CN103954246A - Variable arm articulated coordinate measuring machine provided with magneto-electric locking arm apparatus - Google Patents

Abstract

The invention provides an articulated coordinate measuring machine with a variable arm of a magnetoelectric locking arm device, which includes six rotating joints, a three-section measuring arm, a base and a measuring head, and six movable joints connected in series by the three-section measuring arm The rotating joints form a space open chain structure, and the end of the open chain structure is the measuring head of the measuring machine. Starting from the base, a joint locking component is arranged inside the first-level joint and the second-level joint, and the joint locking component is an electromagnetic joint locking component. The joint locking assembly of the joint type coordinate measuring machine based on electromagnetic technology in the present invention does not add additional mechanical structures and has no effect on the mechanical distribution of the measuring machine. After the joint is locked, the number of sensors for dynamic output is reduced, and the rotation of the angle sensor is limited, thereby The output error of the angle sensor is reduced, and the measurement accuracy is improved.

Description

Articulated Coordinate Measuring Machine with Variable Arm with Magnetoelectric Locking Arm Device

technical field

The invention relates to an articulated coordinate measuring machine, in particular to an articulated coordinate measuring machine with a variable arm of a magnetoelectric locking arm device.

Background technique

Articulated coordinate measuring machine is a multi-degree-of-freedom non-orthogonal coordinate measuring machine, usually with 6 degrees of freedom. It is modeled on the joint structure of the human body, and consists of three measuring arms and a measuring head connected in series through six (rotation) joints to form a space open chain structure, thereby replacing the length measurement reference with the angle measurement reference. When measuring with a measuring machine, the probe coordinates are a function of the kinematic parameters of the measuring machine and the angles of its six joints. Compared with the traditional three-coordinate measuring machine with orthogonal coordinate system, it has the advantages of large measurement range, convenience and flexibility, high precision, simple mechanical structure, and good environmental adaptability. But on the other hand, its structure is a series structure, and its various errors are transmitted to the measurement results step by step in series, so its accuracy is difficult to be guaranteed.

Contents of the invention

The object of the present invention is to provide an articulated coordinate measuring machine with a variable arm of a magnetoelectric locking arm device. The coordinate measuring machine can reduce the number of sensors for dynamic output and limit the rotation of the angle sensor, thereby reducing the output error of the angle sensor and improving the measurement accuracy.

The invention provides an articulated coordinate measuring machine, comprising: a base, a measuring head, six rotatable joints arranged step by step from the base to the measuring head, and three sections connected in series by six joints rotatable around their own axes Measuring arm and magnetoelectric locking arm device, the angle of joint rotation is controlled by a high-precision circular grating angle sensor installed on it, so that the measuring head can use any posture to measure the measured object. The magnetoelectric locking arm device It includes a first joint locking assembly arranged inside the first joint arranged close to the base, and a second joint locking assembly arranged inside the second joint connected to the first joint through the first measuring arm. When unlocked, the first and second joints The two joints can rotate normally. When the first or second joint locking component is locked, the first or second joint locking component acts through electromagnetic attraction so that the first or second joint cannot rotate, thereby fixing the first joint close to the base. Measuring arm and one end of the second measuring arm.

Preferably, the first joint locking assembly includes a first electromagnetic coil seat and a suction piece having mated suction surfaces, the first electromagnetic coil seat is rigidly fixed to the base, and the suction piece is rigidly connected to the first joint On the shaft, the shaft passes through the central hole of the first joint locking assembly formed by the cooperation of the first electromagnetic coil seat and the suction piece.

Preferably, the first electromagnetic coil seat includes an electromagnetic coil body with a coil inside and a ring base plate, the electromagnetic coil body is fixed on the ring base plate, the electromagnetic coil body is a ring body, and the inside of the electromagnetic coil body The hole is coincident with the position of the inner hole of the ring bottom plate, and the outer diameter of the electromagnetic coil body is smaller than the outer ring diameter of the ring bottom plate, so as to reserve the position of the fastening hole on the edge of the ring bottom plate, so that the coil seat is rigidly fixed to the bottom by fasteners seat, the suction piece includes a circular bottom plate and a tubular protrusion located at the center of the circular bottom plate, when no power is applied, the surface of the circular bottom plate of the suction piece that is not covered by the tubular protrusion and the surface of the first electromagnetic coil seat A small gap is maintained between the surfaces of the electromagnetic coil body. When the power is applied, the surface of the annular bottom plate of the suction piece that is not covered by the tubular protrusion and the surface of the electromagnetic coil body of the first electromagnetic coil seat are adsorbed and attached to each other.

