement position for leading to the capture accuracy greater than predetermined threshold of amount arm.
Once the movement is determined and is sent to operator, they just have the information that the information can be used for so that
Measurement can be re-started while traverse measurement arm to use identified position and reach desired accuracy.
The invention further relates to a kind of radial types to measure arm, and articulated measurement arm has measuring head and at least one rotation
Both encoder, the measuring head and at least one described rotary encoder are linked to processing unit, the processing unit quilt
It is arranged for realizing method described above.
Detailed description of the invention
Referring to attached drawing, in which:
Fig. 1 is the schematic perspective view for realizing the measurement arm of first embodiment according to the method for the present invention；
Fig. 2 is measurement arm the step of first embodiment according to the method for the present invention is after the step in Fig. 1
The schematic perspective view of period；
The flow chart for the step of Fig. 3 is first embodiment according to the method for the present invention；
Fig. 4 is the schematic perspective view for realizing the measurement arm of second embodiment according to the method for the present invention；
Fig. 5 is measurement arm the step of second embodiment according to the method for the present invention is after the step in Fig. 4
The schematic perspective view of period；
The flow chart for the step of Fig. 6 is second embodiment according to the method for the present invention.
Specific embodiment
Referring to Fig.1, articulated jib (generally by 1 instruction) according to the present invention includes fixed pedestal 2, and the fixed pedestal 2 is attached
It is connected to support component (such as platform or ground) and supports vertical axis 3, be rotatably mounted bearing 4 on the vertical axis 3.First arm
The first end of section 5 is hinged by horizontal axis chaining part (link) 6 and bearing 4.The second end of first arm section 5 connects
Receive (receive) second arm section 7, second arm section 7 is hinged around horizontal axis 8 at one in its end.Measurement
Localizer head 9 (being the head with probe 11 in this case) is received in another end of second section 7 of arm 1, the localizer
First 9 is also hinged around horizontal axis 10.In this case, measurement arm 1 is manual arm, because it is by moving the behaviour of localizer head 9
Author moves and its connector is not motor-driven.Vertical axis 3 and each arm section 5 and 7 be respectively provided with stiffness K 3, K5 and
K7, these rigidity are to establish when design measures arm and be verified using the measurement carried out during the manufacture of measurement arm 1.
Bearing 4 and pivot 6,8 and 10 are respectively arranged with absolute optical rotary encoder 12,13,14 and 15, the absolute light
It learns rotary encoder 12,13,14 and 15 and measures rotational angle θ in each of the connector of measurement arm 1 respectively12、θ13、θ14And θ15。
These encoders are linked to processing unit 16, and it (is screen in this case which, which is linked to display device in turn,
17).16 reception value θ of processing unit12、θ13、θ14And θ15, and size, the size of vertical axis 3 based on measurement arm section 5 and 7
And the size of the distance between end of the end of probe 11 and arm section 7 come determine captured measurement point be connected to it is solid
Determine the coordinate in the orthogonal coordinate system Oxyz of pedestal 2.Using the coordinate of several points, processing unit 16 calculates these measurement points
The distance between and/or measured component geometry.Bearing 4 and pivot 6,8 and 10 have at least one articulated shaft
Line, wherein during manufacture determine and calibrate corresponding end-play and radial internal clearance Jax6/Jrad6, Jax8/Jrad8 and
Jax10/Jrad10。
Referring to figs. 1 to Fig. 3, describing in applying below according to the method for the present invention: it is flat that measurement arm 1 is used by capture
The coordinate of eight vertex A, B, C, D, E, F, G and H of row hexahedron component 20 execute the size of the parallelepiped component 20
It checks.According to the first step 30 of measurement method according to the present invention, operator's traverse measurement arm 1, so that the end of probe 11
It is contacted with vertex A.Measurement arm is then in Fig. 2 the first measurement position of the position for the point A for making to be shown in broken lines.Pass through actuating
The order button installed on localizer head 9 verifies the capture of the position.Then, the position of point A is stored in by processing unit 16
The value θ of the encoder of the connector of measurement arm 1 is attached to during the capture set12A、θ13A、θ14AAnd θ15A.Then, operator will measure
Arm 1 is moved to the second measurement position to focus on (step 31) on the second point B of component 20.It is shown in Fig. 2 using solid line
Measure second measurement position of arm 1.During the movement, operator has changed the axis 3 and section 5,7 and 9 for measuring arm 1
Relative position, these relative positions correspond to the value θ for the encoder being attached on the connector of measurement arm 112B、θ13B、θ14BAnd θ15B。
These value (steps 32) are saved during the verifying of the focusing of the position of point B by processing unit 16.During step 33, processing is single
Member 16 for arm 1 each measurement positions calculated according to axis 3 and the respective stiffness K 3 of section 5 and 7, K5 and K7 axis 3 and
The geometry caused by its bending of section 5 and 7.Processing unit 16 also calculates the end-play and diameter of connector 6,8 and 10
The rotation amplitude of influence and encoder 12 to 15 to clearance Jax6/Jrad6, Jax8/Jrad8 and Jax10/Jrad10 is directed to
Influence of each of the measurement position to the position of measurement arm.
