CN106872023A - A kind of robot distribution photometer - Google Patents

A kind of robot distribution photometer Download PDF

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Publication number
CN106872023A
CN106872023A CN201710295197.XA CN201710295197A CN106872023A CN 106872023 A CN106872023 A CN 106872023A CN 201710295197 A CN201710295197 A CN 201710295197A CN 106872023 A CN106872023 A CN 106872023A
Authority
CN
China
Prior art keywords
robot
rotary
measurand
clamping
photometer
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
Application number
CN201710295197.XA
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Chinese (zh)
Inventor
潘建根
潘文松
李倩
庞标
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Remote Spectrum Technology Co Ltd
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Remote Spectrum Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Remote Spectrum Technology Co Ltd filed Critical Remote Spectrum Technology Co Ltd
Priority to CN201710295197.XA priority Critical patent/CN106872023A/en
Publication of CN106872023A publication Critical patent/CN106872023A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00Photometry, e.g. photographic exposure meter
    • G01J1/02Details
    • G01J1/0223Sample holders for photometry
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00Photometry, e.g. photographic exposure meter
    • G01J1/02Details
    • G01J1/0271Housings; Attachments or accessories for photometers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00Photometry, e.g. photographic exposure meter
    • G01J1/42Photometry, e.g. photographic exposure meter using electric radiation detectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00Photometry, e.g. photographic exposure meter
    • G01J1/42Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J2001/4247Photometry, e.g. photographic exposure meter using electric radiation detectors for testing lamps or other light sources

Abstract

The present invention disclose a kind of robot distribution photometer, including a robot and one or more rotary table, and described robot includes a base by ground supports, the rotary shaft of three or more, pivoted arm and the clamping device positioned at pivoted arm end;Described rotary table has feathering axis and/or vertical rotating shaft;Measurand is arranged on the clamping device of robot or is arranged on rotary table;The clamping device of rotary table or robot is arranged on for receiving the optical detector from measurand optical radiation signal.The present invention gives full play to the various advantage of robot distribution photometer metering system, with reference to robot, rotary table, support and rail plate, improve the flexibility of robot distribution photometer measurement, and the requirement of the species, lighting environment according to measurand, adjust optical detector combination and specific testing scheme, with testing efficiency it is high, certainty of measurement is high, flexibility is strong the features such as.

Description

A kind of robot distribution photometer
Technical field
The present invention relates to optical radiation measurement technical field, and in particular to a kind of robot distribution photometer.
Background technology
Distribution photometer is light distribution and the optical instrument of total light flux for measuring light fixture or light source space angle, typically It is made up of rotary workbench of distribution photometer and photometer.As light fixture and the important parameter of light source, the light of its space all directions The accurate measurement of the characteristics such as strong distribution, Luminance Distribution is even more important.The measuring principle of distribution photometer be mainly by illumination away from From inverse square law, therefore it is required that the distance between measurand and optical detector long enough, are empty to distribution photometer Between require big, high cost;Additionally, to realize light fixture and the isoparametric accurate measurement of light source space light distribution, it is necessary to make by The burning-point attitude that object keeps fixed is surveyed, thus it is high to the stability requirement of distribution photometer.
Traditional distribution photometer wide variety, wherein measuring accuracy distributed luminosity higher are distributed in respect of mirror type Photometer, synchronous reflection distributing photometer, rotary mirror type distribution photometer etc., but the measuring method of these distribution photometers is present Some shortcomings:(1)Measurement range is limited, and same distribution photometer can only be measured in A- α, B- β, C- tri- kinds of measuring systems of γ One or two;(2)Mounting means is fixed, and flexibility not enough, limits test function;(3)Floor space is big, high cost;(4)Survey Examination unitary function, the scope of application is small.These shortcomings cause traditional distribution photometer using above having significant limitation, cost Height, efficiency is low and the scope of application is small.
In recent years, industrial robot was introduced into distributed luminosity counter device, using the flexibility of industrial robot, it is possible to achieve One equipment meets A- α simultaneously, and B- β, C- tri- kinds of angle requirements of measuring system of γ in addition to rotating, can also be realized certain The translation of distance, has flexibility higher relative to traditional distribution photometer, also saves space and cost.However, at present Robot distribution photometer many limitation are still present in measurement process, be only applicable to ordinary lamp and lantern and light source, and survey Examination unitary function, it is impossible to meet the measurement request of large scale area source and some complex lights, such as display device under ambient light Feature measurement, secondary souce the characteristics of luminescence measurement etc..