Preferably, the second joint locking assembly includes a second electromagnetic coil seat and an electromagnetic suction shaft with a mating suction surface, and the second coil seat is rigidly fixed to the second joint connected to the shaft of the first joint. On the housing, the electromagnetic coupling shaft passes through the central hole of the second joint locking component.

Preferably, the electromagnetic attraction shaft is cylindrical, has a grating position sensor at one end in the axial direction, and has a sheet-shaped flange protruding radially outward at the other end in the axial direction and has a surface magnetically adsorbed to the second electromagnetic coil seat , the second electromagnetic coil seat includes an electromagnetic coil body and a ring base plate, the electromagnetic coil body is fixed on the ring base plate, and the coil is encapsulated in the electromagnetic coil body, the electromagnetic coil body is a ring body, and the inner hole and the ring The center holes of the bottom plate are coincident and aligned, and the outer diameter of the bottom plate is smaller than the outer ring diameter of the ring bottom plate, so as to leave the position of the fastening hole on the edge of the ring bottom plate, so that the second coil seat is rigidly fixed to the second joint shell by fasteners Body, when not energized, a small gap is maintained between the sheet-shaped flange of the electromagnetic attraction shaft and the surface of the electromagnetic coil body of the first electromagnetic coil seat, when energized, the sheet-shaped flange of the electromagnetic attraction shaft and the surface of the electromagnetic coil body of the first electromagnetic coil seat maintain a small gap. The surfaces of the electromagnetic coil body of the first electromagnetic coil seat are adhered to each other by adsorption.

Preferably, the first and second joint locking components can be locked individually or simultaneously.

It should be understood that both the foregoing general description and the following detailed description are exemplary illustrations and explanations, and should not be used as limitations on the claimed content of the present invention.

Description of drawings

With reference to the accompanying drawings, more objects, functions and advantages of the present invention will be clarified through the following description of the embodiments of the present invention, wherein:

Figure 1a and Figure 1b are a schematic diagram and a longitudinal section view of an articulated coordinate measuring machine with a variable arm of a magnetoelectric locking arm device;

2a and 2b are front and rear views, respectively, of the first joint locking assembly 108 disposed within the joint 101 of the articulated coordinate measuring machine;

3a and 3b are a front view and a rear view of the first electromagnetic coil seat 201 of the first joint locking assembly 108, respectively;

4a and 4b are respectively a front view and a rear view of the suction piece 202 of the first knuckle locking assembly 108;

Figures 5a and 5b are front and rear views, respectively, of a second joint locking assembly 109 disposed within an articulated CMM joint 102;

Figure 6a and Figure 6b are the front view and rear view of the electromagnetic coupling shaft 502 in the second joint locking assembly 109, respectively;

7a and 7b are front and rear views, respectively, of the second solenoid holder 501 in the second knuckle lock assembly 109 .

Detailed ways

The objects and functions of the present invention and methods for achieving the objects and functions will be clarified by referring to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in various forms. The essence of the description is only to help those skilled in the relevant art comprehensively understand the specific details of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

Fig. 1 shows the articulated flexible coordinate measuring machine 100 of the present invention with the variable arm of magnetoelectric lock arm device, comprises six joints 101, 102, 103, 104, 105 and 106, three section measuring arms 110, 111, 112, the base 107 and the measuring head 113, and the magnetic-electric locking arm device. The six joints 101, 102, 103, 104, 105 and 106 are arranged step by step from the base 107 to the measuring head 113: six rotatable first joints 101, 102, 103 , 104 , 105 and 106 , thereby forming a spatial open-chain structure, so that the measuring head 113 at the end of the open-chain structure can adopt any posture to measure the object under test.

