CN109373900A - A kind of articulated arm coordinate measuring machine from driving - Google Patents
A kind of articulated arm coordinate measuring machine from driving Download PDFInfo
- Publication number
- CN109373900A CN109373900A CN201811462735.0A CN201811462735A CN109373900A CN 109373900 A CN109373900 A CN 109373900A CN 201811462735 A CN201811462735 A CN 201811462735A CN 109373900 A CN109373900 A CN 109373900A
- Authority
- CN
- China
- Prior art keywords
- joint
- measuring machine
- driving
- coordinate measuring
- swinging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention relates to articulated arm coordinate measuring machine technical field, specifically a kind of articulated arm coordinate measuring machine from driving.By pedestal, 3, from driving revolute joint, 3 self-powered movable pendulum movable joint and 3 sections of joint arms and constant force triggering gauge head composition, are fitted with Circular gratings from inside driving revolute joint and 3 self-powered movable pendulum movable joint at 3 and measure to joint rotation angle the measuring machine.The present invention uses the self-drive articulation driving measuring machine with servo motor to carry out on-line automatic measurement to the workpiece on production line, and this on-line automatic measurement pattern is high-efficient compared to traditional joint arm measuring machine, and it is good to measure stability.
Description
Technical field
The present invention relates to articulated arm coordinate measuring machine technical field, specifically a kind of articulated arm coordinate measurement from driving
Machine.
Background technique
The current technology of articulated arm coordinate measuring machine is mature, forms certain application field.But manual measurement and band
Different measuring forces, the velocity and acceleration come, the problems such as causing measurement result there are reliability and poor repdocutbilities.And off-line measurement
The measurement efficiency of model is low, can not apply and carry out on-line automatic measurement on production line or lathe.
Summary of the invention
The present invention devises a kind of articulated arm coordinate measuring machine from driving, coordinate measuring machine can be made to be applied to lathe etc. raw
On-line automatic measurement in producing line.
The present invention solves technical problem and adopts the following technical scheme that
The present invention is a kind of articulated arm coordinate measuring machine from driving, which is closed by pedestal, 3 from driving revolution
Section, 3 self-powered movable pendulum movable joint, 3 sections of joint arms and constant force triggering gauge head composition, drive revolute joint and 3 self-powereds at 3 certainly
High accuracy circular grating is fitted with inside movable pendulum movable joint to measure joint rotation angle.Wherein, 3 sections of joint arms, gauge head and base
In the same plane, when 3 joint arms and pedestal are all mutually 180 degree angle, all axis are all the same as always for the axis of seat
On line.Gauge head is connected with the first joint arm, and the first joint arm is connected by the first self-powered movable pendulum movable joint with second joint arm；The
Two joint arms are connected by the second self-powered movable pendulum movable joint with third joint arm；Third joint arm is closed by the way that third self-powered movable pendulum is dynamic
Section is connected with pedestal.Second joint arm, third joint arm and base interior respectively have a driving revolute joint certainly.
Joint arm is small using density, rigidity is big, the very small carbon fibre material of thermal deformation, and joint shaft selects carbon steel
High-accuracy shaft, articular shell select lighter weight aluminium alloy.Each piece housing of joint arm is all made of special processing method
It is process, crucial complicated size in strict guarantee design drawing, it is ensured that final complete machine uniform stressed.
There is the transmission shaft rotation of motor reducer driving intra articular from the inside of driving revolution and swinging joint.Joint
The angle turned over is measured by being mounted on the Circular gratings of intra articular, and the conversion for the spatial position to gauge head calculates.
Since designed articulated arm coordinate measuring machine load is small, installation weight is light, therefore preceding several drivings of measuring machine are closed
Section driving selects the super flat series of harmonics retarder of greenery patches LCD, grating to select Reinshaw using Panasonic's servo motor, retarder
The small-sized grating of ATOM series triggers gauge head using Reinshaw TP200 constant force.
The grating disc of Circular gratings is mounted on articulation part, and reading head is mounted on the part of arthrodesis；Joint passes through
Motor rotational angle is transferred to next stage by high-precision transmission shaft and precision bearing；The screw thread that the gauge head of trigger-type passes through itself
It is rigidly connected with measurement arm.
