CN109373902A - A kind of articulated arm coordinate measuring machine that can be driven certainly - Google Patents
A kind of articulated arm coordinate measuring machine that can be driven certainly Download PDFInfo
- Publication number
- CN109373902A CN109373902A CN201811478416.9A CN201811478416A CN109373902A CN 109373902 A CN109373902 A CN 109373902A CN 201811478416 A CN201811478416 A CN 201811478416A CN 109373902 A CN109373902 A CN 109373902A
- Authority
- CN
- China
- Prior art keywords
- gauge head
- joint
- measuring machine
- coordinate measuring
- swinging
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention relates to be related to articulated arm coordinate measuring machine technical field, specifically a kind of articulated arm coordinate measuring machine that can be driven certainly.Servo-control system and rotating grating measuring system is added compared to traditional articulated arm coordinate measuring machine, in each joint in the present invention, can be realized High-Speed Automatic measurement.A kind of can include: fixed pedestal from the primary structure of the articulated arm coordinate measuring machine of driving, gauge head, gauge head mounting base, three groups from driving the carbon fiber pipe of rotary joint, three groups of self-powered movable pendulum movable joint and connecting joint.Wherein, three groups from driving rotary joint and three groups of self-powered movable pendulum movable joint be whole device core, every group from driving rotary joint include: rotating basis, servodrive, Circular gratings, grating gauge head, rotating arm；Every group of self-powered movable pendulum movable joint includes: swinging base, servodrive, Circular gratings, grating gauge head, swing arm.
Description
Technical field
The present invention relates to be related to articulated arm coordinate measuring machine technical field, specifically a kind of articulated arm that can be driven certainly
Coordinate measuring machine.
Background technique
Articulated arm coordinate measuring machine is a kind of multiple degrees of freedom coordinate measurment instrument, relative to traditional three-dimensional coordinates measurement
Machine is measured without dead angle, and measurement range is wider, and is convenient for carrying.It is chiefly used in CAD digital-to-analogue and actual parts Determination now, it is bent
Line measurement of curved surface and scanning, the fields such as product reverse engineer.However, existing articulated arm coordinate measuring machine is all hand traction
Measurement, although what be can be convenient measures complex part, measurement efficiency is lower, cannot achieve the high speed of high-volume workpiece
Automatic measurement.
Summary of the invention
The present invention devises a kind of articulated arm coordinate measuring machine that can be driven certainly, in the base of articulated arm coordinate measuring machine
On plinth, retain original six-freedom degree structure, is designed with reference to the structure of industrial robot, to articulated arm coordinate measuring machine
Joint structure redesigns, and introduces servo-control system and rotating grating measuring system in each joint, can meet
The demand of High-Speed Automatic measurement.
The present invention solves technical problem and adopts the following technical scheme that
The present invention is a kind of articulated arm coordinate measuring machine that can be driven certainly, compared to traditional articulated arm coordinate measuring
Machine is added servo-control system and rotating grating measuring system in each joint, can be realized High-Speed Automatic measurement.One kind can be certainly
The primary structure of the articulated arm coordinate measuring machine of driving includes: fixed pedestal, gauge head, gauge head mounting base, three groups from driving rotation
Turn the carbon fiber pipe in joint, three groups of self-powered movable pendulum movable joint and connecting joint.Wherein, rotary joint and three is driven certainly for three groups
Group self-powered movable pendulum movable joint is the core of whole device, and from pedestal to gauge head, the sequence in each joint is successively are as follows: No. 1 rotation is closed
Section, No. 1 swinging joint, No. 2 rotary joints, No. 2 swinging joints, No. 3 rotary joints, No. 3 swinging joints.Every group of rotary joint packet
It includes: rotating basis, servodrive, Circular gratings, grating gauge head, rotating arm.Every group of swinging joint includes: swinging base, watches
Take transmission device, Circular gratings, grating gauge head, swing arm.
In rotary joint, servodrive is fixed on rotating basis by screw, output end and rotating arm
Inside boss is fixed together by six screws, and servodrive can drive rotating arm to slowly run；Circular gratings pass through
Six screws are mounted on the inside of rotating arm, and rotating arm is followed to rotate together；Grating gauge head is mounted on rotating basis, surveys grating
The median plane of head and both Circular gratings coincides, and grating gauge head can recorde the angle that Circular gratings turn over, i.e. rotating arm rotates
Angle.In addition, there are the gaps 0.5mm between rotating basis and rotating arm.
