CN103954246A - Variable arm articulated coordinate measuring machine provided with magneto-electric locking arm apparatus - Google Patents
Variable arm articulated coordinate measuring machine provided with magneto-electric locking arm apparatus Download PDFInfo
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- CN103954246A CN103954246A CN201410108122.2A CN201410108122A CN103954246A CN 103954246 A CN103954246 A CN 103954246A CN 201410108122 A CN201410108122 A CN 201410108122A CN 103954246 A CN103954246 A CN 103954246A
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Abstract
The invention provides a variable arm articulated coordinate measuring machine provided with a magneto-electric locking arm apparatus. The variable arm articulated coordinate measuring machine comprises fix rotatable joints, three segments of measuring arms, a base and a gauge head. The six rotatable joints connected in series through the three segments of the measuring arms form a space open chain structure, and the tail end of the open chain structure is the gauge head of the measuring machine. From the base, a first-order joint and a second-order joint are internally provided with joint locking assemblies, and the joint locking assemblies are electromagnetic joint lock assemblies. According to the invention, in the joint locking assemblies of the articulated coordinate measuring machine based on an electromagnetic technology, additional arrangement of machinery structures is unnecessary, no influences are exerted on the mechanical distribution of the measuring machine, after the joints are locked, the number of sensors for dynamic output is reduced, the rotation of an angle sensor is restricted, the output errors of the angle sensor are reduced, and the measuring precision is improved.
Description
Technical field
The present invention relates to articulated type coordinate measuring machine, be specifically related to a kind of articulated type coordinate measuring machine of the variable arm with magneto-electric hammerlock device.
Background technology
Articulated type coordinate measuring machine is the three coordinate measuring machine of the nonopiate co-ordinate-type of a kind of multiple degrees of freedom, conventionally has 6 degree of freedom.It copies human synovial structure, is connected in series Special composition open-chain structure, thereby has replaced linear measure longimetry benchmark with measurement of angle benchmark by three gage beams and a gauge head by six (rotation) joints.In the time using measuring machine to measure, gauge head coordinate is the function of measuring machine kinematics parameters and its six joint angles.Compared with traditional orthogonal coordinate system formula three coordinate measuring machine, the advantages such as measurement range is large, convenient, flexible, precision is higher, physical construction is simple, good environmental adaptability that it has.But its structure is a kind of cascaded structure on the other hand, its every error is that tandem is delivered to measurement result step by step, thereby its precision is difficult to be guaranteed.
Summary of the invention
The object of the present invention is to provide a kind of articulated type coordinate measuring machine of the variable arm with magneto-electric hammerlock device.This coordinate measuring machine can reduce and carry out the dynamically number of sensors of output, the rotation of limited angular sensor, thus reduce the output error of this angular transducer, improve measuring accuracy.
The invention provides a kind of articulated type coordinate measuring machine, 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, described magneto-electric hammerlock device comprises inner the first joint locking assembly arranging in the first joint of arranging near base, pass 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.
Preferably, described 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.
Preferably, 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 the middle position of annulus base plate, while energising, between 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, 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.
Preferably, described 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.
Preferably, described electromagnetism adhesive axle is cylindrical, there is 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, 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 surface of the sheet bead of described electromagnetism adhesive axle and 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.
Preferably, described the first and second joint locking assemblies can lock separately, also can lock simultaneously.
The description and the follow-up detailed description that should be appreciated that aforementioned cardinal principle are exemplary illustration and explanation, should the restriction to the claimed content of the present invention with do.
Brief description of the drawings
With reference to the accompanying drawing of enclosing, the more object of the present invention, function and advantage are illustrated the following description by embodiment of the present invention, wherein:
Fig. 1 a and Fig. 1 b are respectively schematic diagram and the longitudinal sectional drawings with the articulated type coordinate measuring machine of the variable arm of magneto-electric hammerlock device;
Fig. 2 a and Fig. 2 b are respectively front view and the rear views at the first joint locking assembly 108 of articulated type coordinate measuring machine joint 101 interior settings;
Fig. 3 a and Fig. 3 b are respectively front view and the rear views of the first electromagnetic wire ring support 201 of the first joint locking assembly 108;
Fig. 4 a and Fig. 4 b are respectively front view and the rear views of the suction sheet 202 of the first joint locking assembly 108;
Fig. 5 a and Fig. 5 b are respectively front view and the rear views at the second joint locked component 109 of articulated type coordinate measuring machine joint 102 interior settings;
Fig. 6 a and Fig. 6 b are respectively front view and the rear views of the electromagnetism adhesive axle 502 in second joint locked component 109;
Fig. 7 a and Fig. 7 b are respectively front view and the rear views of the second electromagnetic wire ring support 501 in second joint locked component 109.