The utility model has the advantages that
1, every section of joint arm axis of self-drive articulation arm coordinate measuring machine of the invention and base axis are all located at same
In plane, the rotary inertia of device can be effectively reduced, improves precision.The joint housing aluminium alloy of every section of joint arm, middle section
Using carbon fiber, it ensure that the rigidity of device while mitigating quality, improve the precision of entire measuring system.2, it is closed in rotation
Make to drive certainly as the precise measurement for driving, and installing high-precision Circular gratings realization joint rotation angle plus servo motor in section and close
On-line automatic measurement of the joint arm measurement of coordinates function on the production line of various complex parts.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the overall structure stereoscopic schematic diagram of self-drive articulation arm coordinate measuring machine；
Fig. 2 is the main view of Fig. 1；
Fig. 3 is the overall structure main view that self-drive articulation arm coordinate measuring machine is fully deployed；
Fig. 4 is the overall structure left view that self-drive articulation arm coordinate measuring machine is fully deployed；
Fig. 5 is self-drive articulation arm coordinate measuring machine the first joint arm fragmentary front view；
Fig. 6 is the first joint of self-drive articulation arm coordinate measuring machine arm section explosive view；
Fig. 7 is self-drive articulation arm coordinate measuring machine second joint arm section main view；
Fig. 8 is self-drive articulation arm coordinate measuring machine second joint arm section explosive view；
Fig. 9 is self-drive articulation arm coordinate measuring machine third joint arm fragmentary front view；
Figure 10 is self-drive articulation arm coordinate measuring machine third joint arm section explosive view；
Figure 11 is 3/4 cross-sectional view of self-drive articulation arm coordinate measuring machine third section joint the second revolute joint component；
Figure 12 is self-drive articulation arm coordinate measuring machine base part main view；
Figure 13 is self-drive articulation arm coordinate measuring machine base part explosive view.
In figure: 1, touch trigger probe；2, gauge head connector；3, the first joint arm；4, M14 locking nut；5, it first swings
Joint transmission disk；6, ATOM50mm grating disc；7, ATOM reading head；8, M16 locking nut；9, S7003 precision bearing；10,
One swinging joint arm；11, bearing mounting disc；12, the first swinging joint transmission shaft；13, S7003 precision bearing；14, M16 is locked
Nut；15, LCD-14-C-1 retarder；16, the first revolute joint arm；17, MHMF5AZL1A2 servo motor；18,
MDMF202L1C5 servo motor；19, the second revolute joint arm；20, LCD-17-C-1-ST retarder；21, shaft coupling；22,
Two swinging joint transmission shafts；23,6004 precision bearing；24, bearing mounting disc；25,6004 precision bearing；26,61912 accurate axis
It holds；27, M18 locking nut；28, ATOM reading head；29, ATOM68mm grating disc；30, M16 locking nut；31, M14 locking screw
It is female；32, the second swinging joint arm；33, MHMF5AZL1A2 servo motor；34, motor fixing plate；35, LCD-17-C-1-ST subtracts
Fast device；36, shaft coupling；37, the first revolute joint transmission shaft；38,16003 precision bearing；39, end ring；40, bearing is installed
Disk；41,16003 precision bearing；42,61909 precision bearing；43, M14 locking nut；44, ATOM reading head；45,ATOM50mm
Grating；46, M14 locking nut；47, the first revolute joint drive plate；48, second joint arm；49, third joint arm；50,M14
Locking nut；51, the second revolute joint drive plate；52, M16 locking nut；53, ATOM68mm grating；54, ATOM reading head；
55, M18 locking nut；56,61912 precision bearing；57,6004 precision bearing；58, bearing mounting disc；59,6004 accurate axis
It holds；60, the second revolute joint transmission shaft；61, shaft coupling；62, LCD-17-C-1 retarder；63, motor fixing plate；64,
MDMF202L1C5 servo motor；65, M22 locking nut；66, third swinging joint arm；67, ATOM108mm grating；68,ATOM
Reading head；69, M24 locking nut；70,6306 precision bearing；71,6017 precision bearing；72, bearing mounting disc；73,6306 essence
Close bearing；74, third swinging joint transmission shaft；75, shaft coupling；76, LCSG-32-C-1 retarder；77, third revolute joint
Arm；78, MHMF082L33N servo motor；79, RESA115mm grating disc；80, VIONIC grating reading head；81,6201 is accurate
Bearing；82, S7210 precision bearing；83, bearing mounting disc；84, S7210 precision bearing；85, third revolute joint transmission shaft；
86, shaft coupling；87, LCG-40-C-1 retarder；88, base mast；89, MHMF082L33N motor；90, pedestal.