In swinging joint, servodrive is fixed on swinging base by screw, output end and swing arm
Inside boss be fixed together by six screws, servodrive can drive swing arm to make 270 ° of swing；Circle light
Grid are mounted on the inside of swing arm by six screws, and swing arm is followed to rotate together；Grating gauge head is mounted on swinging base, is made
Grating gauge head and the median plane of both Circular gratings coincide, and grating gauge head can recorde the angle that Circular gratings turn over, i.e. swing arm
The angle of swing.In addition, there are the gaps 0.5mm between swinging base and swing arm.
Servodrive receives the high torque (HT) of section (HarmonicDrive) FHA series using Harmer, and elaborate servo transmission fills
It sets.High rigidity precision harmonic speed reducer and super flat AC servo motor are fused into one by the series of servo transmission device, make it
Have high torque (HT), high position precision, high rigidity and feature small in size.A kind of articulated arm coordinate measuring that can be driven certainly
Machine, including three groups from driving rotary joint and three groups of self-powered movable pendulum movable joint.Wherein, No. 1 rotary joint and No. 1 swinging joint are adopted
Section FHA-17C-100-E250-C type servodrive is received with Harmer；No. 2 rotary joints and No. 2 swinging joints are received using Harmer
Section's FHA-11C-100--E200-C mini type servodrive；No. 3 rotary joints and No. 3 swinging joints receive section using Harmer
FHA-8C-100-E200-C mini type servodrive.
The utility model has the advantages that
The invention has the advantages that the present invention devises a kind of articulated arm coordinate measuring machine that can be driven certainly, to close
Based on joint arm formula coordinate measuring machine, retain original six degree of freedom structure, to the joint structure of articulated arm coordinate measuring machine
It is redesigned, servo-control system and rotating grating measuring system is added in each joint, makes articulated arm coordinate measuring
Machine is in the case where no artificial traction, after inputting the CAD model of workpiece, is just able to achieve the High-Speed Automatic survey of high-volume workpiece
Amount.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is can be from the left view of the articulated arm coordinate measuring machine of driving.
Fig. 2 is can be from the cross-sectional view of the articulated arm coordinate measuring machine of driving.
Fig. 3 is can be from the No.1 rotary joint cross-sectional view of the articulated arm coordinate measuring machine of driving.
Fig. 4 is can be from the No.1 swinging joint cross-sectional view of the articulated arm coordinate measuring machine of driving.
Fig. 5 is can be from the part drawing of the articulated arm coordinate measuring machine of driving.
Fig. 6 is can be from the part drawing of the articulated arm coordinate measuring machine of driving.
Fig. 7 is can be from the part drawing of the articulated arm coordinate measuring machine of driving.
Fig. 8 is can be from the measurement thinking schematic diagram of the articulated arm coordinate measuring machine of driving.