Embodiment
By reference to example embodiment, object of the present invention and function and will be illustrated for the method that realizes these objects and function.But the present invention is not limited to following disclosed example embodiment; Can be realized it by multi-form.The essence of instructions is only to help various equivalent modifications Integrated Understanding detail of the present invention.
Hereinafter, embodiments of the invention will be described with reference to the drawings.In the accompanying drawings, identical Reference numeral represents same or similar parts, or same or similar step.
Fig. 1 has shown that the present invention has the articulated flexible COMERO 100 of the variable arm of magneto-electric hammerlock device, comprise six joints 101,102,103,104,105 and 106, three sections of gage beams 110,111,112, base 107 and gauge head 113, and magneto-electric hammerlock device.Six joints 101,102,103,104,105 and 106 are arranged to step by step from base 107 to gauge head 113: by three sections of gage beams 110,111,112, six rotatable the first joints 101,102,103,104,105 and 106 of connecting one by one, Special composition open-chain structure thus, makes the gauge head 113 of the end of this open-chain structure can adopt any attitude to measure tested article.
Each joint 101,102,103,104,105 and 106 can be rotated around the axis of himself, and the angle that rotate in joint is obtained by the high accuracy circular Grating Angle Sensor control of installing on it.Due to physical construction restriction, wherein joint 101,103,105 can rotate in 0～2 π angular range, and joint 102,104,106 can rotate in-π～0 angular range.
Because articulated type coordinate measuring machine is the space open-chain structure of a series connection, prime error can be amplified step by step and is passed to gauge head, therefore in order to improve measuring accuracy, the present invention adopts on the 1st grade of larger joint of measuring error impact and the way of the 2nd grade of joint locking, and measuring error is significantly reduced.
Comprise according to the magneto-electric hammerlock device of coordinate measuring machine 100 of the present invention: at the first inner the first joint locking assembly 108 arranging in joint 101, and at the inner second joint locked component 109 arranging of second joint 102, can make thus the degree of freedom of six degree of freedom joint coordinates measuring machine reduce to 4, both ensured still can to measure by implementation space any attitude, while also making to measure, apply different positions and pose easy simultaneously, do not need supplemental support device.
The concrete structure of each joint locking assembly is described in detail in detail below.
Fig. 2 a and Fig. 2 b are front view and the rear view of the first joint locking assembly 108 in the first joint 101.The first joint locking assembly 108 comprises the first electromagnetic wire ring support 201 being fitted to each other together and inhales sheet 202.The first electromagnetic wire ring support 201 cooperatively interacts with inhaling sheet 202 profiles, after energising, can be attached together by surface of contact, and composition the first joint locking assembly 108, as shown in Figure 1 b.
The first electromagnetic wire ring support 201 and the structure of inhaling sheet 202 of the first joint locking assembly 108 are described in detail in detail below with reference to Fig. 3 a and Fig. 3 b and Fig. 4 a and Fig. 4 b.
Fig. 3 a and Fig. 3 b are front view and the rear view of the first electromagnetic wire ring support 201.
The first electromagnetic wire ring support 201 comprises solenoid body 301 and annulus base plate 302, and coil case 301 is fixed on annulus base plate 302, and coil is packaged in solenoid body 301.Solenoid body 301 is torus, its inboard aperture overlaps and aligns with the inboard aperture position of annulus base plate 302, its outside diameter is less than the outer ring diameter of annulus base plate 302, to reserve the position of fastener hole 303 at annulus base plate 302 edges, make coil holder 201 be rigidly fixed to base 107 by securing member 304, as shown in Figure 1 b.
Fig. 4 a and Fig. 4 b are front view and the rear view of inhaling sheet 202.
Inhale sheet 202 and comprise annulus base plate 401 and tubular protrusion 402, tubular protrusion 402 is positioned at the middle position of annulus base plate 401, inhale sheet 202 and be rigidly connected to by modes such as splines on the axle 114 in the first joint 101, the center pit of the first joint locking assembly 108 that this axle 114 forms from being fitted to each other by the first electromagnetic wire ring support 201 and suction sheet 202, pass.Inhaling sheet 202 is made up of the material that is suitable for electromagnetism absorption.