Specific embodiment
Self-drive articulation arm coordinate measuring machine is by gauge head, the first joint arm, second joint arm, third joint arm, pedestal group
At.
Touch trigger probe 1 is fixed on gauge head connector 2 by the screw thread of itself, and gauge head connector 2 passes through first
Joint arm 3 and the first swinging joint arm 10 form first segment joint arm together.First swinging joint arm 10 passes through swinging joint portion
Part and the first revolute joint arm 16 form swinging joint, and MHMF5AZL1A2 servo motor 17 and LCD-14-C-1 retarder 15 are pacified
Mounted in the both sides of the first revolute joint arm 16, LCD-14-C-1 retarder 15 is connected to the defeated of MHMF5AZL1A2 servo motor 17
Outlet, 15 output end of LCD-14-C-1 retarder connect the first swinging joint transmission shaft 12, and the first swinging joint transmission shaft 12 is logical
It crosses S7003 bearing 9 and 13 to be mounted in bearing mounting disc 11,8 He of M16 locking nut is installed in the two sides of S7003 bearing 9 and 13
14, bearing mounting disc 11 is fixed on the first revolute joint arm 16.The end of first swinging joint transmission shaft 12 passes through the first pendulum
Movable joint drive plate 5 drives the rotation of the first swinging joint arm 10, passes through M14 locking nut 4 on the outside of the first swinging joint drive plate 5
It forms a fixed connection with the first swinging joint transmission shaft 12.ATOM50mm grating disc is installed on first swinging joint transmission shaft 12
6, ATOM reading head 7 is installed in bearing mounting disc 11, for measuring the angle that the first swinging joint turns over.
First revolute joint arm 16, second joint arm 48 and the second swinging joint arm 32 form second segment joint arm.?
First revolute joint is installed, MHMF5AZL1A2 servo motor 33 is mounted in motor fixing plate 34, electricity inside two sections of joint arms
Machine fixed disk 34 is fixed on the second swinging joint arm 32, and 33 output end of MHMF5AZL1A2 servo motor is connected with LCD-
17-C-1 retarder 35,35 output end of LCD-17-C-1 retarder connect the first revolute joint transmission shaft 37 by shaft coupling 36,
First revolute joint transmission shaft 37 is mounted in bearing mounting disc 40 by 16003 precision bearings 38 and 41,16003 precision bearings
41 outsides are equipped with M14 locking nut 43, and bearing mounting disc 40 is fixed in motor fixing plate 34.It is driven in the first revolute joint
37 end of axis is connected with the first revolute joint drive plate 47 and second joint arm 48 is driven to rotate, in the first revolute joint transmission shaft 37
On ATOM50mm grating 45 is installed, M14 locking nut 46 is installed for fixed grating on the outside of ATOM50mm grating disc 45,
ATOM reading head 44 is installed, the angle turned over for measuring the first revolute joint in bearing mounting disc 40.
Second swinging joint arm 32 and the second revolute joint arm 19 constitute second by the second swinging joint component and swing pass
Section, MDMF202L1C5 servo motor 18 and LCD-17-C-1 retarder 20 are mounted on the both sides of the second revolute joint arm 19, LCD-
17-C-1 retarder 20 is connected to the output end of MDMF202L1C5 servo motor 18, and 20 output end of LCD-17-C-1 retarder connects
The second swinging joint transmission shaft 22 is connect, the second swinging joint transmission shaft 22 is mounted on bearing mounting disc by 6004 bearings 23 and 25
On 24, M18 locking nut 27 is installed on the outside of 6004 bearings 25, bearing mounting disc 24 is fixed on the second revolute joint arm 19.
The end of second swinging joint transmission shaft 22 drives the rotation of the second swinging joint arm 32, passes through inside the second swinging joint arm 32
61912 precision bearings 26 are mounted in bearing mounting disc 24, pass through M14 locking nut 31 and the on the outside of the second swinging joint arm 32
Two swinging joint transmission shafts 22 form a fixed connection.ATOM68mm grating disc 29 is installed on second swinging joint transmission shaft 22,
M16 locking nut 30 is installed for fixed grating on the outside of ATOM68mm grating disc 29, is equipped in bearing mounting disc 24
ATOM reading head 28, for measuring the angle that the second swinging joint turns over.
Second revolute joint arm 19, third joint arm 49 and third swinging joint arm 66 form third section joint arm.?
