CN1339690A - Spatial motion mechanism of three freedoms - Google Patents
Spatial motion mechanism of three freedoms Download PDFInfo
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- CN1339690A CN1339690A CN 01128866 CN01128866A CN1339690A CN 1339690 A CN1339690 A CN 1339690A CN 01128866 CN01128866 CN 01128866 CN 01128866 A CN01128866 A CN 01128866A CN 1339690 A CN1339690 A CN 1339690A
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Abstract
The present invention relates to the field of geometrical measurement and the spatial motion mechanism of three freedoms includes one frame and three extendible linkage branches with hinge. The mechanism features that it is connected to the frame through three branches, the three hinged points in the frame constitute a plane, each branch contains a single-freedom shift pair, each of the first and the second branch contains also two cup and ball joints, one fixed on the frame and the other connected to the extending rod core of the third branch, and the third branch one Hooke hinge to connect the extending rod to the frame, with the Hooke hinge and the two cup and ball joints in the rod core being in one straight line. The said mechanism has high rigidity and high accuracy and there are explicit single solution for both forward and reverse position solution. The present invention may be used in three coordinate measuring machine and assembling robot.
Description
Technical field
The present invention relates to connecting rod spatial movement mechanism and dimensional measurement technical field, also relate to the industrial robot technical field.
Background technology
Up to the present, Cartesian coordinates remains most popular coordinate system, therefore with three mutually orthogonal straight line moving guide rails, formation X, Y, Z volume coordinate are that the space mechanism of feature is most widely used general, the position normal solution of this space mechanism and contrary separate the simplyst is still at present and need carries out the accurately main flow form of location and measuring mechanism such as three coordinate measuring machine, printer, engraving machine of space.Year history surplus three coordinate measuring machine use orthogonal intersection space mechanism has 40 is all reaching high level aspect design, manufacturing, demarcation, check, the error compensation.But there is following deficiency in quadrature mechanism: 1. crossbeam power influence is by bending tilted easily, produces error; 2. systematic error is the accumulation and the amplification of each coordinate axis error; 3. structure member is heavy, and measuring speed is restricted; 4. cost height, and these shortcomings are difficult to overcome.The development of the space mechanism's theory that drives along with computer technology with by robot, the nonopiate space mechanism of part can overcome because of its movement position on-line analysis and the mathematical problem that control relates to, therefore progressively be applied, there are open chain and two kinds of principal modes of closed chain in nonopiate mechanism, the open chain linkage assembly has bigger measurement space, therefore motion is used more in the modern machines people flexibly.The portable 6DOF joint coordinates measuring machine that occur recent years, series of products as U.S. FARO and French ROMER company, adopted the serial mechanism of open chain, it has bigger measurement space, and operation and convenient in carrying, in auto manufacturing, obtained extensive utilization, its measuring mechanism has 2 armed levers and 6 single-degree-of-freedom rotary joints, in each turning joint angular encoder is set, because the error after sensor self and the assembling, and the long amplification of bar, these deviations accumulate at the gauge head place, amplify, although taked effective measures, its precision is still relatively low, system stiffness is also poor, damages easily.At present, the parallel institution in the closed chain mechanism has obtained utilization in robot and lathe, it is characterized in that: simultaneously via 3～6 edges link supports of axial stretching separately, its advantage has movable platform: 1. system stiffness height; 2. kinematic error is little; 3. each rod member error is not by accumulation, amplification, measuring accuracy height; 4. heavy moving parts is little.Yet undeniable is the normal solution difficulty relatively of most of parallel institutions, and online difficulty in computation is too big, and because the coupled relation complexity, the control difficulty is also big, has limited its use.