The content of the invention
In order to solve the above technical problems, providing a kind of robot distribution photometer, it is characterised in that including a robot With one or more rotary table, described robot includes base, a rotation of three or more by ground supports Axle, pivoted arm and the clamping device positioned at pivoted arm end;Described rotary table has feathering axis and/or vertical rotary Axle;Measurand is arranged on the clamping device of robot or is arranged on rotary table;For receiving from tested right As the optical detector of optical radiation signal is arranged on the clamping device of rotary table or robot.
The present invention clamps measurand, optical receiver respectively by the robot with multiaxis and a rotary table Or excitation source meets large scale light source, high-freedom degree, diversified measurement demand;It is mutually combined by both, can be significantly Degree increased the scope of activities of robot, realize the measurement at uniformity, the visual angle of large scale light source etc..If while measurand More sensitive to operating configurations, then the setting of robot and rotary table can then ensure to always work in finger in measurand Determine under attitude, just do not exist due to the unstable error brought that lighted caused by operating attitude change.Measurand can be this The luminous light source of body, such as light fixture, display screen etc.;Or need the secondary souce that external excitation source excites, such as fluorescent material Or common reflection/transmission material.
One typical set-up mode is that measurand is arranged on rotary table, and rotary table can be around vertical axis Rotation;And optical detector is installed on the clamping device of robot, optical detector measures tested under the drive of robot The optical signal of object.
The present invention can also be limited further and perfect by the following technical programs:
The rotary shaft of the robot includes the first rotary shaft and the first rotary shaft that are rotated around vertical direction that are connected with base Second rotary shaft rotated around trunnion axis of connection and the second rotary shaft be connected by linking arm rotated around trunnion axis the Three rotary shafts and the 4th rotary shaft being connected with the 3rd rotary shaft.
As a kind of technical scheme, described robot distribution photometer, including with robot and rotary table independence Support.
As a kind of technical scheme, optical detector is installed on the clamping device of robot, measurand is arranged on rotation On workbench or support.A kind of typical technical scheme is the placement less sample of size on support, and in rotary work Installation dimension is than larger measurand on platform.The measuring method is applied to the measurement of various sizes of display device, according to aobvious Show the size of equipment, ensure certainty of measurement on the premise of, adjust measuring method, can save certain space cost and equipment into This.
As a kind of technical scheme, lighting source is installed, on the rotary table on the clamping device of the robot Measurand is set, optical detector is installed on described support, lighting source is installed on the clamping device of the robot;Or Measurand is installed on the rotary table described in person, optical detector is installed on the clamping device of described robot, and institute Lighting source is installed on the support stated;Or lighting source, the rotary table are installed on the clamping device of the robot Upper setting optical detector, installs described in measurand on described support and installs lighting source.The technical scheme passes through machine Being mutually combined for people, rotary table and support, can meet the complicated test request of light source miscellaneous, particularly simulate Uniformity and luminous intensity distribution measurement of the display screen under the conditions of varying environment optical illumination, and the secondary souce for needing lighting source Etc. the measurement of special light sources.
Preferably, include vertical rotating shaft and/or feathering axis on described support, upper and lower and/or left and right adjusting Device, also including bracket base, fixed support shaft and turntable, is not limited to certain height and angle, more flexibly.It is described Rotary table, including base and turntable, the rotary table and support can drive measurand or lighting source along hanging down Nogata is moved to horizontal direction, or around finger fixed-axis rotation.According to the size of measurand, measurand, lighting source and light Learn the horizontal range between detector, vertical range suitably to adjust, improve the degree of accuracy of measurement.
Preferably, described lighting source can be white light source, color lighting light source etc., or adjustable light Source, covers whole spectral band, including ultraviolet spectra and infrared spectrum, according to the difference of testing requirement, adjustment lighting source Luminescent spectrum.If measurand is secondary souce, can adjust lighting source is most suitable exciting light spectrum;If measurand is Display device, then can adjust the lighting condition of the actual environment light such as lighting source, simulation daylight illumination, Landscape Lighting, so as to carry The accuracy of high measurement.
Preferably, described robot distribution photometer includes one or more rail plate, described robot, rotation Revolving worktable and support can be arranged on rail plate.Rail plate can be according to practical measurement requirement laterally and/or longitudinally And/or the multiple directions such as oblique are set;According to the measurement request of different measurands, robot and/or support and/or rotation work Make platform mobile adjustable measurement distance and space relative angular position on rail plate, increase flexibility, the applicability of measurement With the degree of accuracy.
