CN107289887A - A kind of glove-type articulated arm coordinate measuring machine and its measuring method - Google Patents
A kind of glove-type articulated arm coordinate measuring machine and its measuring method Download PDFInfo
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- CN107289887A CN107289887A CN201710550704.XA CN201710550704A CN107289887A CN 107289887 A CN107289887 A CN 107289887A CN 201710550704 A CN201710550704 A CN 201710550704A CN 107289887 A CN107289887 A CN 107289887A
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- joint
- finger
- pressure sensor
- arm
- palm cover
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 210000001503 joint Anatomy 0.000 claims abstract description 21
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 18
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000000523 sample Substances 0.000 abstract description 4
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000019713 millet Nutrition 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000631 nonopiate Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
Abstract
The invention discloses a kind of glove-type articulated arm coordinate measuring machine and its measuring method.The existing articulated arm coordinate measuring machine for installing touch trigger probe is once only surveyed a bit, and efficiency is low, operation inconvenience.The present invention includes pedestal, the first joint, second joint, the 3rd joint, the 4th joint, the first joint arm, second joint arm, the 3rd joint arm and gauge head；Gauge head includes palm cover and five finger-stalls；Angular encoder is equipped with inside first joint, second joint, the 3rd joint, finger middle joint and finger root joint；That side outer wall is provided with the same side for being located at the first array pressure sensor on the first array pressure sensor, finger-stall provided with the second array pressure sensor to palm cover inwardly；4th IA motion azimuthal measurement apparatus and all angular encoders are by angular signal input signal acquisition system, and all pressure sensor contacts are by pressure signal input signal acquisition system.The present invention may be worn on hand, can once survey multiple points, easy to operate.
Description
Technical field
The invention belongs to field of measuring technique, it is related to articulated arm coordinate measuring machine, and in particular to a kind of measurement end is similar to
The articulated arm coordinate measuring machine and its measuring method of human palm.
Background technology
All there is the high precision position measurement to object table millet cake and the height of article geometrical size in many technical fields
The demand of precision measure.Especially for industry is manufactured, the measurement and quality control of product are extremely important.
On these fields, exist and be much applied to measurement apparatus formed by these situations, these measurement apparatus are usual
Referred to as coordinate measuring machine (CMM).Wherein articulated arm coordinate measuring machine is a kind of nonopiate coordinate-measuring instrument of multiple degrees of freedom, generally
With 6 frees degree.It with tandem-in-space structure, thus has compared with traditional orthogonal coordinate system formula three coordinate measuring machine
The free degree is big, measurement space is open, operate relatively flexible and suitable in-site measurement the features such as.
However, the existing articulated arm coordinate measuring machine for installing touch trigger probe can only disposably measure a point,
Even very simple geometric object, it is desirable to measure its physical dimension and must also divide and measure many times, waste time and energy,
It is less efficient.Moreover, although existing articulated arm coordinate measuring machine is that the arm design for copying people comes out, but is made
It not is very convenient, it is necessary to which operator's both hands help joint arm to find carries out data again behind suitable position that used time, which operates,
Record, this also cause articulated arm coordinate measuring machine measure when spend the time increase, measurement efficiency reduction.
The content of the invention
, should it is an object of the invention to provide the articulated arm coordinate measuring machine and its measuring method that a kind of gauge head is similar to human hand
Gauge head can be worn on hand as gloves, so that one can only disposably be measured by solving existing articulated arm coordinate measuring machine
Individual coordinate points, and the problem of inconvenient operation.
In order to solve the above problems, the technical solution adopted by the present invention is：
A kind of glove-type articulated arm coordinate measuring machine of the present invention, including pedestal, the first joint, second joint, the 3rd joint,
4th joint, the first joint arm, second joint arm, the 3rd joint arm and gauge head；First joint arm passes through the first joint with pedestal
Connection, the rotating shaft in the first joint is vertically arranged；The rear end of second joint arm and the front end of the first joint arm are connected by second joint
Connect, the front end of second joint arm is connected with the rear end of the 3rd joint arm by the 3rd joint, turn in second joint and the 3rd joint
Axle level and it be arranged in parallel；Described the first joint, second joint and the 3rd intra articular is equipped with the angle of measurement joint rotation angle
Spend encoder.