Summary of the invention
The purpose of this invention is to provide a kind of spatial motion mechanism of three freedoms, its simple structure, good rigidity; Movement position normal solution and contrary having separated simple are explicitly singly separated; The movement position error is not accumulated and amplification, precision height, therefore is convenient to accurate Calculation and closed-loop control that it is implemented the locus, utilizes this mechanism can form novel three coordinate measuring machine and assembly robot.To achieve the object of the present invention, can be achieved through the following technical solutions: this motion comprises frame and three extensible link branch officeses that are provided with hinge, fixedly the hinge and the frame of shrinking connecting-rod bar shell end are connected to form closed loop configuration by three, wherein a single-degree-of-freedom moving sets, two ball pivots are respectively contained in first, second branch, a single-degree-of-freedom moving sets, a Hooke's hinge are contained in the 3rd branch, this shrinking connecting-rod bar shell end links to each other with Hooke's hinge, and the other end is the free end of shrinking connecting-rod; Described first and second branch respectively has a ball pivot to be fixed on the frame, another ball pivot is connected with the bar core of the shrinking connecting-rod of the 3rd branch, two ball pivots on the bar core of the Hooke's hinge in the 3rd branch and first and second branch's shrinking connecting-rod point-blank, but three hinges of frame should constitute a plane.One end of the shrinking connecting-rod bar core of first and second branch also can be connected with the 3rd branch by a public compound spherical hinge.
Mechanism compares with orthogonal motion, and said mechanism does not have high-precision line slideway, does not also have the motion platform of typical parallel institution, and is therefore simple in structure.Compare with quadrature mechanism and serial mechanism, seal because the end that props up of three motion branches of mechanism of the present invention or free end form, so system stiffness is good.
The normal solution of above-mentioned the 3rd minute pole core ball pivot position, the contrary problem of separating is summarized as follows: according to the position coordinates and the length of telescopic bar of the frame hinge heart, can list with the frame hinge heart is the centre of sphere, length of telescopic bar is three spherical equations of radius, be positioned at the feature of straight line and the distance at two ball pivot centers according to three hinge hearts on the 3rd branch's shrinking connecting-rod again, can list three equatioies of the coordinate of two ball pivot hearts, obtain quadratic equation with one unknown with bringing method of elimination into, finally can obtain two explicit solutions of the 3rd fen pole core ball pivot position, in structural design, adopt simple spacing measure to guarantee: the long corresponding definite position of three definite bars of this mechanism.Asking long contrary of bar to separate problem actual according to the locus is the distance of asking 2 in space, simpler.So position normal solution of this space mechanism, all quite easy against separating.
Because eliminate easily than the gap of line slideway in the gap of ball pivot and Hooke's hinge, the linearity of shrinking connecting-rod is minimum to the influence of length of telescopic bar, the grating chi that utilizes shrinking connecting-rod to have, accurately the distance at on-line measurement calculating hinge center, three expansion link two ends is that expansion link is long, therefore available lower cost reaches very high measuring position repeatable accuracy, and the central point of three frame hinges is being crossed this point and also minimum to the influence of the 3rd fen pole core ball pivot position with the site error in the corresponding bar vertical plane in addition.The morpheme error that this shows this mechanism element is not accumulated and is amplified, so the kinematic accuracy height.
Shrinking connecting-rod also can be designed to the active expansion link of drive in addition, realizes the online accurate measurement and the closed-loop control of three-dimensional space position, can be used for the occasion of space position precise measurement and control, as three coordinate measuring machine and assembly robot.
This spatial movement mechanism is used for the simplest situation of measurement of coordinates: at the fixing contact measuring head of the free end of the 3rd branch's shrinking connecting-rod, connecting rod is passive flexible, relative position according to gauge head center and the 3rd branch's shrinking connecting-rod can be determined the measuring point volume coordinate, makes manual coordinate measuring machine.Because the 3rd branch expansion link is connected with frame with Hooke's hinge, the axis rotation that it can not distaff, but the gauge head of 2 calibration of fixed band, the dirigibility of improvement measurement of coordinates, raising efficiency of measurement.Certainly, as shrinking connecting-rod drive device, then can realize automatic measurement.Compare with conventional three-dimensional coordinates measurement mechanism, its simple structure, light and handy, cost is low, good rigidity, precision height are easy to promote the use of in the manufacturing industry production scene.
This motion also can be used for assembly robot, and this moment, shrinking connecting-rod was designed to the active expansion link of drive, at the free end of the 3rd branch's shrinking connecting-rod articulated mechanical arm or other execution unit such as sucker etc. was installed.Its advantage be its simple structure, light and handy, cost is low, good rigidity, precision height, particularly movement position normal solution, contraryly separates unique analytic solution, is convenient to carry out in real time the control of position measurement and position closed loop.