Second revolute joint is installed, MDMF202L1C5 servo motor 64 is mounted in motor fixing plate 63, electricity inside three sections of joint arms
Machine fixed disk 63 is fixed on third swinging joint arm 66, and 64 output end of MDMF202L1C5 servo motor is connected with LCD-
17-C-1 retarder 62,62 output end of LCD-17-C-1 retarder connect the second revolute joint transmission shaft 60 by shaft coupling 61,
Second revolute joint transmission shaft 60 is mounted in bearing mounting disc 58 by 6004 precision bearings 57 and 59,6004 precision bearings 57
Outside is equipped with M18 locking nut 55, and bearing mounting disc 58 is fixed in motor fixing plate 63.In the second revolute joint transmission shaft
60 ends are connected with the second revolute joint drive plate 51 and third joint arm 49 are driven to rotate, on the second revolute joint transmission shaft 60
ATOM68mm grating 53 is installed, M16 locking nut 52 is installed for fixed grating, in axis on the outside of ATOM68mm grating disc 53
It holds and ATOM reading head 54 is installed in mounting disc 58, the angle turned over for measuring the second revolute joint.
Third swinging joint arm 66 and third revolute joint arm 77 constitute third by third swinging joint component and swing pass
Section, MHMF082L33N servo motor 78 and LCSG-32-C-1 retarder 76 are mounted on the both sides of third revolute joint arm 77,
LCSG-32-C-1 retarder 76 is connected to the output end of MHMF082L33N servo motor 78, and LCSG-32-C-1 retarder 76 is defeated
Outlet connects third swinging joint transmission shaft 74, and third swinging joint transmission shaft 74 is mounted on bearing by 6306 bearings 70 and 73
In mounting disc 72, M24 locking nut 69 is installed on the outside of 6306 bearings 70, bearing mounting disc 72 is fixed on third revolute joint arm
On 77.The end of third swinging joint transmission shaft 74 drives third swinging joint arm 66 to rotate, inside third swinging joint arm 66
It is mounted in bearing mounting disc 72 by 6017 precision bearings 71, passes through M22 locking nut 65 on the outside of third swinging joint arm 66
It forms a fixed connection with the second swinging joint transmission shaft 74.ATOM108mm grating is installed on third swinging joint transmission shaft 74
Disk 67 is equipped with ATOM reading head 68 in bearing mounting disc 72, for measuring the angle that third swinging joint turns over.
Third revolute joint arm 77, base mast 88 and pedestal 90 form pedestal.Base interior is equipped with third revolution and closes
Section, MHMF082L33N servo motor 89 are mounted on base mast 88, and base mast 88 is fixed on pedestal 90,
89 output end of MHMF082L33N servo motor is connected with LCG-40-C-1 retarder 87,87 output end of LCG-40-C-1 retarder
Third revolute joint transmission shaft 85 is connected by shaft coupling 86, third revolute joint transmission shaft 85 passes through S7210 precision bearing 72
It is mounted in bearing mounting disc 83 with 74, bearing mounting disc 83 is fixed on base mast 88.Third revolute joint transmission shaft 85
It drives third revolute joint arm 77 to rotate, RESA115mm grating disc 79 is installed on third revolute joint transmission shaft 85, in axis
It holds and VIONIC grating reading head 80 is installed in mounting disc 83, the angle turned over for measuring third revolute joint.
3 swinging joints design maximum rotation angles of articulated arm coordinate measuring machine of driving certainly in the present invention are 180 degree,
3 revolute joints can rotate positive and negative 180 degree.The aluminium alloy of lighter weight is selected in joint arm articular shell part, and joint arm is adopted
With density is small, rigidity is big, the very small carbon fibre material of thermal deformation, intra articular transmission shaft selects high-accuracy turn of carbon steel
Axis and Selecting Complete Set precision bearing.Each piece housing of joint arm is all made of special processing method and is process, and strict guarantee is set
Count crucial complicated size in drawing, it is ensured that final complete machine uniform stressed.Measuring machine is fixed on measured workpiece processing when use
It on lathe and determines coordinate system, after the drawing of input workpieces processing, by analyzing workpiece drawing, determines the ruler of actual measurement workpiece
Optimal path that is very little and planning articulated arm coordinate measuring machine triggers measurement, after gauge head encounters workpiece after gauge head contact workpiece
The size of workpiece is calculated by coordinate conversion for the numerical value of each joint grating corner of trigger recording.
