CN106840071A - A kind of joint arm measuring machine and its reconstructing method - Google Patents
A kind of joint arm measuring machine and its reconstructing method Download PDFInfo
- Publication number
- CN106840071A CN106840071A CN201710130731.1A CN201710130731A CN106840071A CN 106840071 A CN106840071 A CN 106840071A CN 201710130731 A CN201710130731 A CN 201710130731A CN 106840071 A CN106840071 A CN 106840071A
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- joint
- pedestal
- arm
- measurement
- locking
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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
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a kind of joint arm measuring machine, including pedestal, revolute joint, swinging joint, pedestal measurement arm, non-pedestal measurement arm, gauge head unit, retaining ring, control computer, the pedestal is provided with magnetic force connector, magnetic force connector is made up of magnetic force recess and magnetic force tang, pedestal measurement arm, revolute joint, swinging joint are provided with locking connector, and locking connector is made up of locking recess and locking tang.Joint arm measuring machine reconstructing method disclosed in this invention, certainty of measurement is improved using the method for becoming measurement space and variable freedom, concrete methods of realizing is to realize that joint arm measuring machine measurement arm lengths and joint number are variable by the way of reconstruct, according to the geometrical feature of measured workpiece during measurement, selection meets workpiece calibration individual demand, less redundant measurement space scheme, improves Measurement Resolution and certainty of measurement.
Description
Technical field
The invention belongs to fields of measurement, and in particular to a kind of joint arm measuring machine and its reconstructing method.
Background technology
Articulated arm coordinate measuring machine is a kind of new nonopiate coordinate measuring system, with traditional orthogonal coordinates measuring machine phase
Than, with simple structure, small volume, big, flexible to operation lightweight, measurement range, low cost, can at the scene or field survey
The features such as amount, mold design, the measurement of part reverse-engineering, the assembling of product quality on-line checking, equipment it have been applied to widely
With maintenance etc. field.
But the certainty of measurement of articulated arm coordinate measuring machine will low both be logical compared with traditional orthogonal coordinates measuring machine
One or two order of magnitude is often differed, causes it to use scope to be subject to more serious limitation.Trace it to its cause, the free degree is big, joint number
Mesh is more, tandem-in-space structure the features such as, the error of its structural parameters can be accumulated and amplified in the process, cause its precision not
It is high.In addition, when measuring small size part using articulated arm coordinate measuring machine, its measurement space is often bigger than tested part to be obtained
It is many, the waste that measurement space is larger is caused, have lost certainty of measurement.Therefore, how to improve the survey of articulated arm coordinate measuring machine
Accuracy of measurement turns into the focus and focus of research.Why certainty of measurement is not high for articulated arm coordinate measuring machine, it is main by three because
Element restriction：1st, the tandem-in-space mechanical structure of itself, can be by the measurement error of the structure between the preceding level structure joint and pedestal
Outer corner measurement error, rod length error etc. are amplified step by step；2nd, measurement space is larger and size is fixed, cause in the measurements, small workpiece
When, there is more measurement range to waste measurement space redundancy and have lost Measurement Resolution and certainty of measurement；3rd, joint number and
Number of degrees of freedom, is more.Joint number is more, then Measuring origin is more, and certainty of measurement is lower.
The content of the invention
For the problem of existing constrained joint arm coordinate measuring machine certainty of measurement, the present invention proposes a kind of joint arm
Measuring machine and its reconstructing method, certainty of measurement is improved using the method for becoming measurement space and variable freedom, and concrete methods of realizing is
Realize that articulated arm coordinate measuring machine measurement arm lengths and joint number are variable by the way of reconstruct, according to measured during measurement
The geometrical feature of workpiece, selection meets workpiece calibration individual demand, less redundant measurement space scheme, improves measurement point
Resolution and certainty of measurement.