Described gauge head includes palm cover and five finger-stalls；Palm cover rear portion fixed connecting rod, connecting rod is closed with the 3rd
The front end of joint arm is connected by the 4th joint；4th joint is spherical hinge chain type joint, built in motion azimuthal measurement apparatus；Five
Four finger-stalls sequentially arranged in finger-stall include three loop bars, and another finger-stall includes two loop bars；Same hand
Adjacent two loop bars are connected by finger middle joint on fingerstall；The loop bar that every finger-stall is located at root is anterior with palm cover
Connected by finger root joint；Connected inside all loop bars on same finger-stall, and positioned at the loop bar and palm of root
Set is internal to be connected；That side outer wall of palm cover inwardly is plane, and the rotating shaft of finger middle joint and finger root joint is parallel
In palm cover plane where that side outer wall, and the rotating shaft of finger middle joint and finger root joint is rectangular with loop bar bar inwardly
To vertical；Finger root joint on five finger-stalls is arranged along camber line；Inside finger middle joint and finger root joint
Provided with for measuring the angular encoder of joint rotation angle.That side outer wall is provided with the first array pressure sensor to palm cover inwardly,
Each row and each row include multiple pressure sensor contacts in first array pressure sensor；It is located at the first array on finger-stall
The same side of formula pressure sensor is provided with each row and each row in the second array pressure sensor, the second array pressure sensor
Include multiple pressure sensor contacts；Each pressure sensor contact is composed of different numberings.4th IA motion orientation
Measurement apparatus and all angular encoders are by angular signal input signal acquisition system, and all pressure sensor contacts believe pressure
Number input signal acquisition system.
Each row and each row pressure sensor contact number are equal in the first described array pressure sensor, be 10~
12.
Each row pressure sensor contact number is equal in the second described array pressure sensor, is 2~4；The
Each row pressure sensor contact number is equal in two array pressure sensors, is 15~20；Finger middle joint or hand
Refer to the row place direction of the rotating shaft of root joint axially for the second array pressure sensor.
The measuring method of the glove-type articulated arm coordinate measuring machine is specific as follows：
Step 1: pedestal is fixed on around object, object is set to be in measured zone, human hand is inserted in palm cover and five
Finger-stall.
Step 2: on people's hand-motion palm cover and five finger-stall touching object, palm cover and five finger-stalls with object
Pressure signal is transmitted to signal acquiring system by each pressure sensor contact of contact, and signal acquiring system identification touches object
Pressure sensor contact is numbered, and the pressure sensor contact for touching object that computer is transmitted according to signal acquiring system is compiled
Number, each angular encoder and the 4th IA motion the azimuthal measurement apparatus angular signal, the pedestal origin and initial that transmit
The first joint arm, second joint arm and the 3rd joint arm lengths of design, each pressure sensor contact are numbered corresponding pressure and passed
Position of the sensor contact on palm cover or finger-stall, calculates each pressure sensor contact contacted with object in origin
Space coordinate in system, and then calculate the physical dimension of object.
Step 3: repeat step two, until measure object measurement in need physical dimension.
The beneficial effects of the invention are as follows：
1st, the present invention can be while the coordinate of the multiple points of measurement space, compared with existing articulated arm coordinate measuring machine, be surveyed
The amount time greatly shortens, and improves the efficiency of measurement.
2nd, probe part of the invention is similar to human hand and wearable so that articulated arm coordinate measuring machine can be according to operation
The freely activity of the arm of person, it is simple to operate and only need to one-handed performance.
3rd, the present invention is according to pressure sensor contact numbering, each angular encoder and the 4th intra-articular fortune for touching object
The first joint arm, the second joint arm and of angular signal, pedestal origin and initial designs that dynamic azimuthal measurement apparatus is transmitted
Three joint arm lengths, each pressure sensor contact number position of the corresponding pressure sensor contact on palm cover or finger-stall
Put, calculate space coordinate of the measurement point in origin system, and then calculate the physical dimension of object, it is ensured that the standard of measurement
True property.
Brief description of the drawings
Fig. 1 is glove-type articulated arm coordinate measuring machine structural representation.
Fig. 2 is glove-type articulated arm coordinate measuring machine probe part structural representation.
In figure：1- pedestals, the joint arms of 2- first, 3- second joints, 4- second joint arms, the joints of 5- the 3rd, 6- the 3rd is closed
Joint arm, the joints of 7- the 4th, 8- gauge heads, the joints of 9- first.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of glove-type articulated arm coordinate measuring machine, including pedestal 1, the first joint 9, second joint 3,
Three joints 5, the 4th joint 7, the first joint arm 2, second joint arm 4, the 3rd joint arm 6 and gauge head 8.First joint arm 2 and base
Seat 1 is connected by the first joint 9, and the rotating shaft in the first joint 9 is vertically arranged；The rear end of second joint arm 4 and the first joint arm 2
Front end is connected by second joint 3, and the front end of second joint arm 4 is connected with the rear end of the 3rd joint arm 6 by the 3rd joint 5,
The rotating shaft level in the joint 5 of second joint 3 and the 3rd and it be arranged in parallel；First joint 9, second joint 3 and the inside of the 3rd joint 5 are
Provided with for measuring the angular encoder of articulation angle.