Preferably, the robot can be according to the illumination light for clamping in appearance and size, weight capacity or the rotation number of axle The weight of source or optical detector is adjusted.Described clamping device is arranged on pivoted arm end, for clamping optical detection automatically Device, is driven optical detector movement by rotary shaft or is rotated.
Preferably, be provided with two or more optical detectors on the clamping device of robot, by clamping device with At least one optical detector is cut optical path by the rotation of rotary shaft.According to test request, can suitably be adjusted, if surveying Examination requires that simply, then clamping device can only clamp an optical detector, save space and cost;If desired the parameter one for measuring Individual optical detector cannot meet, and the value volume and range of product of optical detector can be increased by test request.Described optical detector It is illumination photometer and/or luminance meter;Colored illumination photometer of the described illumination photometer including single channel illumination photometer, triple channel or four-way, Spectral irradiance meter;Described luminance meter includes color luminance meter, the two-dimensional imaging of single channel luminance meter, triple channel or four-way Luminance meter, spectral radiance meter.Various types of illumination photometers can realize the photochromisms such as colour temperature, chromaticity coordinates, the colour rendering index of light source The optical characteristic measurements such as parameter measurement, luminous flux, illumination also including light source;Luminance meter can realize the Luminance Distribution of light source, sky Between the characteristic such as the uniformity measurement.By the combination of different model, different types of illumination photometer and luminance meter, can meet tested right The high-acruracy survey of the various optical properties of elephant, especially may be implemented in various lighting environments such as white-light illuminating, colored Landscape Lighting The lower high-acruracy survey for realizing various optical characteristics, the robot distribution photometer has the powerful, high precision of measurement, application The features such as scope is wide.
Based on the above, compared with prior art, it is an advantage of the current invention that having given full play to robot distributed luminosity The various advantage of meter metering system, with reference to robot, rotary table, support and rail plate, improves robot distribution light Degree meter measurement flexibility, and the species, lighting environment according to measurand requirement, adjust optical detector combination and Specific measurement scheme, with testing efficiency it is high, certainty of measurement is high, flexibility is strong the features such as.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram of the measurement apparatus of embodiment 1.
Accompanying drawing 2 is the schematic diagram of the measurement apparatus of embodiment 2.
Accompanying drawing 3 is the schematic diagram of the measurement apparatus of embodiment 3.
Accompanying drawing 4 is the schematic diagram of the measurement apparatus of embodiment 4.
Accompanying drawing 5 is the schematic diagram of the measurement apparatus of embodiment 5.
Specific embodiment
With reference to specific embodiment, the invention will be further described, but the present invention is not limited only to following examples.
Embodiment one
As shown in figure 1, the robot distribution photometer of the present embodiment, including a robot 1 and a rotary table 2.Institute The robot 1 for stating includes a base 3 by ground supports, rotary shaft 4, pivoted arm 5 and the clamping device 6 positioned at the end of pivoted arm 5; Described rotary table 2 has feathering axis and vertical rotating shaft.
In the present embodiment, robot 1 and rotary table 2 are respectively mounted on the ground.
In the present embodiment, robot 1 clamps two optical detectors 81,82, and measurand light radiation is come from for receiving Signal;Measurand 7 is arranged on rotary table 2.
In the present embodiment, measurand 7 is ordinary lamp and lantern, and optical detector 81 is luminance meter, and optical detector 82 is photograph Degree meter.
In the present embodiment, the rotatable engagement of robot 1 and rotary table 2, there is provided accurate measurand 7 and optics are visited The space relative angular position surveyed between device 81 or optical detector 82.
The measuring method of the embodiment is as follows:In test process, the connection circuit of rotary table 2 lights light fixture;Machine People 1 is rotated by rotary shaft 4 so that luminance meter is directed at the centre of luminescence of light fixture;Robot 1 drive luminance meter or illumination photometer around Light fixture rotates, the characteristics of luminescence of the measurement light fixture in each space angle;Luminance meter or illumination photometer are right all the time in test process The centre of luminescence of quasi- light fixture, and measuring distance is constant.
In the present embodiment, rotary table 2 can drive light fixture both vertically and horizontally rotating, it is also possible to make upper and lower Height Adjustment, robot 1 drives the space angle distribution of luminance meter or illumination photometer to light fixture to measure.