A kind of joint arm measuring machine, including pedestal, revolute joint, swinging joint, pedestal measurement arm, non-pedestal
Measurement arm, gauge head unit, retaining ring, control computer, the pedestal are provided with magnetic force connector, and magnetic force connector is by magnetic
Power recess and magnetic force tang are constituted, and pedestal measurement arm, revolute joint, swinging joint are provided with locking connector, lock connector
It is made up of locking recess and locking tang.
Further, a magnetic switch is additionally provided with the pedestal, the presence or absence of magnetic force on control magnetic force interface.
Further, the locking recess is arranged on one end that pedestal measures arm, and non-pedestal measures the two ends of arm,
One end of revolute joint, one end of gauge head unit.
Further, the locking tang is arranged on the two ends of the other end and swinging joint of revolute joint.
When performing measurement task, the size of first spatial degrees of freedom and measurement space according to needed for measurement task, it is determined that
Required revolute joint, swinging joint, the model and quantity of measurement arm, then select corresponding part.Then by quick
Connector, magnetic switch, retaining ring connect into pedestal, gauge head unit and selected revolute joint, swinging joint, measurement arm
Complete articulated arm coordinate measuring machine.
A kind of reconstructing method for building above-mentioned joint arm measuring machine, comprises the following steps：
Step 1, by pedestal and pedestal measurement arm be attached by magnetic force connector, open magnetic switch, completion pedestal and base
The connection of seat measurement arm；
Step 2, by the locking tang on revolute joint and pedestal measurement arm on locking recess be attached, then with one lock
Tight ring locks interface；
Step 3, the locking recess on the locking tang and revolute joint in swinging joint is attached, then with a locking
Ring locks interface；
Step 4, by non-pedestal measure arm on locking recess and swinging joint on locking tang be attached, then with one
Retaining ring locks interface；
Step 5, the number according to the wanted free degree, repeat step 2-4；
Step 6, the locking tang on the locking recess and swinging joint on gauge head unit is coordinated, then with a locking
Also interface is locked；
Step 7, by measuring machine and control calculate be connected after just constitute complete measuring system.
Beneficial effect
Joint arm measuring machine reconstructing method proposed by the invention, can be in measurement process, according to the geometry of measured workpiece
Feature, is removed or assembled joint by quick, the change of the number of degrees of freedom, of measuring machine is realized, by the measurement for selecting different length
Arm, realizes the change of the measurement space of measuring machine, solve big measurement space, multiple degrees of freedom and high-resolution, high measurement accuracy it
Between contradiction, while having very strong measurement adaptability.
Brief description of the drawings
Fig. 1 builds block diagram needed for joint arm measuring machine；
Fig. 2 completes the joint arm measuring machine schematic diagram of reconstruct；
1st, pedestal, 2, revolute joint, 3, swinging joint, 4, pedestal measurement arm, 5, non-pedestal measurement arm, 6, retaining ring, 7, gauge head
Device, 8, control computer.
Specific embodiment
A kind of joint arm measuring machine, including pedestal, revolute joint, swinging joint, pedestal measurement arm, non-pedestal measurement arm,
Survey
Head device, retaining ring, control computer, the pedestal are provided with magnetic force connector, magnetic force connector by magnetic force recess and
Magnetic force tang is constituted, and pedestal measurement arm, revolute joint, swinging joint are provided with locking connector, and locking connector is recessed by locking
Mouth and locking tang composition.
A magnetic switch is additionally provided with the pedestal, the presence or absence of magnetic force on control magnetic force interface.The locking recess sets
Put in pedestal
One end of arm is measured, non-pedestal measures the two ends of arm, one end of revolute joint, one end of gauge head unit.The locking is convex
Mouth is arranged on the other end of revolute joint and the two ends of swinging joint.
When performing measurement task, the size of first spatial degrees of freedom and measurement space according to needed for measurement task determines institute
Revolute joint, swinging joint, the model and quantity of measurement arm are needed, corresponding part is then selected.Then by quick connector,
Magnetic switch, retaining ring connect into pedestal, gauge head unit with selected revolute joint, swinging joint, measurement arm complete
Articulated arm coordinate measuring machine.
