CN105547211A - Auxiliary support for pose adjustment and fixation of articulated coordinate measuring machine - Google Patents
Auxiliary support for pose adjustment and fixation of articulated coordinate measuring machine Download PDFInfo
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- CN105547211A CN105547211A CN201511026528.7A CN201511026528A CN105547211A CN 105547211 A CN105547211 A CN 105547211A CN 201511026528 A CN201511026528 A CN 201511026528A CN 105547211 A CN105547211 A CN 105547211A
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- joint
- auxiliary stand
- air spring
- push rod
- electric push
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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
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- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides an auxiliary support for pose adjustment and fixation of an articulated coordinate measuring machine. The auxiliary support comprises an auxiliary support main body and a control unit, wherein the auxiliary support main body comprises a pedestal for supporting the auxiliary support main body, a first clamp, a first holder, a second clamp, an air spring, an electric push rod, a second holder, a first joint, a second joint, a third joint and a four joint, the first joint is disposed at one end away from the pedestal, the first joint, the second joint, the third joint and the fourth joint are sequentially connected, the four joint is disposed at one end closer to the pedestal, the second joint and the four joint are connected through the electric push rod, and the third joint and the fourth joint are connected through the air spring; the first joint is provided with the first clamp for fixing measurement arms and the first holder for supporting the measurement arms; the second holder supporting the measurement arms is arranged between the first joint and the second joint; and the fourth joint is provided with the second clamp fixing the air spring and the electric push rod.
Description
Technical field
The invention belongs to coordinate measuring technology field, be specifically related to the adjustment of articulated coordinate machine pose and fixing auxiliary stand.
Background technology
Articulated coordinate machine is the three coordinate measuring machine of the nonopiate co-ordinate-type of a kind of multiple degrees of freedom, usually has 6 degree of freedom.It copies human synovial structure, is connected in series Special composition open-chain structure, thus instead of linear measure longimetry benchmark with measurement of angle benchmark by three gage beams and a gauge head by six (rotation) joints.When 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, good environmental adaptability that it has.But on the other hand, its structure is a kind of cascaded structure, and error component is many, and Transmitting error cofficient is large, control errors is complicated, thus its precision is difficult to be guaranteed.Moreover, articulated coordinate machine is also higher to manual request in measuring process, needs both hands to carry out measuring and the shake of arm also can affect measuring accuracy.Therefore, the precision that how can improve articulated coordinate machine can reduce the research emphasis in measuring process, artificial requirement being become to articulated coordinate machine again as much as possible.
In raising articulated coordinate machine precision, main existence improves process and assemble precision and optimum structural parameter demarcates two kinds of methods.The former will increase undoubtedly manufacturing cost and lengthen the production cycle, increasing articulated coordinate machine researcher by target lock-on the latter.The method of current structural parameters calibration has a variety of, such as based on the scaling method of three coordinate measuring machine, optical calibration method, scaling method etc. based on plane and distance.This wherein most scaling method all need certain auxiliary stand come support with adjustment work.As in " the articulated coordinate machine parameter calibration based on laser tracker " the holding clamp mentioned; The measurement bay used in " research of articulated arm coordinate measuring machine calibration technique "; The clamping tool that " design of articulated arm coordinate measuring machine calibration system " adopts; And unit clamp etc. used in " six-freedom degree articulated flexible COMERO high precision calibration method ".Auxiliary stand in above document all needs the difference according to calibration strategy and changes, and compatibility is not strong, and function ratio is more single.Need the role wanting the auxiliary stand of a kind of " tool is multiplex " to complete above calibration experiment as much as possible badly.The appearance of novel auxiliary stand can change articulated coordinate machine and only use a kind of present situation of demarcating mode, makes it carry out multimode and demarcates at many levels and become possibility.
In simplification manual operation, reduce articulated coordinate machine to the aspect of manual request, at present mainly by installing, power assistive device realizes, as " flexible three dimension coordinate measurement and balanced controls " utilizes " arbitrarily stopping type air spring " to do supplemental support to arm in articulated coordinate machine outside.Air spring and external fixation device is utilized to be fixed etc. articulated coordinate machine in " a kind of tunable gravitational equilibrium mechanism ".More than design can reduce people is well the impact of trembling on measurement result, but all can only provide power-assisted to first order gage beam, can not meet more complicated Vizi and require and power-assisted requirement.
The object of this invention is to provide a kind of multi-functional articulated coordinate machine pose adjustment and fixing auxiliary stand.The fixing of whole gage beam and adjustment task can be completed.The better pose needs of articulated coordinate machine can be met, improve the overall precision of measuring machine.The present invention can also complete the power-assisted task of gage beam, can also two auxiliary stands with the use of completing more complicated power-assisted task, reduce articulated coordinate machine to manual request.