As the vertical layout of hanging of the 3rd branch's expansion link, the tie point of first and second branch and the 3rd branch also can be on expansion link bar shell, and such the 3rd minute pole core do not bear the weight of first and second branch, when manual measurement, moves more convenient.
Description of drawings
Fig. 1 is the general structure synoptic diagram that the present invention is used for three-dimensional coordinates measurement;
Fig. 2 is the general structure synoptic diagram that the present invention is used for assembly robot;
The specific embodiment
Embodiment one: spatial motion mechanism of three freedoms is used for three-dimensional coordinates measurement
As shown in Figure 1, the three coordinate measuring machine structure is by frame 1, ball pivot 2, ball pivot 7, ball pivot 8 and ball pivot 9, Hooke (ten Word) shrinking connecting-rod 5 and the gauge head 10 of hinge 4, the first branch's shrinking connecting-rods 3, second branch's shrinking connecting-rod 6, the 3rd branch Form. Shrinking connecting-rod 3 is laterally, shrinking connecting-rod 6 is vertically, shrinking connecting-rod 5 is vertical layout, shrinking connecting-rod 5 upper End is hinged on the frame 1 with cross hinge 4, and an end of shrinking connecting-rod 3 and shrinking connecting-rod 6 is fixing by ball pivot 2 and ball pivot 7 On frame 1, the other end also is connected with ball pivot and is connected with the bar core of shrinking connecting-rod 5 by ball pivot 8, and the formation enclosed construction is stretched The lower end of contracting connecting rod 5 is contact measuring head fixedly, and the center of gauge head center and Hooke's hinge 4, ball pivot 8 and ball pivot 9 is straight at one On the line. But the ball pivot 2, ball pivot 7 and the Hooke's hinge 4 that are fixed on the frame 1 should consist of a plane, shrinking connecting-rod 3, flexible The length of connecting rod 5 and shrinking connecting-rod 6 is measured by displacement transducers such as grating scales.
By the length of three bars and the center of three frame hinges, can determine the space coordinates of the central point of ball pivot 9, Determine further that under a proportional relationship three-dimensional coordinates measurement is realized in the locus at gauge head center. Utilize this measuring mechanism passable Make the hand-operated simple coordinate measuring machine, certainly can initiatively stretch such as expansion link and can realize motor-driven and automatic measurement.
The advantage of this mechanism is: eliminate easily in the gap in hinge joint, and the long accurate measurement ratio of bar is easier to shrinking connecting-rod 3 Very little to the final measurement impact with the linearity of shrinking connecting-rod 6, therefore can reach very high measuring position repeatable accuracy, Be conducive to the long error calibration of hinge space coordinates and bar. This shows that mechanism does not need too high machining accuracy, only need Eliminate the gap of hinge, by conscientiously demarcating, thereby realize higher certainty of measurement, compare with quadrature mechanism three coordinate measuring machine, Simply, light and handy, be promoted in the production scene easily.
Embodiment two: spatial motion mechanism of three freedoms is used for assembly robot
As shown in Figure 2, the robot architecture is by frame 1, ball pivot 2, ball pivot 7, ball pivot 8 and ball pivot 9, and Hooke's hinge 4 is stretched Contracting connecting rod 3, shrinking connecting-rod 5 and shrinking connecting-rod 6, single-degree-of-freedom cradle head 11, dwang 12, single-degree-of-freedom is rotated and is closed Joint 13, swing arm 14 and paw 15 form. Its mid frame 1 can be the rock-steady structure of production scene, also can be other Structure. Its architectural feature is: shrinking connecting-rod 3 is laterally, shrinking connecting-rod 5 is vertically, shrinking connecting-rod 6 is vertical layout, The upper end of shrinking connecting-rod 5 is hinged on the frame with Hooke's hinge 4, and an end of shrinking connecting-rod 3, shrinking connecting-rod 6 is by ball pivot 2 Be fixed on the frame 1 with ball pivot 9, the other end also is connected with ball pivot and is connected with the bar core of shrinking connecting-rod 5 by ball pivot 8, formation Enclosed construction, the free end of shrinking connecting-rod 5 is by the rotation of single-degree-of-freedom cradle head 11 connections with shrinking connecting-rod 5 coaxial lines Bar 12, the lower end of dwang 12 connects swing arm 14 by cradle head 13, and the other end of swing arm 14 is paw 15 fixedly. The intersect vertical axis of axis of oscillation and dwang 12, the length of expansion link 3, expansion link 5 and expansion link 6, dwang 12 The angle of revolution of relative expansion link 5 and the pendulum angle that shrinking connecting-rod 3 relatively rotates bar 12 all can control and measurements.