Each joint 101, 102, 103, 104, 105 and 106 can rotate around its own axis, and the rotation angle of the joint is controlled by a high-precision circular grating angle sensor installed on it. Due to the limitation of the mechanical structure, the joints 101, 103, 105 can rotate within the angle range of 0-2π, while the joints 102, 104, 106 can rotate within the angle range of -π-0.

Since the articulated coordinate measuring machine is a series space open-chain structure, the error of the previous stage will be amplified and transmitted to the measuring head step by step. Therefore, in order to improve the measurement accuracy, the present invention adopts the first-stage joint and the first-stage joint that will have a greater impact on the measurement error. The 2-level joint locking method greatly reduces the measurement error.

The magnetoelectric locking arm device of the coordinate measuring machine 100 according to the present invention includes: a first joint locking assembly 108 disposed inside the first joint 101, and a second joint locking assembly 109 disposed inside the second joint 102, thereby The degree of freedom of the six-degree-of-freedom joint coordinate measuring machine can be reduced to 4, which not only ensures that the measurement of any attitude in space can still be realized, but also makes it easier to apply different poses during measurement, without the need for auxiliary supporting devices.

The specific structure of each joint locking assembly will be described in detail below.

2a and 2b are front and rear views of the first joint locking assembly 108 of the first joint 101 . The first joint locking assembly 108 includes a first electromagnetic coil seat 201 and a suction piece 202 that cooperate with each other. The shapes of the first electromagnetic coil seat 201 and the suction piece 202 match each other, and they can be adsorbed together through the contact surface after being powered on to form the first joint locking component 108 , as shown in FIG. 1 b .

The structure of the first electromagnetic coil seat 201 and the suction piece 202 of the first joint locking assembly 108 will be described in detail below with reference to FIGS. 3 a and 3 b and FIGS. 4 a and 4 b.

3a and 3b are front and rear views of the first electromagnetic coil holder 201 .

The first electromagnetic coil seat 201 includes an electromagnetic coil body 301 and a ring base 302 , the coil body 301 is fixed on the ring base 302 , and the coil is encapsulated in the electromagnetic coil body 301 . The electromagnetic coil body 301 is a ring body, and its inner hole is aligned with the inner hole of the ring base plate 302, and its outer diameter is smaller than the outer ring diameter of the ring base plate 302, so that a fastening hole 303 is left at the edge of the ring base plate 302 The position is such that the coil holder 201 is rigidly fixed to the base 107 by the fastener 304, as shown in FIG. 1b.

4a and 4b are front and rear views of the suction sheet 202 .

The suction piece 202 includes an annular bottom plate 401 and a tubular protrusion 402. The tubular protrusion 402 is located at the center of the annular bottom plate 401. The suction piece 202 is rigidly connected to the shaft 114 of the first joint 101 through a spline or the like. The first electromagnetic coil seat 201 and the suction piece 202 cooperate with each other to pass through the central hole of the first joint locking component 108 . The suction sheet 202 is made of materials suitable for electromagnetic adsorption.

In the case of not implementing joint locking, at the first joint 101 of the articulated coordinate measuring machine, the surface of the annular bottom plate 401 of the suction piece 202 that is not covered by the tubular protrusion 402 is in contact with the electromagnetic coil of the first electromagnetic coil seat 201 There is a gap of about 0.1-0.3mm between the surfaces of the body 301, so the suction piece 202 can freely rotate with the shaft 114 relative to the base 107, that is, the joint 101 can rotate normally.

If the joint is locked, the coil in the first electromagnetic coil seat 201 is energized, and the contact surfaces of the electromagnetic coil body 301 of the first electromagnetic coil seat 201 and the circular bottom plate 401 of the suction piece 202 are attracted to each other. Since the coil holder 201 is rigidly fixed to the base 107, and the suction piece 202 is rigidly connected to the shaft 114 of the joint 101, after the suction piece 202 is magnetically attracted, the shaft 114 is locked and cannot rotate relative to the base 107, so that the joint 101 The motion of the joint 101 cannot be transmitted to the second joint 102, so the joint 101 is locked.