As shown in Fig. 2 gauge head 8 includes palm cover and five finger-stalls；Palm cover rear portion fixed connecting rod, connecting rod and the
The front end of three joint arms 6 is connected by the 4th joint 7；4th joint 7 is spherical hinge chain type joint, built in motion azimuthal measurement dress
Put, motion azimuthal measurement apparatus uses the technology of prior art, such as Patent No. 201420387364.5；It is suitable in five finger-stalls
Four finger-stalls of sequence arrangement include three loop bars, and another finger-stall includes two loop bars；It is adjacent on same finger-stall
Two loop bars are connected by finger middle joint；The loop bar that every finger-stall is located at root passes through finger root with palm cover front portion
Portion joint is connected；Connected inside all loop bars on same finger-stall, and the loop bar positioned at root inside palm cover with connecting；
That side outer wall of palm cover inwardly is plane, the rotating shaft of finger middle joint and finger root joint each parallel to palm cover inwardly
Plane where that side outer wall, and the rotating shaft of finger middle joint and finger root joint is vertical with loop bar bar length direction；Five
Finger root joint on finger-stall is arranged along camber line；It is equipped with inside finger middle joint and finger root joint for measuring
The angular encoder of articulation angle.That side outer wall is provided with the first array pressure sensor, the first array to palm cover inwardly
Each row and each row pressure sensor contact number are equal in formula pressure sensor, are 10~12；It is located at first on finger-stall
The same side of array pressure sensor is provided with each row pressure in the second array pressure sensor, the second array pressure sensor
Force snesor contact number is equal, is 2~4；Each row pressure sensor contact number in second array pressure sensor
It is equal, it is 15~20；The rotating shaft of finger middle joint or finger root joint is axially the second array pressure sensor
Row where direction；Each pressure sensor contact is composed of different numberings.Motion azimuthal measurement apparatus and institute in 4th joint 7
Angled encoder adopts pressure signal input signal angular signal input signal acquisition system, all pressure sensor contacts
Collecting system.
The measuring method of the glove-type articulated arm coordinate measuring machine is specific as follows：
Step 1: pedestal 1 is fixed on around object, object is set to be in measured zone, human hand is inserted in palm cover and five
Root finger-stall.
Step 2: on people's hand-motion palm cover and five finger-stall touching object, palm cover and five finger-stalls with object
Pressure signal is transmitted to signal acquiring system by each pressure sensor contact of contact, and signal acquiring system identification touches object
Pressure sensor contact is numbered, and the pressure sensor contact for touching object that computer is transmitted according to signal acquiring system is compiled
Number, the motion azimuthal measurement apparatus in each angular encoder and the 4th joint 7 angular signal, the pedestal origin and initial that transmit
The first joint arm 2, second joint arm 4 and the length of the 3rd joint arm 6 of design, each pressure sensor contact number corresponding pressure
Position of the sensor contact on palm cover or finger-stall, calculates each pressure sensor contact contacted with object and is sat in origin
Space coordinate in mark system, and then calculate the physical dimension of object.
Step 3: repeat step two, until measure object measurement in need physical dimension.
The present invention is designed according to bionics principle, and structure is similar with the palm of people.When operator digital flexion or
When stretching, the finger-stall on gauge head makees identical motion also with operator.When the arm of operator is moved in space, joint
Arm is also moved therewith, is consistent the palm of gauge head and operator.
Claims (4)
1. a kind of glove-type articulated arm coordinate measuring machine, including pedestal, the first joint, second joint, the 3rd joint, the 4th pass
Section, the first joint arm, second joint arm, the 3rd joint arm and gauge head；First joint arm is connected with pedestal by the first joint, the
The rotating shaft in one joint is vertically arranged；The rear end of second joint arm is connected with the front end of the first joint arm by second joint, and second
The front end of joint arm is connected with the rear end of the 3rd joint arm by the 3rd joint, the rotating shaft level in second joint and the 3rd joint and
It is arranged in parallel；It is characterized in that：Described the first joint, second joint and the 3rd intra articular is equipped with measurement joint rotation angle
Angular encoder；
Described gauge head includes palm cover and five finger-stalls；Palm cover rear portion fixed connecting rod, connecting rod and the 3rd joint arm
Front end connected by the 4th joint；4th joint is spherical hinge chain type joint, built in motion azimuthal measurement apparatus；Five fingers
Four finger-stalls sequentially arranged in set include three loop bars, and another finger-stall includes two loop bars；Same finger-stall
Upper adjacent two loop bars are connected by finger middle joint；The loop bar that every finger-stall is located at root passes through with palm cover front portion
Finger root joint is connected；Connected inside all loop bars on same finger-stall, and in the loop bar and palm cover of root
Portion is connected；That side outer wall of palm cover inwardly is plane, and the rotating shaft of finger middle joint and finger root joint is each parallel to hand
Palm set plane where that side outer wall, and the rotating shaft of finger middle joint and finger root joint is vertical with loop bar bar length direction inwardly
Directly；Finger root joint on five finger-stalls is arranged along camber line；It is equipped with inside finger middle joint and finger root joint
For measuring the angular encoder of joint rotation angle；That side outer wall is provided with the first array pressure sensor, first to palm cover inwardly
Each row and each row include multiple pressure sensor contacts in array pressure sensor；It is located at the first array pressure on finger-stall
The same side of force snesor is provided with each row and each row in the second array pressure sensor, the second array pressure sensor and wrapped
Include multiple pressure sensor contacts；Each pressure sensor contact is composed of different numberings；4th IA motion azimuthal measurement
Device and all angular encoders are by angular signal input signal acquisition system, and all pressure sensor contacts pass pressure signal
Enter signal acquiring system.