In the situation that not implementing joint locking, at 101 places, the first joint of articulated type coordinate measuring machine, inhale the gap that has about 0.1～0.3mm between the surface not covered by tubular protrusion 402 of annulus base plate 401 of sheet 202 and the surface of the solenoid body 301 of the first electromagnetic wire ring support 201, therefore inhaling sheet 202 can freely rotate with respect to base 107 along with axle 114, that is to say, joint 101 can normal rotation.
If enforcement joint locking, to the coil electricity in the first electromagnetic wire ring support 201, the solenoid body 301 of the first electromagnetic wire ring support 201 and the surface of contact adhesive each other of inhaling the annulus base plate 401 of sheet 202.Because coil holder 201 is rigidly fixed to base 107, and inhaling sheet 202 is rigidly connected on the axle 114 in joint 101, therefore inhale sheet 202 by after magnetic absorption, axle 114 is just lockable, can not rotate with respect to base 107, make the motion in joint 101 can not be passed to second joint 102, therefore joint 101 is locked.
Fig. 5 a and Fig. 5 b are front view and the rear view of second joint locked component 109.Second joint locked component 109 comprises the second electromagnetic wire ring support 501 and the electromagnetism adhesive axle 502 that are fitted to each other together.The second electromagnetic wire ring support 501 cooperatively interacts with electromagnetism adhesive axle 502 profiles, after energising, can be attached together by surface of contact, and composition second joint locked component 109, as shown in Figure 1 b.
Below with reference to Fig. 6 a and Fig. 6 b and Fig. 7 a and the second electromagnetic wire ring support 501 of Fig. 7 b detailed description second joint locked component 109 and the structure of electromagnetism adhesive axle 502.
Fig. 6 a and Fig. 6 b are front view and the rear view of the electromagnetism adhesive axle 501 of second joint locked component 109.As shown in 6a, these adhesive axle 501 main bodys are cylindrical, but have stop position sensor in axial one end, have radially outward outstanding sheet bead 601 at the axial other end, sheet bead 601 1 side surfaces are the surface of adsorbing with the second electromagnetic wire ring support 501.Electromagnetism adhesive axle 501 is shown in that by bearing 115(Fig. 1 is b) fixing in second joint 102, described axle and bearing are encapsulated by joint housing 116, and joint housing 116 and axle 114 is fixing, make the in the situation that of the first joint 101 non-locking, second joint 102 drives rotation by axle 114.
Fig. 7 a and Fig. 7 b are front view and the rear view of the second electromagnetic wire ring support 501 of second joint locked component 109, its structure is similar to the first electromagnetic wire ring support 201 of Fig. 3 a, just the latter encapsulates by coil the state being fixed up, and the former is the state of not putting into coil.The second electromagnetic wire ring support 501 comprises solenoid body 701 and annulus base plate 702, and coil case 701 is fixed on annulus base plate 702, and coil is packaged in solenoid body 701.Solenoid body 701 is torus, its inboard aperture overlaps and aligns with the central hole location of annulus base plate 702, its outside diameter is less than the outer ring diameter of annulus base plate 702, to reserve the position of fastener hole at annulus base plate 702 edges, make coil holder 501 be rigidly fixed to joint housing 116 by securing member, as shown in Figure 1 b.
In the situation that not implementing joint locking, between the second electromagnetic wire ring support 501 in the second joint locked component 109 of second joint 102 and electromagnetism adhesive axle 502, there is the gap of about 0.1～0.3mm, therefore electromagnetism adhesive axle 501 can freely rotate with respect to joint housing 116, thereby the motion of second joint 102 can be passed to next joint.
In the situation that implementing joint locking, the coil electricity in the second electromagnetic wire ring support 501, makes the surface of contact adhesive each other of the sheet bead 601 on the second electromagnetic wire ring support 501 and electromagnetism adhesive axle 502.Because coil holder 501 is rigidly fixed to joint housing 116, so electromagnetic wire ring support 501 is locked, therefore the electromagnetism adhesive axle 502 of adhesive just can not arbitrarily rotate with respect to joint housing 116 with it, and joint 102 is in the lock state.