Execute the calculating using the finite element model 17 for each element for constituting measurement arm 1, the measurement arm 1 include axis 3,
Section 5 and 7, connector 6,8 and 10 and encoder 12 to 15.Processing unit 16 uses the value θ of these encoders12A、θ13A、θ14A、
θ15AAnd θ12B、θ13B、θ14B、θ15BCome to measurement arm 1 the first measurement position and the second measurement position emulate, and by institute
Range measurements (measurement) AB of acquisition is with the perfect theoretical model from measurement arm 1 (that is, by the member of infinitely rigid
Part the is constituted and wherein measurement arm of the not clearance of the resolution constant of encoder) range measurements that obtain are compared
Compared with.Then, processing unit 16 calculates the measurement result of the corresponding distance AB of the difference between perfect model and simulation model
Accuracy (step 34).Then, idsplay order is sent finger relevant to the accuracy of the measurement carried out by processing unit 16
Show the 17 (step 35) of screen of device.The indicator can be with it is every in axis Ox, Oy and Oz along orthogonal coordinate system Oxyz
The numerical value (percentage) of the accuracy of the numerical value (percentage) or measured distance of a relevant accuracy of measurement.Optionally
Ground, the testing indicator without touching in the form of colour signal (such as green or red) or verifying buzzer enable the operator to determine
In the range of particular requirement as defined in whether the accuracy of the measurement carried out is prior in meeting processing unit.According to it is additional
Step 36 and 37 corresponding particular implementations, processing unit 16 analyze the position of captured point A and B and determine measurement arm 1
The second measurement position corresponding with the capture of point B, which leads to the accuracy or very more than predetermined threshold
To maximum accuracy.The position is determined using the repetition in emulation 17 by processing unit 16, which causes to measure arm 1
The determination of second measurement position, for second measurement position, the accuracy of the capture of distance AB is optimal or is greater than predetermined
It is horizontal.
According to another embodiment and referring to fig. 4 to fig. 6, measures arm 1 and be used by capture parallelepiped component
The coordinate of 40 eight vertex A, B, C, D, E, F, G and H execute the dimensional gaughing of the parallelepiped component 40.In the implementation
In mode, the theoretical position of these point A to H is known.Dimensional gaughing of the embodiment for example corresponding to product component 40.
Before the dimensional gaughing of component 40, operator's notifier processes unit 16 they will start to check the 40 (step of known elements
50).Once capture the position of the first point A, then processing unit 16 determined that measurement arm 1 from measurement arm 1 current location to
Path (the step 51) of the second measurement point (being point B in this case) of the maximum acquisition accuracy of offer to be captured.Then, it handles
Unit 16 sends display 17 so that operator pays attention to (step 52) for move.In this case, these instructions are to survey
Arm 1 is measured in the three dimensional representation of the second measurement position determined by processing unit 16.It is current at it that screen 17 also shows measurement arm 1
The three dimensional representation of position.Then, operator needs to put together the two expressions.Such case is shown in FIG. 4.
Once operator has focused point B (step 53), then processing unit 16 has determined that measurement arm 1 from its current location
(point B) measures the position (step 54) of inaccurate third measurement point (being point C in this case) to offer minimum, and then
Three dimensional representation (the step 55) of the position is shown on screen 17.Such case is shown in FIG. 6.By multiple as needed
Repeat step 53 and execute to 55 the operation for the position for capturing other point D to H.
Which constitute the methods of the capture for improving measurement point, wherein increases and measures arm capture with by radial type
The relevant accuracy of the coordinate of measurement point.
Certainly, the present invention is not limited to described embodiments, but cover all changes fallen within the scope of the present invention
Type, as being defined by the claims.
Specifically:
Although measurement arm is placed on fixed pedestal in this case, removable the present disclosure applies equally to be linked to
The measurement arm of pedestal；
Although measurement arm has probe measuring head in this case, the present disclosure applies equally to other types of measurements
Head (such as optical sensor measuring head)；
Although the move of arm in this case corresponds to the three dimensional representation of the position of the end of probe, of the invention
Be equally applicable to it is other types of indicate (each of element of such as arm along three axis continuously move substantially or connector
In each of move substantially).