The rotary table 2 of the present embodiment can bear the light fixture of such as car light big size, by robot 1 and rotation Workbench 2 is combined, and can realize the measurement of the characteristics such as ordinary light source uniformity, space angle distribution;Robot 1 and rotary table 2 mutual cooperation, relatively conventional distribution photometer, flexibility is high, while measuring accuracy can be improved.
Embodiment two
As shown in Fig. 2 the robot distribution photometer of the present embodiment, including robot 1, rotary table 2 and support 10.It is described Robot 1 include a base 3 by ground supports, rotary shaft 4, pivoted arm 5 and the clamping device 6 positioned at the end of pivoted arm 5;Institute The rotary table 2 stated has feathering axis and vertical rotating shaft;Described support 10 includes that vertical rotating shaft and level are revolved Rotating shaft.
In the present embodiment, robot 1, rotary table 2 and support 10 are respectively mounted on the ground, and robot 1 is arranged on rotation In the middle of revolving worktable 2 and support 10.
In the present embodiment, robot 1 clamps optical detector 8, and measurand 7 is arranged on rotary table 2, and it is right to be tested As 9 installations over the mount 10.
In the present embodiment, measurand 7 is large display screen, and measurand 9 is small display screen, and optical detector 8 is Luminance meter.
In the present embodiment, the rotatable engagement of robot 1, support 10 and rotary table 2, there is provided accurate measurand 7, Space relative angular position between measurand 9 and optical detector 8.
The embodiment mainly for various sizes of display device measurement, if when the size of measurand 9 is smaller, can put Put over the mount 10, support 10 drives measurand 9 to rotate in the horizontal direction, and robot 1 is rotated around measurand 9;When When the size of measurand 7 is larger, support 10 cannot support measurand 7, now measurand 7 can be arranged on into rotary work On platform 2.
In test process, rotary table 2 or support 10 connect circuit, light display screen, and rotary machine people 1 makes luminance meter It is to display screen;Space angle position between rotary table 2 or the display screen of support 10 and luminance meter;Carry out the bright of display screen Degree measurement.
The present embodiment is applied to all various sizes of display devices, according to the size of display device, is ensureing measurement essence On the premise of degree, measuring method is adjusted, certain space cost and equipment cost can be saved.
The present embodiment can increase considerably measuring method by robot 1, rotary table 2 and the combination of support 10 Diversity, realizes the measurement of the characteristics such as uniformity, the space angle distribution of the special light sources such as large scale area source.While robot 1st, support 10 can ensure that measurand is always worked under specified attitude with the setting of rotary table 2, can effectively keep away Exempt from due to the unstable error brought that lighted caused by operating attitude change, measuring method can also be according to measurand species Appropriate adjustment is made in the requirement of different and measuring condition, increases test flexibility.
Embodiment three
As shown in figure 3, the present embodiment mainly discloses a kind of robot distribution photometer and display screen in simulating sun light environment Under optical characteristics measuring method, the robot distribution photometer include robot 1, rotary table 2, support 10 with slide Guide rail 11.Robot 1 includes a clamping device 6 for base 3, rotary shaft 4, pivoted arm 5 and the end of pivoted arm 5;Described rotation work Make platform 2 with feathering axis and vertical rotating shaft;Described support 10 includes feathering axis.
In the present embodiment, robot 1 is installed on the ground, and rotary table 2 and support 10 are fixedly mounted on slip and lead On rail 11, robot 1 is arranged in the middle of rotary table 2 and support 10.
In the present embodiment, robot 1 clamps lighting source 12, and measurand 7 is arranged on rotary table 2, and optics is visited Survey device 8 to set over the mount 10, the measurand 7 is display screen.
In the present embodiment, optical detector 8 is luminance meter, and lighting source 12 is white-light illuminating light source.
The measuring method of the embodiment is as follows:Rotary table 2 connects circuit, lights display screen;Robot 1 is connected automatically Power supply and Sampling Interface, light lighting source 12, and rotating illuminating light source 12 makes it be then oriented more at display screen;Support 10 Luminance meter rotation is driven, makes the centre of luminescence of its align display screens;The rotary shaft of robot 1, support 10 and rotary table 2 turns It is dynamic that measurand 7 and lighting source 12 can be driven both horizontally and vertically to adjust, it is ensured that lighting source 12, luminance meter With the space angle position of display screen;Robot 1 drives lighting source 12 to be rotated around measurand 7, and measurement display screen is in angle The characteristics of luminescence of different spaces angle under white-light illuminating environment;Luminance meter is directed at the hair of measurand 7 all the time in measurement process Light center, and measurement distance is constant.