Certainly, first order joint 101 and joint, the second level can lock separately, also can lock together, and unrestricted.In addition, the present invention does not limit the electromagnetic wire ring support being fitted to each other and the concrete structure of inhaling sheet and electromagnetic wire ring support and electromagnetism adhesive axle, as long as it is fixing by magnetic attracting to realize the axle in joint.
Magneto-electric hammerlock device of the present invention has the following advantages:
1. joint locking modular construction is simply compact, arranges and is contained in inside, joint around joint shaft, does not hinder joint action, and is convenient to measuring machine gathering vanning.
2. can reliably lock with release quickly and easily, can lock at an arbitrary position, lock front and back without the position changing of the relative positions.According to the present invention, the position of the 1st grade of arm 110 can reliably be fixed, and can be according to the demand of measurement range, make the fixed position of the 1st grade of arm 110 continuously adjustable and do space free motion, there is largest motion scope and minimum force distortion, make the 2nd grade of arm 111 and the 3rd level arm 112 meeting spatial large-scale metrology scope needs to greatest extent that install and measure head.
3. improve measuring accuracy, because the first and second joints of coordinate measuring machine are locked, limited the rotation of angular transducer, itself have eccentric error and rotate the output error that generation cumulative errors causes thereby reduced this angular transducer.
In conjunction with the explanation of the present invention and the practice that disclose here, other embodiment of the present invention are easy to expect and understand for those skilled in the art.Illustrate with embodiment and be only considered to exemplary, true scope of the present invention and purport limit by claim.
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410108122.2A CN103954246B (en) | 2014-03-21 | 2014-03-21 | Variable arm articulated coordinate measuring machine provided with magneto-electric locking arm apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410108122.2A CN103954246B (en) | 2014-03-21 | 2014-03-21 | Variable arm articulated coordinate measuring machine provided with magneto-electric locking arm apparatus |
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| CN103954246A true CN103954246A (en) | 2014-07-30 |
| CN103954246B CN103954246B (en) | 2017-02-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986847A (en) * | 2019-12-20 | 2020-04-10 | 合肥工业大学 | Base fastening mechanism of articulated coordinate measuring machine |
| CN111141200A (en) * | 2018-11-01 | 2020-05-12 | 株式会社三丰 | Inductive position sensing arrangement for indicating the position of a measuring device probe |
| CN112776005A (en) * | 2021-01-13 | 2021-05-11 | 中联重科股份有限公司 | Multi-arm-section arm support detection method, device and system and storage medium |
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| WO1998013739A1 (en) * | 1996-09-24 | 1998-04-02 | The Regents Of The University Of California | Six degree of freedom sensor |
| CN1630804A (en) * | 2002-02-14 | 2005-06-22 | Faro科技有限公司 | Portable coordinate measurement machine with articulated jib |
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| CN101625238A (en) * | 2009-08-06 | 2010-01-13 | 浙江大学 | Automatically adjusting balance method of gage beam of flexible coordinate measuring machine and balance joint |
| CN202432194U (en) * | 2012-01-11 | 2012-09-12 | 四川科奥达技术有限公司 | Six-degree-of-freedom electromagnetic control frame |
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Patent Citations (5)
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| WO1998013739A1 (en) * | 1996-09-24 | 1998-04-02 | The Regents Of The University Of California | Six degree of freedom sensor |
| CN1630804A (en) * | 2002-02-14 | 2005-06-22 | Faro科技有限公司 | Portable coordinate measurement machine with articulated jib |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111141200A (en) * | 2018-11-01 | 2020-05-12 | 株式会社三丰 | Inductive position sensing arrangement for indicating the position of a measuring device probe |
| CN111141200B (en) * | 2018-11-01 | 2022-01-04 | 株式会社三丰 | Inductive position sensing arrangement for indicating the position of a measuring device probe |
| CN110986847A (en) * | 2019-12-20 | 2020-04-10 | 合肥工业大学 | Base fastening mechanism of articulated coordinate measuring machine |
| CN110986847B (en) * | 2019-12-20 | 2021-03-30 | 合肥工业大学 | Base fastening mechanism of articulated coordinate measuring machine |
| CN112776005A (en) * | 2021-01-13 | 2021-05-11 | 中联重科股份有限公司 | Multi-arm-section arm support detection method, device and system and storage medium |
| CN112776005B (en) * | 2021-01-13 | 2022-04-15 | 中联重科股份有限公司 | Multi-arm-section arm support detection method, device and system and storage medium |
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