5a and 5b are front and rear views of the second knuckle lock assembly 109 . The second joint locking assembly 109 includes a second electromagnetic coil seat 501 and an electromagnetic coupling shaft 502 that cooperate with each other. The shape of the second electromagnetic coil seat 501 and the electromagnetic coupling shaft 502 cooperate with each other, and they can be attracted together through the contact surface after being powered on to form the second joint locking assembly 109, as shown in FIG. 1b.

The structure of the second electromagnetic coil seat 501 and the electromagnetic coupling shaft 502 of the second joint locking assembly 109 will be described in detail below with reference to FIGS. 6a and 6b and FIGS. 7a and 7b.

6 a and 6 b are front and rear views of the electromagnetic coupling shaft 501 of the second joint locking assembly 109 . As shown in 6a, the main body of the suction shaft 501 is cylindrical, but there is a grating position sensor at one end in the axial direction, and a sheet-shaped flange 601 protruding radially outward at the other axial end. One side of the sheet-shaped flange 601 The surface is the surface adsorbed by the second electromagnetic coil seat 501 . The electromagnetic suction shaft 501 is fixed by the bearing 115 (see Figure 1b) in the second joint 102, the shaft and the bearing are encapsulated by the joint housing 116, and the joint housing 116 is fixed with the shaft 114, so that in the first joint When 101 is not locked, the second joint 102 is driven to rotate by the shaft 114 .

Fig. 7 a and Fig. 7 b are the front view and rear view of the second electromagnetic coil seat 501 of the second joint locking assembly 109, its structure is similar to the first electromagnetic coil seat 201 of Fig. 3 a, only the latter has fixed the coil package state, the former is the state that no coil is placed. The second electromagnetic coil seat 501 includes an electromagnetic coil body 701 and a ring base 702 , the coil body 701 is fixed on the ring base 702 , and the coil is encapsulated in the electromagnetic coil body 701 . The electromagnetic coil body 701 is a ring body, and its inner hole coincides with the central hole position of the ring base plate 702. The position is such that the coil base 501 is rigidly fixed to the joint housing 116 by fasteners, as shown in FIG. 1b.

In the case of no joint locking, there is a gap of about 0.1-0.3mm between the second electromagnetic coil seat 501 in the second joint locking assembly 109 of the second joint 102 and the electromagnetic suction shaft 502, so the electromagnetic suction shaft 501 is free to rotate relative to the joint housing 116 so that motion of the second joint 102 can be transferred to the next joint.

In the case of implementing joint locking, the coil in the second electromagnetic coil seat 501 is energized, so that the contact surfaces of the second electromagnetic coil seat 501 and the sheet-shaped flange 601 on the electromagnetic attraction shaft 502 are attracted to each other. Since the coil base 501 is rigidly fixed to the joint housing 116, the electromagnetic coil base 501 is locked, so the electromagnetic coupling shaft 502 attracted thereto cannot rotate freely relative to the joint housing 116, and the joint 102 is in a locked state.

Of course, the first-level joint 101 and the second-level joint can be locked separately or together, without limitation. In addition, the present invention does not limit the specific structure of the electromagnetic coil seat and the suction piece, as well as the electromagnetic coil seat and the electromagnetic coupling shaft, as long as the shaft of the joint can be fixed by magnetic coupling.

The magnetoelectric lock arm device of the present invention has the following advantages:

1. The structure of the joint locking assembly is simple and compact. It is arranged around the joint axis and accommodated inside the joint, which does not hinder the movement of the joint, and is convenient for the measuring machine to be folded and packed.

2. It can be locked reliably and unlocked quickly and conveniently, can be locked at any position, and there is no positional shift before and after locking. According to the present invention, the position of the first-stage arm 110 can be reliably fixed, and the fixed position of the first-stage arm 110 can be continuously adjusted and freely moved in space according to the requirements of the measurement range, with the largest range of motion and minimum force deformation , so that the second-stage arm 111 and the third-stage arm 112 on which the measuring head is installed can meet the needs of large-scale measurement range in space to the greatest extent.