In the present embodiment, by the rotation of support 10, change irradiating angle of the white-light illuminating light source 12 to display screen, can be with The actual illumination condition of different periods solar radiation is simulated, accuracy of measurement is improved.
In the present embodiment, optical detector 8, tested right is clamped by robot 1, rotary table 2 and support 10 respectively As 7 and lighting source 12 come meet display screen white light ambient light irradiation under optical characteristic measurement.While robot 1, support 10 can ensure that measurand 7 is always worked under specified attitude with the setting of rotary table 2, can be effectively prevented from due to Light the unstable error brought caused by operating attitude change, and measuring method can also be according to the difference of light source category and measurement Appropriate adjustment is made in condition requirement, increases test flexibility.
In the present embodiment, by the rotatable engagement of robot 1, rotary table 2 and support 10, there is provided accurate optics is visited Survey device 8, the space relative angular position between measurand 7 and lighting source 12.
Example IV
As shown in figure 4, present embodiment discloses a kind of robot distribution photometer and display screen under Landscape Lighting environment optics The measuring method of characteristic, the robot distribution photometer includes robot 1, rotary table 2 and support 10.The robot 1 is wrapped Include the clamping device 6 of a base 3, rotary shaft 4, pivoted arm 5 and the end of pivoted arm 5;Described rotary table 2 has horizontal rotation Axle and vertical rotating shaft;Described support 10 includes feathering axis.
In the present embodiment, display screen is arranged on fixed support 10, and robot 1 clamps lighting source 12.
In the present embodiment, optical detector 8 is luminance meter, and lighting source 12 is adjustable color lighting light source.
Before measurement, optical detector 8 is arranged in the rotary shaft of rotary table 2, the dress of regulation up and down of adjusting bracket 10 Put the rotary shaft with rotary table 2.Make display screen horizontal positioned, optical detector 8 is disposed vertically, just going up in display screen Side, and align display screens the centre of luminescence.
In test process, the connection circuit of support 10 lights display screen;Robot 1 simultaneously connects power supply and Sampling Interface, lights Lighting source 12, irradiation is on a display screen;Adjust the feathering axis and vertical rotating shaft of rotary table 2 so that luminance meter The centre of luminescence of align display screens measurement point or measured zone, and adjust the space relative angle position of optimal display screen measurement Put;One measurement point or measured zone, it is automatic after being measured to change measurement point or measured zone, until completing multimetering.
In the present embodiment, the rotatable lighting element light source 12 of robot 1 irradiates display screen, measurable different angles from different perspectives Spatial distribution, uniformity of display screen under the conditions of the colored environment light irradiation of degree etc..
In the present embodiment, the centre of luminescence of luminance meter align display screens measurement point or measured zone all the time, and measurement distance It is constant.
In the present embodiment, the main analog Landscape Lighting of color lighting light source 12, measurement display screen is in the various lampions in scenic spot Luminescent properties under light environment.
In the present embodiment, optical detector 8, tested right is clamped by robot 1, rotary table 2 and support 10 respectively As 7 and lighting source 12 meet optical characteristic measurement of the display screen under the conditions of Landscape Lighting.
Embodiment five
As shown in figure 5, the present embodiment discloses a kind of robot distribution photometer, the robot distribution photometer include support 10, Robot 1, rotary table 2 and rail plate 11.The robot 1 includes a base 3, rotary shaft 4, pivoted arm 5 and the end of pivoted arm 5 The clamping device 6 at end;Described rotary table 2 has feathering axis and vertical rotating shaft;Described support 10 includes water Flat rotary shaft and vertical rotating shaft.
The measurand 7 of the present embodiment is display screen, and optical detector 8 is luminance meter, and lighting source 10 is color lighting Light source.
In the present embodiment, lighting source 12 is installed over the mount 10, and display screen is arranged on rotary table 2, robot 1 Clamp luminance meter.
In the present embodiment, robot 1 and rotary table 2 are arranged in lateral slide rail 11, and support 10 is arranged on ground On face.
In the present embodiment, display screen is disposed vertically, and is rotated by the feathering axis and vertical rotating shaft of rotary table 2 The rotation of driving display screen.