In the accompanying drawings: 1. fixed pedestals, 2. No.1 rotating arms, 3. carbon fiber pipes-Isosorbide-5-Nitrae No.1 swinging base, 5-1.FHA-
17C-150-E250-C type servodrive, 5-2.FHA-17C-100-E250-C type servodrive, 6. No.1s are swung
Arm, 7. rotating basis of carbon fiber pipe -2,8. two, 9. No. two rotating arms, 10. swinging bases of carbon fiber pipe -3,11. two, 12-
1.FHA-11C-150--E200-C mini type servodrive, 12-2.FHA-11C-100--E200-C mini type servo
Transmission device, 13. No. two swing arms, 14. rotating basis of carbon fiber pipe -4,15. three, 16. No. three rotating arms, 17. carbon fibers
Manage -5,18. No. three swinging bases, 19-1.FHA-8C-150-E200-C mini type servodrive, 19-2.FHA-8C-
100-E200-C mini type servodrive, 20. No. three swing arms, 21. carbon fiber pipe -6,22. gauge head mounting bases, 23. survey
Head, 24. grating gauge heads, 25. Circular gratings
Specific embodiment
Referring to attached drawing, the present invention is a kind of articulated arm coordinate measuring machine that can be driven certainly, and primary structure includes: fixed base
Seat 1, No.1 rotating arm 2, carbon fiber pipe -1 3, No.1 swinging base 4, FHA-17C-100-E250-C type servodrive 5-
1, FHA-17C-100-E250-C type servodrive 5-2, No.1 swing arm 6, carbon fiber pipe -2 7, No. two rotating basis 8,
No. two rotating arms 9, carbon fiber pipe -3 10, No. two swinging bases 11, FHA-11C-100--E200-C mini type servo drive dress
Set 12-1, FHA-11C-100--E200-C mini type servodrive 12-2, No. two swing arms 13, carbon fiber pipe -4 14,
No. three rotating basis 15, No. three rotating arms 16, carbon fiber pipe -5 17, No. three swinging bases 18, FHA-8C-100-E200-C
Mini type servodrive 19-1, FHA-8C-100-E200-C mini type servodrive 19-2, No. three swing arms 20,
Carbon fiber pipe -6 21, gauge head mounting base 22, gauge head 23, grating gauge head 24, Circular gratings 25.The gauge head 23 is contact trigger-type
Gauge head, the gauge head mounting base 22 is for installing fixed gauge head 23.
Referring to attached 1, attached drawing 2, three groups from driving rotary joint and three groups of self-powered movable pendulum movable joint be whole device core,
From fixed pedestal 1 to gauge head 23, each joint is sequentially connected in series, sequence are as follows: No. 1 rotary joint, No. 1 swinging joint, No. 2 rotations
Joint, No. 2 swinging joints, No. 3 rotary joints, No. 3 swinging joints.Every group of rotary joint includes: rotating basis, servo drive dress
It sets, Circular gratings 25, grating gauge head 24, rotating arm.Every group of swinging joint includes: swinging base, servodrive, Circular gratings
25, grating gauge head 24, swing arm.
Described No. 1, No. 2, No. 3 rotation joint structures it is similar, by taking No. 1 rotary joint as an example, referring to attached drawing 3, attached drawing 7,1
In number rotary joint, FHA-17C-100-E250-C type servodrive 5-2 is fixed on fixed pedestal 1 by screw
On, output end and the boss of 2 inside of No.1 rotating arm are fixed together by six screws, and FHA-17C-100-E250-C type is watched
Taking transmission device 5-2 can drive No.1 rotating arm 2 to slowly run；Circular gratings 25 are mounted on No.1 rotating arm by six screws
2 insides, follow No.1 rotating arm 2 to rotate together；Grating gauge head 24 is mounted on fixed pedestal 1, makes grating gauge head 24 and circle light
The median plane of both grid 25 coincides, and grating gauge head 24 can recorde the angle that Circular gratings 25 turn over, i.e. No.1 rotating arm 2 rotates
Angle.In addition, there are the gaps 0.5mm between fixed pedestal 1 and No.1 rotating arm 2.
Described No. 1, No. 2, No. 3 swinging joint structures it is similar, by taking No. 1 swinging joint as an example, referring to attached drawing 4, attached drawing 7,1
In number swinging joint, FHA-17C-100-E250-C type servodrive 5-1 is fixed on No.1 by screw and swings base
On seat 4, output end and the boss of 6 inside of No.1 swing arm are fixed together by six screws, FHA-17C-100-E250-C
The swing that type servodrive 5-1 can drive No.1 swing arm 6 to make 270 °；Circular gratings 25 are mounted on one by six screws
6 inside of number swing arm, follows No.1 swing arm 6 to rotate together；Grating gauge head 24 is mounted on No.1 swinging base 4, makes grating
Gauge head 24 and the median plane of both Circular gratings 25 coincide, and grating gauge head 24 can recorde the angle that Circular gratings 25 turn over, i.e., one
The angle that number swing arm 6 is swung.In addition, there are the gaps 0.5mm between No.1 swinging base 4 and No.1 swing arm 6.