Below by taking one articulated arm coordinate measuring machine of six degree of freedom of quick reconfiguration as an example, to reconstructing method of the invention
Further specifically described.
As shown in Figure 1, pedestal one, revolute joint three, swinging joint three, pedestal are chosen in the part of measuring machine
One, arm of measurement, two, arm of non-pedestal measurement, gauge head unit one, locking also six, control computer one.
Reconstruction step is as follows：
Step 1, by pedestal 1 and pedestal measurement arm 4 coordinated by magnetic force connecting interface, open magnetic switch, completion pedestal
With the connection that pedestal measures arm；
Step 2, one revolute joint 2 of selection, the locking recess on the locking tang on revolute joint and pedestal measurement arm 4 is entered
Row connection, is then locked interface by retaining ring 6；
Step 3, one swinging joint 3 of selection, the locking tang in swinging joint is carried out with the locking recess on revolute joint 2
Connection, is then locked interface by retaining ring 6；
Step 4, the non-pedestal measurement arm 5 of selection one, non-pedestal is measured the locking in locking recess and the swinging joint 3 on arm
Tang is attached, and is then locked interface by retaining ring 6；
Step 5, again one revolute joint 2 of selection, by the locking on the locking tang on revolute joint and non-pedestal measurement arm 5
Recess is attached, and is then locked interface by retaining ring 6；
Step 6, again one swinging joint 3 of selection, by the locking recess on the locking tang and revolute joint 2 in swinging joint
It is attached, is then locked 6 interfaces by retaining ring；
The non-pedestal measurement arm 5 of step 7, again selection one, non-pedestal is measured in locking recess and the swinging joint 3 on arm
Locking tang is attached, and is then locked interface by retaining ring 6；
Step 8, one revolute joint 2 of selection, by the locking recess on the locking tang on revolute joint and non-pedestal measurement arm 5
It is attached, is then locked interface by retaining ring 6；
Step 9, third time choose a swinging joint 3, and the locking tang in swinging joint is recessed with locking on revolute joint 2
Mouth is attached, and is then locked interface by retaining ring 6；
Step 10, selection gauge head unit 7, the locking recess on gauge head unit and the locking tang in swinging joint 3 are connected
Connect, then locked interface by retaining ring 6；
Step 11, the measuring machine after reconstruct is connected with control computer 8 after just constitute complete measuring system.
The six degree of freedom articulated arm coordinate measuring machine of quick reconfiguration is as shown in Figure 2.
When not performing measurement work, the separable storage of critical piece of measuring machine.In measurement process, when the measurement free degree
When not enough, retaining ring can be opened, revolute joint or swinging joint are inserted when the measurement free degree by quick connecting interface immediately
When excessive, retaining ring can be opened, by quick connecting interface, unnecessary revolute joint or swinging joint be removed immediately.Work as survey
When the measurement space of amount machine is not big enough, magnetic switch or retaining ring can be opened, it is suitable by quick connecting interface instantaneously changing
Measurement of length arm can open magnetic switch or retaining ring when the measurement space of measuring machine is excessive, by quickly connecing
The measurement arm of mouth instantaneously changing appropriate length.
Above-mentioned described specific embodiment is only the preferable examples explanation done to design of the invention.It is all this
Any modification made within the spirit and principle of invention or supplement or equivalent substitute, should be included in the claims in the present invention
Within protection domain.
Claims (5)
1. a kind of joint arm measuring machine, including pedestal, revolute joint, swinging joint, pedestal measurement arm, non-pedestal measurement arm, survey
Head device, retaining ring, control computer, it is characterised in that：The pedestal is provided with magnetic force connector, and magnetic force connector is by magnetic force
Recess and magnetic force tang are constituted, and pedestal measurement arm, revolute joint, swinging joint are provided with locking connector, locking connector by
Locking recess and locking tang composition.