The articulated arm coordinate measuring machine for being provided for the embodiments of the invention a kind of driving certainly above is described in detail,
It is not limited to the applications listed in the specification and the embodiments, it can be applied to completely it is various be suitble to it is of the invention
Technical solution of the present invention is made in field, without departing from the spirit of the design of the present invention, those of ordinary skill in the art
Various changes and improvements, should all fall into claims of the present invention determine protection scope.
Claims (4)
1. a kind of articulated arm coordinate measuring machine from driving, which is driven by pedestal, 3 from driving revolute joint, 3 certainly
Swinging joint, 3 sections of joint arms and constant force triggering gauge head composition, 6 self-drive articulations are the first swinging joint, the first revolution respectively
Joint, the second swinging joint, the second revolute joint, third swinging joint, third revolute joint drive revolute joint at 3 certainly
Joint rotation angle is measured with high accuracy circular grating is fitted with inside 3 self-powered movable pendulum movable joint.
2. a kind of articulated arm coordinate measuring machine from driving according to claim 1, it is characterised in that: joint arm is using close
Spend that small, rigidity is big, the very small carbon fibre material of thermal deformation, joint shaft selects the high-accuracy shaft of carbon steel, outside joint
The aluminium alloy of shell selection lighter weight；The axis of 3 sections of joint arms, gauge head and pedestal in the same plane, when 3 joint arms and base
Seat is when being all mutually 180 degree angle, and all on the same line, and each piece housing of joint arm is all made of special processing to all axis
Mode is process, crucial complicated size in strict guarantee design drawing, it is ensured that final complete machine uniform stressed.
3. a kind of articulated arm coordinate measuring machine from driving according to claim 1, it is characterised in that: the driving of measuring machine
Using Panasonic's MHMF5AZL1A2, MDMF202L1C5, MHMF082L33N servo motor；Retarder selection greenery patches LCD-14-C-1,
LCD-17-C-1-ST, LCD-17-C-1-ST, LCGS-32-C-1, LCG-40-C-1 series of harmonics retarder；Grating selects thunder Buddhist nun
The grating for ATOM50mm, ATOM68mm, ATOM108mm and RESA115mm series that continues；It is triggered and is surveyed using Reinshaw TP200 constant force
Head is used for the trigger of entire measurement process.
4. a kind of articulated arm coordinate measuring machine from driving according to claim 1, it is characterised in that: self-drive articulation arm
Coordinate measuring machine is when measuring workpiece, by analyzing workpiece drawing, determining the size of actual measurement workpiece and planning articulated arm coordinate
The optimal path of measuring machine triggers measurement, each joint light of trigger recording after gauge head encounters workpiece after gauge head contact workpiece
The size of workpiece is calculated by coordinate conversion for the numerical value of grid corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462735.0A CN109373900A (en) | 2018-12-03 | 2018-12-03 | A kind of articulated arm coordinate measuring machine from driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462735.0A CN109373900A (en) | 2018-12-03 | 2018-12-03 | A kind of articulated arm coordinate measuring machine from driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109373900A true CN109373900A (en) | 2019-02-22 |
Family
ID=65375167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811462735.0A Pending CN109373900A (en) | 2018-12-03 | 2018-12-03 | A kind of articulated arm coordinate measuring machine from driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109373900A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111076678A (en) * | 2019-12-26 | 2020-04-28 | 北京卫星制造厂有限公司 | Device and method for measuring radial error of joint axis of mobile robot |
| CN111854602A (en) * | 2020-07-24 | 2020-10-30 | 安徽理工大学 | Self-driven articulated arm coordinate measuring machine |
| CN111844075A (en) * | 2020-07-27 | 2020-10-30 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
| CN113945162A (en) * | 2021-10-14 | 2022-01-18 | 上海隧道工程有限公司 | Contact type shield tail clearance measuring system and measuring method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5669150A (en) * | 1995-05-16 | 1997-09-23 | Brown & Sharpe Manufacturing Company | Coordinate measuring machine having articulated arm |
| CN201476778U (en) * | 2009-08-06 | 2010-05-19 | 浙江大学 | Automatic-adjusted balanced joint of measuring arm of flexible coordinate measuring machine |