Carbon fiber pipe is the important component for connecting two joints that are connected, and size is surveyed according to self-drive articulation arm coordinate
The whole stress deformation of amount machine is analyzed, and is obtained by repeatedly optimizing, wherein carbon fiber pipe -1 3 outer diameter 152mm, wall thickness 5mm, long
60mm；The 7 outer diameter 118mm of carbon fiber pipe -2, wall thickness 5mm, long 80mm；Carbon fiber pipe -3 10 outer diameter 118mm, wall thickness 5mm, it is long
160mm；The 14 outer diameter 100mm of carbon fiber pipe -4, wall thickness 3mm, long 80mm；Carbon fiber pipe -5 17 outer diameter 100mm, wall thickness 3mm, it is long
120mm；The 21 outer diameter 80mm of carbon fiber pipe -6, wall thickness 3mm, long 136mm；
Referring to attached drawing 8, the present invention devises a kind of articulated arm coordinate measuring machine that can be driven certainly, can be inartificial
In the case where traction, after inputting the CAD model of workpiece, it is just able to achieve the High-Speed Automatic measurement of high-volume workpiece, working principle
As follows: internal integrated treatment circuit first analyzes the CAD model of input, obtains the key measurement point for needing to measure
And track optimizing is carried out, pulse signal is then issued by driving circuit, six corresponding angles of articulation is controlled, makes gauge head
23 reach the surface (measurement point position 1-2mm below workpiece surface) of workpiece, and gauge head 23 issues activation signal to synthesis at this time
Processing circuit, integrated treatment circuit calculate key point on workpiece according to the grating signal that each intra-articular grating gauge head 24 is fed back
Actual position coordinate.
Being provided for the embodiments of the invention one kind above can carry out in detail from the articulated arm coordinate measuring machine of driving
It introduces, it is not limited to the applications listed in the specification and the embodiments, it can be applied to various suitable sheets completely
The field of invention, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all fall into the protection scope that claims of the present invention determines.
Claims (5)
1. one kind can be from the articulated arm coordinate measuring machine of driving, including fixed pedestal, gauge head, gauge head mounting base, three groups of self-powereds
The carbon fiber pipe of dynamic rotary joint, three groups of self-powered movable pendulum movable joint and connecting joint；From fixed pedestal to gauge head, Ge Geguan
Section is sequentially connected in series, sequence are as follows: No. 1 rotary joint, No. 1 swinging joint, No. 2 rotary joints, No. 2 swinging joints, No. 3 rotations are closed
Section and No. 3 swinging joints；Every group of rotary joint includes: rotating basis, servodrive, Circular gratings, grating gauge head, rotation
Arm；Every group of swinging joint includes: swinging base, servodrive, Circular gratings, grating gauge head, swing arm.
2. one kind according to claim 1 can be from the articulated arm coordinate measuring machine of driving, it is characterised in that: closed in rotation
In section, servodrive is fixed on rotating basis by screw, and output end passes through six screws and rotating arm inside
Boss is fixed, and servodrive can drive rotating arm to slowly run；Circular gratings are mounted in rotating arm by six screws
Side follows rotating arm to rotate；Grating gauge head is mounted on rotating basis, and grating gauge head is mutually be overlapped with the median plane of both Circular gratings
It closes；There are the gaps 0.5mm between rotating basis and rotating arm.
3. one kind according to claim 1 can be from the articulated arm coordinate measuring machine of driving, it is characterised in that: closed swinging
In section, servodrive is fixed on swinging base by screw, and output end passes through six screws and swing arm inside
Boss is fixed, the swing that servodrive can drive swing arm to make 270 °；Circular gratings are mounted on swing by six screws
On the inside of arm, swing arm is followed to rotate；Grating gauge head is mounted on swinging base, and the median plane of both grating gauge head and Circular gratings
It coincides；There are the gaps 0.5mm between swinging base and swing arm.
4. one kind according to claim 1 can be from the articulated arm coordinate measuring machine of driving, it is characterised in that: carbon fiber
Manage -1 outer diameter 152mm, wall thickness 5mm, long 60mm；- 2 outer diameter 118mm of carbon fiber pipe, wall thickness 5mm, long 80mm；Outside carbon fiber pipe -3
Diameter 118mm, wall thickness 5mm, long 160mm；- 4 outer diameter 100mm of carbon fiber pipe, wall thickness 3mm, long 80mm；- 5 outer diameter of carbon fiber pipe
100mm, wall thickness 3mm, long 120mm；- 6 outer diameter 80mm of carbon fiber pipe, wall thickness 3mm, long 136mm.