Moreover, the present invention has also reserved the region of installing extrinsic calibration equipment, can install different calibration facilities, improve plant factor according to different calibration.
Summary of the invention
For Problems existing in above-mentioned calibration process, a kind of articulated coordinate machine pose is provided to adjust and fixing auxiliary stand, comprise: auxiliary stand main body and control module, auxiliary stand main body comprises: for supporting the pedestal of auxiliary stand main body, first fixture, first holder tool, second fixture, air spring, electricity push rod, second holder tool, first joint, second joint, 3rd joint, 4th joint, first joint is positioned at the one end away from pedestal, first joint, second joint, 3rd joint is sequentially connected with the 4th joint, 4th joint is positioned at the one end near pedestal, connected by electric push rod between second joint and the 4th joint, connected by air spring between 3rd joint and the 4th joint, first joint is provided with the first fixture of fixation measuring arm and supports the first holder tool of gage beam, the the second holder tool supporting gage beam is provided with between first joint and second joint, 4th joint is provided with the second fixture of fixed air spring and electric push rod.
Preferably, described first joint is provided with the first switch.
Preferably, wherein said air spring is provided with second switch.
Preferably, described first fixture is provided with the screw itself and gage beam fixed.
Preferably, described first holder tool moves horizontally adjustment according to measurement needs.
Preferably, described electric push rod controls lifting by control module.
Preferably, described electric push rod and air spring are carved with scale.
Should be appreciated that description and the follow-up detailed description of aforementioned cardinal principle are exemplary illustration and explanation, should not be used as the restriction to the claimed content of the present invention.
Accompanying drawing explanation
With reference to the accompanying drawing of enclosing, the following description by embodiment of the present invention is illustrated by the more object of the present invention, function and advantage, wherein:
Fig. 1 is articulated coordinate machine auxiliary stand schematic diagram.
Fig. 2 is articulated coordinate machine schematic diagram.
Embodiment
Fig. 1 is the schematic diagram of articulated coordinate machine auxiliary stand 100.As shown in Figure 1, auxiliary stand 100 comprises: auxiliary stand main body and control module.Auxiliary stand main body comprises: pedestal 101, first fixture 102, first holder tool 103, second fixture 104, air spring 105, electric push rod 106, second hold in the palm tool 108, first joint 110, second joint 111, the 3rd joint 112, the 4th joint 113.Wherein the first joint 110 is provided with the first switch 114, and air spring 105 is provided with second switch 115.First joint 110 is also provided with the first fixture 102 and the first holder tool 103.The second holder tool 108 is provided with between first joint 110 and second joint 111.4th joint 113 is provided with the second fixture 104.First fixture 102 is provided with the screw 109 itself and gage beam fixed.Pedestal 101 is for supporting auxiliary stand main body, and the first joint 110 is positioned at the one end away from pedestal 101.First joint 110, second joint 111, the 3rd joint 112 are sequentially connected with the 4th joint 113.4th joint 113 is positioned at the one end near pedestal.Connected by electric push rod 106 between second joint 111 and the 4th joint 113.Connected by air spring 105 between 3rd joint 112 and the 4th joint 113.Second joint 111, between the 3rd joint 112 and the 4th joint 113 formed a leg-of-mutton structure.Articulated coordinate machine auxiliary stand of the present invention can be fixed on optical table or other measuring tables by screw according to measurement demand, and pedestal 101 self also has certain counterweight, when completing simple task without the need to fixing.
Fig. 2 is articulated coordinate machine schematic diagram.As shown in Figure 2, articulated coordinate machine 200 comprises: the first gage beam 201, second gage beam 202, the 3rd gage beam 203; 5th joint 204, the 6th joint 205, the 7th joint 206, the 8th joint 207, the 9th joint 208, the tenth joint 209, gauge head 210, pedestal 211.Articulated coordinate machine shown in Fig. 2, has six degree of freedom.To be connected six rotatable joint Special composition open-chain structures by the first gage beam 201, second gage beam 202, the 3rd gage beam 203, the end of this structure is made up of gauge head 210.Its 5th joint 204, the 6th joint 205 have locking device, can need by locking the 5th joint 204, the 6th joint 205 makes the first gage beam 201, second gage beam 202 position fix according to measurement.