3. To improve the measurement accuracy, since the first and second joints of the coordinate measuring machine are locked, the rotation of the angle sensor is limited, thereby reducing the output error caused by the eccentricity error of the angle sensor itself and the cumulative error caused by rotation.

Other embodiments of the invention will be apparent to and understood by those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The description and examples are considered exemplary only, with the true scope and spirit of the invention defined by the claims.

Claims (6)

1. one kind has the articulated type coordinate measuring machine of the variable arm of magneto-electric hammerlock device, comprise: base, gauge head, six rotatable joints arranging step by step from base to gauge head, by six three sections of gage beams that are together in series around self rotatable joint of axis and magneto-electric hammerlock device, the angle that rotate in joint is obtained by the high accuracy circular Grating Angle Sensor control of installing on it, make gauge head can adopt any attitude to measure tested article

Wherein said magneto-electric hammerlock device comprises inner the first joint locking assembly arranging in the first joint of arranging near base, passes through the inner second joint locked component arranging of the first gage beam second joint connected to one another with the first joint,

In the time of non-locking, the first and second joints can normal rotation,

First or second joint locked component when locked, first or second joint locked component by electromagnetism adhesive effect, make first or second joint can not rotate, and then fixing near the first gage beam of base and one end of the second gage beam.

2. articulated type coordinate measuring machine according to claim 1, wherein said the first joint locking assembly comprises having the first electromagnetic wire ring support of the adsorption plane being combined together and inhale sheet, described the first electromagnetic wire ring support is rigidly fixed to base, described suction sheet is rigidly connected on the axle in the first joint, the center pit of the first joint locking assembly that this axle forms from being fitted to each other by the first electromagnetic wire ring support and suction sheet, passes.

3. articulated type coordinate measuring machine according to claim 2, wherein

Described the first electromagnetic wire ring support comprises that inside is provided with solenoid body and the annulus base plate of coil, described solenoid body is fixed on annulus base plate, described solenoid body is torus, solenoid body inboard aperture overlaps and aligns with the inboard aperture position of annulus base plate, solenoid body outside diameter is less than the outer ring diameter of annulus base plate, to reserve the position of fastener hole at annulus bottom edge, make coil holder be rigidly fixed to base by securing member

Described suction sheet comprises annulus base plate and is positioned at the tubular protrusion of middle position of annulus base plate,

While energising, between the surface not covered by tubular protrusion of the annulus base plate of described suction sheet and the surface of the solenoid body of the first electromagnetic wire ring support, keep little gap,

When energising, the surface of the surface not covered by tubular protrusion of the annulus base plate of described suction sheet and the solenoid body of the first electromagnetic wire ring support is adsorbed and is fit together each other.

4. articulated type coordinate measuring machine according to claim 1, wherein said second joint locked component comprises the second electromagnetic wire ring support and the electromagnetism adhesive axle with the adsorption plane being combined together, the second coil holder is rigidly fixed on the housing of the second joint being connected with the axle in the first joint, and described electromagnetism adhesive axle passes from the center pit of second joint locked component.

5. articulated type coordinate measuring machine according to claim 4, wherein

Described electromagnetism adhesive axle is cylindrical, has stop position sensor in axial one end, have and radially outward outstandingly have and the surperficial sheet bead of the second electromagnetic wire ring support magnetic absorption at the axial other end,

The second electromagnetic wire ring support comprises solenoid body and annulus base plate, solenoid body is fixed on annulus base plate, coil is packaged in solenoid body, described solenoid body is torus, its inboard aperture overlaps and aligns with the central hole location of annulus base plate, and its outside diameter is less than the outer ring diameter of annulus base plate, to reserve the position of fastener hole at annulus bottom edge, make the second coil holder be rigidly fixed to second joint housing by securing member

While energising, between the sheet bead of described electromagnetism adhesive axle and the surface of the solenoid body of the first electromagnetic wire ring support, keep little gap,

When energising, the surface of the sheet bead of described electromagnetism adhesive axle and the solenoid body of the first electromagnetic wire ring support is adsorbed and is fit together each other.

6. articulated type coordinate measuring machine according to claim 1, wherein said the first and second joint locking assemblies can lock separately, also can lock simultaneously.