5. one kind according to claim 1 can be from the articulated arm coordinate measuring machine of driving, it is characterised in that: integrated treatment
Circuit analyzes the CAD model of input, obtains needing the key measurement point measured and carries out track optimizing, then passes through
Driving circuit issues pulse signal, controls six corresponding angles of articulation, so that gauge head is reached the surface of workpiece, at this time gauge head
It issues activation signal and gives integrated treatment circuit, integrated treatment circuit is calculated according to the grating signal that each intra-articular grating gauge head is fed back
Out on workpiece key point actual position coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478416.9A CN109373902A (en) | 2018-12-05 | 2018-12-05 | A kind of articulated arm coordinate measuring machine that can be driven certainly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478416.9A CN109373902A (en) | 2018-12-05 | 2018-12-05 | A kind of articulated arm coordinate measuring machine that can be driven certainly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109373902A true CN109373902A (en) | 2019-02-22 |
Family
ID=65376712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811478416.9A Pending CN109373902A (en) | 2018-12-05 | 2018-12-05 | A kind of articulated arm coordinate measuring machine that can be driven certainly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109373902A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855533A (en) * | 2019-01-07 | 2019-06-07 | 安徽理工大学 | A kind of articulated arm coordinate measuring machine that can be driven certainly |
| CN111844075A (en) * | 2020-07-27 | 2020-10-30 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
-
2018
- 2018-12-05 CN CN201811478416.9A patent/CN109373902A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855533A (en) * | 2019-01-07 | 2019-06-07 | 安徽理工大学 | A kind of articulated arm coordinate measuring machine that can be driven certainly |
| CN111844075A (en) * | 2020-07-27 | 2020-10-30 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
| CN111844075B (en) * | 2020-07-27 | 2022-02-11 | 安徽理工大学 | Coordinate measuring self-driven joint arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109855533A (en) | A kind of articulated arm coordinate measuring machine that can be driven certainly | |
| CN109373902A (en) | A kind of articulated arm coordinate measuring machine that can be driven certainly | |
| CN106441153B (en) | A kind of aperture aspherical element profile high-precision detecting method and device | |
| CN103364071B (en) | Thin-wall cylinder modal test system and method for single-point laser continuous scanning vibration test | |
| CN103148777B (en) | Connecting rod hole parallelism detecting system and detecting method based on eddy current transducer | |
| CN1734233A (en) | System and method for measuring section shape and size of heavy caliber steel pipe | |
| CN107560576B (en) | Machining method for on-machine detection and deviation correction of numerical control electric spark small hole of turbine blade | |
| CN101327590A (en) | Glazing robot off-line teaching device and teaching method | |
| CN109238158A (en) | A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot | |
| CN104359447A (en) | Steel pipe roundness measuring instrument | |
| CN103822605B (en) | Splicing measuring device of optical elements of large caliber profile | |
| CN103148827A (en) | Large gear measurement method based on articulated arm measurement machine | |
| CN106352842A (en) | Device for measuring flatness and parallelism of disc parts | |
| CN104552300A (en) | Offline programming demonstration device and method based on demonstration robot | |
| CN106064379A (en) | A kind of robot calculates the method for actual brachium automatically | |
| CN105865825A (en) | Mechanical arm test platform | |
| CN105091799A (en) | Coaxiality measuring system of motor end cover | |
| CN109373900A (en) | A kind of articulated arm coordinate measuring machine from driving | |
| CN102513410A (en) | Radial runout measuring method for straightening machine long axis workpiece, and device thereof | |
| CN110207613A (en) | A kind of workpiece two-dimensional on-line measuring device and detection method | |
| CN111618851A (en) | Space auxiliary motion mechanism, error compensation system and method | |
| CN111256622B (en) | Dual laser type robot joint angle measuring method and angle measuring device | |
| CN110231010B (en) | Three-coordinate measuring machine and measuring method based on Delta parallel mechanism | |
| CN204240975U (en) | A kind of roundness measurement instrument of steel pipe | |
| Wu et al. | Characterization of milling robot mode shape and analysis of the weak parts causing end vibration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190222 |