| CN101769731A (en) * | 2010-01-26 | 2010-07-07 | 浙江大学 | Gravity balance device and method of flexible coordinate measuring machine based on magnetic rheologic fluid |
| CN101806574A (en) * | 2010-04-23 | 2010-08-18 | 浙江大学 | Restructurable joint arm type coordinate measurer |
| CN104949637A (en) * | 2015-07-16 | 2015-09-30 | 杭州电子科技大学 | Joint-type coordinate measuring machine with counterweight balance devices |
| CN107504052A (en) * | 2017-08-24 | 2017-12-22 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
-
2018
- 2018-12-03 CN CN201811462735.0A patent/CN109373900A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5669150A (en) * | 1995-05-16 | 1997-09-23 | Brown & Sharpe Manufacturing Company | Coordinate measuring machine having articulated arm |
| CN201476778U (en) * | 2009-08-06 | 2010-05-19 | 浙江大学 | Automatic-adjusted balanced joint of measuring arm of flexible coordinate measuring machine |
| CN101769731A (en) * | 2010-01-26 | 2010-07-07 | 浙江大学 | Gravity balance device and method of flexible coordinate measuring machine based on magnetic rheologic fluid |
| CN101806574A (en) * | 2010-04-23 | 2010-08-18 | 浙江大学 | Restructurable joint arm type coordinate measurer |
| CN104949637A (en) * | 2015-07-16 | 2015-09-30 | 杭州电子科技大学 | Joint-type coordinate measuring machine with counterweight balance devices |
| CN107504052A (en) * | 2017-08-24 | 2017-12-22 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111076678A (en) * | 2019-12-26 | 2020-04-28 | 北京卫星制造厂有限公司 | Device and method for measuring radial error of joint axis of mobile robot |
| CN111854602A (en) * | 2020-07-24 | 2020-10-30 | 安徽理工大学 | Self-driven articulated arm coordinate measuring machine |
| CN111844075A (en) * | 2020-07-27 | 2020-10-30 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
| CN111844075B (en) * | 2020-07-27 | 2022-02-11 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
| CN113945162A (en) * | 2021-10-14 | 2022-01-18 | 上海隧道工程有限公司 | Contact type shield tail clearance measuring system and measuring method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109373900A (en) | A kind of articulated arm coordinate measuring machine from driving | |
| CN103543010B (en) | A kind of high-speed guide screw and lead screw pair Integrated Checkout testing table | |
| CN110449988B (en) | Method for quickly measuring swing shaft eccentricity of five-axis machine tool | |
| WO2018184256A1 (en) | Single point laser vibration measurer based multi-directional wide-angle and continuous-scan vibration measurement auxiliary instrument | |
| CN105277129A (en) | Dynamic noncontact rail gauge measuring system and method thereof | |
| CN207132827U (en) | A kind of bearing roller detection means | |
| CN103822605B (en) | Splicing measuring device of optical elements of large caliber profile | |
| CN112903233A (en) | Optimization method for accurate positioning of two-stage series servo oil cylinder driving attack angle mechanism | |
| CN201611350U (en) | Magnetic-suspension high-speed measuring instrument calibrating device | |
| CN105215484A (en) | A kind of internal thread grinding machine grinding carriage dip angle adjusting mechanism | |
| CN111055167B (en) | Indexing two-link type ball rod instrument and method for detecting machine tool precision by using same | |
| CN110500956B (en) | Standard circle track generating device | |
| CN204440056U (en) | A kind of bending press | |
| CN114838643B (en) | Aero-engine blade superposed shaft reference detection device and method | |
| CN109855533A (en) | A kind of articulated arm coordinate measuring machine that can be driven certainly | |
| CN112917191B (en) | Device for assisting in positioning of B-axis rotation center of swing angle milling head | |
| CN108844444A (en) | A kind of large size body cylinder holes and main shaft hole perpendicularity, Intersection measurer and measurement method | |
| CN113465477B (en) | Combined detection tool for detecting end face tooth gradient and detection method | |
| CN102012690A (en) | Control method for addressing and zeroing five-degree-of-freedom pure parallel machine tool after outage based on positive solution | |
| CN208366302U (en) | A kind of clamping device for test piece geometric error | |
| CN111060051B (en) | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine | |
| CN211085018U (en) | Joint type coordinate measuring machine with self-adaptive variable measuring space | |
| CN111256622B (en) | Dual laser type robot joint angle measuring method and angle measuring device | |
| CN208187327U (en) | A kind of large size body cylinder holes and main shaft hole perpendicularity, Intersection measurer | |
| Shi et al. | Research on measurement accuracy of laser tracking system based on spherical mirror with rotation errors of gimbal mount axes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190222 |