2. a kind of glove-type articulated arm coordinate measuring machine according to claim 1, it is characterised in that：The first described array
Each row and each row pressure sensor contact number are equal in formula pressure sensor, are 10~12.
3. a kind of glove-type articulated arm coordinate measuring machine according to claim 1, it is characterised in that：The second described array
Each row pressure sensor contact number is equal in formula pressure sensor, is 2~4；It is each in second array pressure sensor
Row pressure sensor contact number is equal, is 15~20；The rotating shaft of finger middle joint or finger root joint is axially
Direction where the row of second array pressure sensor.
4. a kind of measuring method of glove-type articulated arm coordinate measuring machine according to claim 1, it is characterised in that：The party
Method is specific as follows：
Step 1: pedestal is fixed on around object, object is set to be in measured zone, human hand is inserted in palm cover and five fingers
Set；
Step 2: being contacted on people's hand-motion palm cover and five finger-stall touching object, palm cover and five finger-stalls with object
Each pressure sensor contact pressure signal is transmitted to signal acquiring system, signal acquiring system recognizes the pressure for touching object
Sensor contact is numbered, and the pressure sensor contact for touching object that computer is transmitted according to signal acquiring system is numbered, respectively
Angular signal, pedestal origin and the initial designs that angular encoder and the 4th IA motion azimuthal measurement apparatus are transmitted
First joint arm, second joint arm and the 3rd joint arm lengths, each pressure sensor contact are numbered corresponding pressure sensor and touched
Position of the head on palm cover or finger-stall, calculates each pressure sensor contact contacted with object in origin system
Space coordinate, and then calculate the physical dimension of object；
Step 3: repeat step two, until measure object measurement in need physical dimension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710550704.XA CN107289887A (en) | 2017-07-07 | 2017-07-07 | A kind of glove-type articulated arm coordinate measuring machine and its measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710550704.XA CN107289887A (en) | 2017-07-07 | 2017-07-07 | A kind of glove-type articulated arm coordinate measuring machine and its measuring method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107289887A true CN107289887A (en) | 2017-10-24 |
Family
ID=60100998
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710550704.XA Pending CN107289887A (en) | 2017-07-07 | 2017-07-07 | A kind of glove-type articulated arm coordinate measuring machine and its measuring method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10264072A (en) * | 1997-03-28 | 1998-10-06 | Yaskawa Electric Corp | Clamping object measuring device |
| JP2009064053A (en) * | 2007-09-04 | 2009-03-26 | Citizen Holdings Co Ltd | Operation input device |
| CN102363301A (en) * | 2011-10-19 | 2012-02-29 | 浙江工业大学 | Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger |
| CN105159459A (en) * | 2015-09-06 | 2015-12-16 | 东南大学 | Virtual object three-dimensional shape tactile representation method capable of being used for mobile terminal |
| CN106502412A (en) * | 2016-10-28 | 2017-03-15 | 广州初曲科技有限公司 | The shape tactile exoskeleton manipulator set that a kind of multiple degrees of freedom identification maneuver is followed the trail of |
-
2017
- 2017-07-07 CN CN201710550704.XA patent/CN107289887A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10264072A (en) * | 1997-03-28 | 1998-10-06 | Yaskawa Electric Corp | Clamping object measuring device |
| JP2009064053A (en) * | 2007-09-04 | 2009-03-26 | Citizen Holdings Co Ltd | Operation input device |
| CN102363301A (en) * | 2011-10-19 | 2012-02-29 | 浙江工业大学 | Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger |
| CN105159459A (en) * | 2015-09-06 | 2015-12-16 | 东南大学 | Virtual object three-dimensional shape tactile representation method capable of being used for mobile terminal |
| CN106502412A (en) * | 2016-10-28 | 2017-03-15 | 广州初曲科技有限公司 | The shape tactile exoskeleton manipulator set that a kind of multiple degrees of freedom identification maneuver is followed the trail of |
Non-Patent Citations (1)
| Title |
|---|
| 王玉洁等: "《虚拟现实技术在农业中的应用》", 中国农业出版社, pages: 158 - 165 * |
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