2. joint arm measuring machine according to claim 1, it is characterised in that：A magnetic force is additionally provided with the pedestal to open
Close, the presence or absence of magnetic force on control magnetic force interface.
3. joint arm measuring machine according to claim 1, it is characterised in that：The locking recess is arranged on pedestal measurement arm
One end, non-pedestal measures the two ends of arm, one end of revolute joint, one end of gauge head unit.
4. joint arm measuring machine according to claim 1, it is characterised in that：The locking tang is arranged on revolute joint
The two ends of the other end and swinging joint.
5. a kind of reconstructing method for building joint arm measuring machine as claimed in claim 1, it is characterised in that following steps：
Step 1, by pedestal and pedestal measurement arm be attached by magnetic force connector, open magnetic switch, completion pedestal and base
The connection of seat measurement arm；
Step 2, by the locking tang on revolute joint and pedestal measurement arm on locking recess be attached, then with one lock
Tight ring locks interface；
Step 3, the locking recess on the locking tang and revolute joint in swinging joint is attached, then with a locking
Ring locks interface；
Step 4, by non-pedestal measure arm on locking recess and swinging joint on locking tang be attached, then with one
Retaining ring locks interface；
Step 5, the number according to the wanted free degree, repeat step 2-4；
Step 6, the locking tang on the locking recess and swinging joint on gauge head unit is coordinated, then with a locking
Also interface is locked；
Step 7, by measuring machine and control calculate be connected after just constitute complete measuring system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130731.1A CN106840071A (en) | 2017-03-07 | 2017-03-07 | A kind of joint arm measuring machine and its reconstructing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130731.1A CN106840071A (en) | 2017-03-07 | 2017-03-07 | A kind of joint arm measuring machine and its reconstructing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106840071A true CN106840071A (en) | 2017-06-13 |
Family
ID=59137493
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710130731.1A Pending CN106840071A (en) | 2017-03-07 | 2017-03-07 | A kind of joint arm measuring machine and its reconstructing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300373A (en) * | 2017-08-21 | 2017-10-27 | 泰安华鲁锻压机床有限公司 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
| CN111060051A (en) * | 2020-01-07 | 2020-04-24 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806574A (en) * | 2010-04-23 | 2010-08-18 | 浙江大学 | Restructurable joint arm type coordinate measurer |
| CN101871774A (en) * | 2010-06-08 | 2010-10-27 | 浙江大学 | Variable rod length articulated arm type coordinate measuring machine |
| CN201653317U (en) * | 2010-04-23 | 2010-11-24 | 浙江大学 | Reconfigurable articulated arm type coordinate measuring machine |
| CN202304780U (en) * | 2011-09-29 | 2012-07-04 | 浙江吉利汽车研究院有限公司 | Joint arm measuring engine base |
| CN104655066A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Joint arm measuring machine |
-
2017
- 2017-03-07 CN CN201710130731.1A patent/CN106840071A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806574A (en) * | 2010-04-23 | 2010-08-18 | 浙江大学 | Restructurable joint arm type coordinate measurer |
| CN201653317U (en) * | 2010-04-23 | 2010-11-24 | 浙江大学 | Reconfigurable articulated arm type coordinate measuring machine |
| CN101871774A (en) * | 2010-06-08 | 2010-10-27 | 浙江大学 | Variable rod length articulated arm type coordinate measuring machine |
| CN202304780U (en) * | 2011-09-29 | 2012-07-04 | 浙江吉利汽车研究院有限公司 | Joint arm measuring engine base |
| CN104655066A (en) * | 2015-02-05 | 2015-05-27 | 柳州如洋精密科技有限公司 | Joint arm measuring machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300373A (en) * | 2017-08-21 | 2017-10-27 | 泰安华鲁锻压机床有限公司 | Complex-curved measurement apparatus based on six degree of freedom auxiliary robot |
| CN111060051A (en) * | 2020-01-07 | 2020-04-24 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
| CN111060051B (en) * | 2020-01-07 | 2021-04-30 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
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Application publication date: 20170613 |