The measuring method of the embodiment is as follows:Rotary table 2 connects circuit, lights display screen;Lighting source 12 is lighted, It is set to be then oriented more at display screen;Robot 1 clamps luminance meter, and connection power supply and Sampling Interface automatically automatically;Machine People 1 rotates luminance meter, makes the centre of luminescence of its align display screens;The rotary shaft of support 10 and rotary table 2 is rotated and can driven Measurand 7 and lighting source 12 are both horizontally and vertically adjusted, it is ensured that display screen, luminance meter and lighting source 12 Space angle position;Robot 1 drives optical detector 8 to be rotated around measurand 7, and measurement display screen is in colored lighting environments The characteristics of luminescence of lower different spaces angle;Luminance meter is directed at the centre of luminescence of measurand 7, and measurement all the time in measurement process Apart from constant.
In the present embodiment, by adjusting the adjusting means up and down and rotary shaft of support 10, the 12 pairs of displays of adjustment lighting source The irradiating angle of screen.
In the present embodiment, the rotary shaft 4 of robot 1 drives luminance meter rotation, and multimetering, measurement side are carried out to display screen Method is similar with above example.
Above example one, embodiment two, embodiment three, example IV and embodiment five are made to technical scheme Illustrate, but technical scheme is not limited only to these explanations, and protection scope of the present invention is limited by claims Fixed, any simple change on the basis of the claims in the present invention is embraced within protection scope of the present invention.

Claims (10)

1. a kind of robot distribution photometer, it is characterised in that including a robot(1)With one or more rotary table (2), described robot(1)Including a base by ground supports(3), the rotary shaft of three or more(4), pivoted arm(5) With positioned at pivoted arm(5)The clamping device of end(6);Described rotary table(2)With feathering axis and/or vertical rotary Axle;Measurand(7)Installed in robot(1)Clamping device(6)Go up or be arranged on rotary table(2)On;For connecing Receive and come from measurand(7)The optical detector of optical radiation signal(8)It is arranged on rotary table(2)Or robot(1)'s Clamping device(6)On.
2. robot distribution photometer as claimed in claim 1, it is characterised in that the robot(1)Rotary shaft(4)Bag Include and base(3)What first rotary shaft that rotate around vertical direction and the first rotary shaft of connection were connected rotates around trunnion axis The 3rd rotary shaft rotated around trunnion axis that second rotary shaft is connected with the second rotary shaft by linking arm and with the 3rd The 4th rotary shaft that rotary shaft is connected.
3. robot distribution photometer as claimed in claim 1 or 2, it is characterised in that robot(1)Clamping device(6) On be provided with two or more optical detectors(8), by clamping device(6)Rotation or translation by least one optical detection Device(8)Incision optical path.
4. the robot distribution photometer as described in claim 1 or 2 or 3, it is characterised in that described optical detector(8) It is illumination photometer and/or luminance meter;Colored illumination photometer of the described illumination photometer including single channel illumination photometer, triple channel or four-way, Spectral irradiance meter;Described luminance meter includes color luminance meter, the two-dimensional imaging of single channel luminance meter, triple channel or four-way Luminance meter, spectral radiance meter.
5. robot distribution photometer as claimed in claim 1 or 2 or 3 or 4, it is characterised in that including one or more cunning Dynamic guide rail(11), described robot(1)And/or rotary table(2)Installed in rail plate(11)On.
6. robot distribution photometer as claimed in claim 1 or 2 or 3 or 4, it is characterised in that including and robot (1)Mutually independent support(10).
7. robot distribution photometer as claimed in claim 6, it is characterised in that the robot(1)Clamping device(6) Upper installation optical detector(8), measurand(7)Installed in rotary table(2)Or support(10)On.
8. robot distribution photometer as claimed in claim 6, it is characterised in that the robot(1)Clamping device(6) Upper installation lighting source(12), the rotary table(2)Upper setting measurand(7), described support(10)Upper installation light Learn detector(8);Or described rotary table(2)Upper installation measurand(7), the robot(1)Clamping device (6)Upper installation optical detector(8), and described support(10)Upper installation lighting source(12);Or the robot(1)'s Clamping device(6)Upper installation lighting source(12), the rotary table(2)Upper setting optical detector(8), described support (10)Upper installation measurand(7)The installation lighting source(12).
9. the robot distribution photometer as described in right 7 and 8, it is characterised in that described support(10)It is upper to include vertical rotation Rotating shaft and/or feathering axis.
10. the robot distribution photometer as described in right 7 and 8, it is characterised in that described support(10)It is upper to include up and down And/or left and right adjusting device.
CN201710295197.XA 2017-04-28 2017-04-28 A kind of robot distribution photometer Pending CN106872023A (en)

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Application publication date: 20170620