Tool 103 and articulated coordinate machine the 3rd gage beam 203 is ask to fix the relative position of the 3rd gage beam 203 and auxiliary stand 100 by the first fixture 102 or first of articulated coordinate machine auxiliary stand 100.Wherein the first holder tool 103 can move horizontally adjustment according to measurement needs.Second fixture 104 is responsible for the relative position of fixed air spring 105 and electric push rod 106, when articulated coordinate machine pose is without the need to can by locked for the second fixture 104 during horizontal hunting.Electricity push rod 106 can control lifting by the control module 107 in Fig. 1, and the second fixture 104 also can need to move according to concrete measurement.Electricity push rod 106 and air spring 105 being carved with scale, reference data can being provided for measuring.
When needing the pose of a fixing concrete articulated coordinate machine 200, articulated coordinate machine in Fig. 2 200 is adjusted to required pose, then the first fixture 102 in auxiliary stand 100 (Fig. 1) is fixed by screw 109 and the 3rd gage beam 203, and first switch 114 of closing on the first joint 110 and the second switch 115 of air spring 105, all joints of auxiliary stand 100 will no longer be rotated, all gage beams in articulated coordinate machine, and the 5th to the 8th joint will be fixed.Only the 5th joint 204 near measuring machine gauge head 210 and the 6th joint 205 need be regulated just can to obtain the pose data determined of articulated coordinate machine 200.
When articulated coordinate machine 200 vertical survey, first fixture 102 in auxiliary stand 100 is fixed on the 3rd gage beam 203 of measuring machine 200, open first switch 114 in the first joint 110 and the second switch 115 of air spring 105, by the 3rd gage beam 203 of traverse measurement machine, drive the rotation in the second joint 111 of auxiliary stand 100, the 3rd joint 112, the 4th joint 113, thus air spring 105 elongation is changed along with the movement of the 3rd gage beam 203, make articulated coordinate machine 200 complete the task of single-point duplicate measurements.
When articulated coordinate machine 200 horizontal survey, the second measurement 202 of the first holder tool 103 or the second holder tool 108 pairs of measuring machines or the first gage beam 201 can be used to support, also the switch can cutting out electric push rod 106 is as required fixed electric push rod extended length or is fixed the elongation of air spring 105 by the second switch 115 controlling air spring 105, has assisted measurement task.
In conjunction with the explanation of the present invention disclosed here and practice, other embodiments of the present invention are all easy to expect and understand for those skilled in the art.Illustrate and embodiment be only considered to exemplary, true scope of the present invention and purport limited by claim.
Claims (7)
1. the adjustment of articulated coordinate machine pose and a fixing auxiliary stand, comprising: auxiliary stand main body and control module,
Auxiliary stand main body comprises: pedestal, the first fixture, first for supporting auxiliary stand main body hold in the palm tool, the second fixture, air spring, electric push rod, the second holder tool, the first joint, second joint, the 3rd joint, the 4th joint,
First joint is positioned at the one end away from pedestal, first joint, second joint, the 3rd joint are sequentially connected with the 4th joint, 4th joint is positioned at the one end near pedestal, is connected, connected between the 3rd joint and the 4th joint by air spring between second joint and the 4th joint by electric push rod;
First joint is provided with the first fixture of fixation measuring arm and supports the first holder tool of gage beam;
The the second holder tool supporting gage beam is provided with between first joint and second joint;
4th joint is provided with the second fixture of fixed air spring and electric push rod.
2. auxiliary stand according to claim 1, wherein said first joint is provided with the first switch.
3. auxiliary stand according to claim 1, wherein said air spring is provided with second switch.
4. auxiliary stand according to claim 1, wherein said first fixture is provided with the screw itself and gage beam fixed.
5. auxiliary stand according to claim 1, wherein said first holder tool moves horizontally adjustment according to measurement needs.
6. auxiliary stand according to claim 1, wherein said electric push rod controls lifting by control module.
7. auxiliary stand according to claim 1, wherein said electric push rod and air spring are carved with scale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511026528.7A CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2015106617870 | 2015-10-14 | ||
| CN201510661787 | 2015-10-14 | ||
| CN201511026528.7A CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
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| CN105547211A true CN105547211A (en) | 2016-05-04 |
| CN105547211B CN105547211B (en) | 2018-03-27 |
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| CN201511026528.7A Active CN105547211B (en) | 2015-10-14 | 2015-12-31 | It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795644A (en) * | 2020-07-15 | 2020-10-20 | 四川大学 | Orthogonal point laser double-measuring-head pose calibration test piece |
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| EP2068067A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Supporting tripod for articulated arm measuring machines |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111795644A (en) * | 2020-07-15 | 2020-10-20 | 四川大学 | Orthogonal point laser double-measuring-head pose calibration test piece |
| CN111795644B (en) * | 2020-07-15 | 2024-04-16 | 四川大学 | Positive intersection point laser double-measuring head pose calibration test piece |
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| CN105547211B (en) | 2018-03-27 |
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