Linear measure longimetry by three bars is as three dimensions exact position feedback, can make the central point of ball pivot 9 be positioned at appointment The locus, the accurate location of finishing the manipulator large scale, the straightness error of bar 3 and bar 6 is to the impact of positioning accuracy very Little, so there is most of advantage of parallel institution in this mechanism, but the position is very simple in line computation. Close by further control The rotational angle in joint 11 and joint 13 is realized the attitude control of paw 15. Because dwang 12 and 14 needs of swing arm Very little length, so the error of the position of paw 15 and attitude control is also littler.
Claims (5)
1. spatial motion mechanism of three freedoms, comprise frame and three extensible link branches that are provided with hinge, it is characterized in that: fixedly the hinge and the frame of shrinking connecting-rod bar shell end are connected to form closed loop configuration to this motion by three, wherein a single-degree-of-freedom moving sets, two ball pivots are respectively contained in first, second branch, a single-degree-of-freedom moving sets, a Hooke's hinge are contained in the 3rd branch, this shrinking connecting-rod bar shell end links to each other with Hooke's hinge, and the other end is the free end of shrinking connecting-rod; Described first and second branch respectively has a ball pivot to be fixed on the frame, another ball pivot is connected with the bar core of the shrinking connecting-rod of the 3rd branch, three hinges of frame should constitute a plane, and two ball pivots on the bar core of the Hooke's hinge in the 3rd branch and first and second branch's shrinking connecting-rod point-blank.
2. spatial motion mechanism of three freedoms according to claim 1 is characterized in that an end of the shrinking connecting-rod bar core of first and second branch also can be connected with the 3rd branch by a public compound spherical hinge.
3. spatial motion mechanism of three freedoms according to claim 1 is characterized in that the free end of the 3rd branch's shrinking connecting-rod can installation manipulator.
4. spatial motion mechanism of three freedoms according to claim 1 is characterized in that the free end of the 3rd branch's shrinking connecting-rod can install and measure head.
5. spatial motion mechanism of three freedoms according to claim 1 is characterized in that: the tie point of the shrinking connecting-rod of first and second branch and the 3rd branch also can be on expansion link bar shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011288663A CN1162679C (en) | 2001-09-18 | 2001-09-18 | Spatial motion mechanism of three freedoms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011288663A CN1162679C (en) | 2001-09-18 | 2001-09-18 | Spatial motion mechanism of three freedoms |
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| CN1339690A true CN1339690A (en) | 2002-03-13 |
| CN1162679C CN1162679C (en) | 2004-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB011288663A Expired - Fee Related CN1162679C (en) | 2001-09-18 | 2001-09-18 | Spatial motion mechanism of three freedoms |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100376362C (en) * | 2005-01-11 | 2008-03-26 | 同济大学 | Integrated three freedom micro-containing operators |
| CN103954233A (en) * | 2014-04-28 | 2014-07-30 | 济南大学 | Curved surface appearance measurement device used for large workpiece |
| US11815600B2 (en) | 2012-10-05 | 2023-11-14 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656675A (en) * | 2014-12-25 | 2015-05-27 | 天津理工大学 | High-speed five-axis linkage parallel three-coordinate measuring machine |
-
2001
- 2001-09-18 CN CNB011288663A patent/CN1162679C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100376362C (en) * | 2005-01-11 | 2008-03-26 | 同济大学 | Integrated three freedom micro-containing operators |
| US11815600B2 (en) | 2012-10-05 | 2023-11-14 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| CN103954233A (en) * | 2014-04-28 | 2014-07-30 | 济南大学 | Curved surface appearance measurement device used for large workpiece |
| CN103954233B (en) * | 2014-04-28 | 2016-07-13 | 济南大学 | A kind of curved surface pattern measurement apparatus for large-scale workpiece |
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| Publication number | Publication date |
|---|---|
| CN1162679C (en) | 2004-08-18 |
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