Claims (6)
1. one kind includes: for the method using radial type measurement arm (1) measuring part, articulated measurement arm (1)
Vertical axis (3) is supported on pedestal (2), and is rotatably mounted with bearing (4) thereon；
First arm section (5) passes through the first connector (6) with first end and the second end, and in the first end
It is hinged with the bearing (4)；
Second arm section (7) passes through the second connector (8) with third end and the 4th end, and in the third end
It is hinged with the second end of first arm section (5)；
Measuring head (9), it is hinged by third connector (10) and the 4th end of second arm section (7),
Wherein, the bearing (4), first connector (6), second connector (8) and the third connector (10) difference
Equipped with the first rotary encoder (12), the second rotary encoder (13), third rotary encoder (14) and the 4th rotary coding
Device (15), with each to the bearing (4), first connector (6), second connector (8) and the third connector (10)
From rotational angle measure,
It the described method comprises the following steps:
Articulated measurement arm (1) is set to be in the first measurement position to focus in the first measurement point on the part, from
And obtain the first measured value of each rotary encoder (12,13,14,15)；
Articulated measurement arm (1) is moved to the second measurement position to focus in the second measurement point of the component, from
And obtain the second measured value of each rotary encoder (12,13,14,15)；
First measured value and second measured value based on each rotary encoder (12,13,14,15) use composition institute
The finite element model for stating each element of radial type measurement arm (1) to measure position to described the first of articulated measurement arm (1)
It sets and is emulated with second measurement position, thus derive the first value of the geometrical characteristic of the component, the finite element mould
Type considers following factor: the bending of the vertical axis (3), first arm section (5) and second arm section (7),
The end-play of each connector (6,8,10) and the resolution ratio of radial internal clearance and each rotary encoder (12,13,14,15)；
First measured value and second measured value based on each rotary encoder (12,13,14,15) are managed using perfection
Articulated first measurement position for measuring arm (1) and second measurement position are emulated by model, from
And derive the second value of the geometrical characteristic of the component, which considers following factor: constituting described hinged
Each element that formula measures arm (1) is infinitely rigid, and each connector (6,8,10) does not have end-play and radial internal clearance, and each
The resolution ratio of a rotary encoder (12,13,14,15) is constant；
The difference between first value of the geometrical characteristic and the second value is calculated, to determine the accuracy of measurement.
2. according to the method described in claim 1, the method includes following additional steps: will have with the accuracy of the measurement
The indicator of pass is sent to the operator for being responsible for mobile articulated measurement arm (1).
3. according to the method described in claim 2, wherein, the indicator related with the accuracy of the measurement includes following
One in signal: color lamp, numerical value, vibration, audio signal.
4. according to the method described in claim 1, the method includes following additional steps: determining articulated measurement arm
(1) the second measurement position for leading to the capture accuracy greater than predetermined threshold.
5. according to the method described in claim 2, wherein, once it is surveyed between the two o'clock known to theoretical relative position
Amount, is just supplied to the operator for move, enables to determine that articulated measurement arm (1) is surveyed described first
The path of the maximum capture accuracy of the coordinate of these measurement points is provided between amount point and second measurement point.
6. a kind of radial type measures arm (1), articulated measurement arm (1) includes:
Vertical axis (3) is supported on pedestal (2), and is rotatably mounted with bearing (4) thereon；
First arm section (5) passes through the first connector (6) with first end and the second end, and in the first end
It is hinged with the bearing (4)；
Second arm section (7) passes through the second connector (8) with third end and the 4th end, and in the third end
It is hinged with the second end of first arm section (5)；
Measuring head (9), it is hinged by third connector (10) and the 4th end of second arm section (7),
Wherein, the bearing (4), first connector (6), second connector (8) and the third connector (10) difference
Equipped with the first rotary encoder (12), the second rotary encoder (13), third rotary encoder (14) and the 4th rotary coding
Device (15), with each to the bearing (4), first connector (6), second connector (8) and the third connector (10)
From rotational angle measure,
And wherein, the measuring head (9) and first rotary encoder (12), second rotary encoder (13), institute
It states third rotary encoder (14) and the 4th rotary encoder (15) is linked to processing unit (16),
It is characterized in that, the processing unit (16) is arranged for, articulated measurement arm (1) is made to be respectively at first
To obtain in the first measurement point and the second measurement point of measurement position and the second measurement position to focus on component to be measured
In the case where the first measured value and the second measured value of each rotary encoder (12,13,14,15), following operation is executed:
First measured value and second measured value based on each rotary encoder (12,13,14,15) use composition institute
The finite element model for stating each element of radial type measurement arm (1) to measure position to described the first of articulated measurement arm (1)
It sets and is emulated with second measurement position, thus derive the first value of the geometrical characteristic of the component, the finite element mould
Type considers following factor: the bending of the vertical axis (3), first arm section (5) and second arm section (7),
The end-play of each connector (6,8,10) and the resolution ratio of radial internal clearance and each rotary encoder (12,13,14,15)；
First measured value and second measured value based on each rotary encoder (12,13,14,15) are managed using perfection
Articulated first measurement position for measuring arm (1) and second measurement position are emulated by model, from
And derive the second value of the geometrical characteristic of the component, which considers following factor: constituting described hinged
Each element that formula measures arm (1) is infinitely rigid, and each connector (6,8,10) does not have end-play and radial internal clearance, and each
The resolution ratio of a rotary encoder (12,13,14,15) is constant；
The difference between first value of the geometrical characteristic and the second value is calculated, to determine the accuracy of measurement.
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