CN1546946A - Portable type spatial relative coordinates and distance measuring system - Google Patents
Portable type spatial relative coordinates and distance measuring system Download PDFInfo
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- CN1546946A CN1546946A CNA2003101093467A CN200310109346A CN1546946A CN 1546946 A CN1546946 A CN 1546946A CN A2003101093467 A CNA2003101093467 A CN A2003101093467A CN 200310109346 A CN200310109346 A CN 200310109346A CN 1546946 A CN1546946 A CN 1546946A
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- angular transducer
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- relative coordinate
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Abstract
The invention is a kind of portable space relative coordinate and the distance measuring system. The invention belongs to robot technology field. The invention includes: measuring device body, multi-core cable, hand-hold device. The measuring mechanism body is connected with the hand-hold device through the multi-core cable. The measuring mechanism body is a 5R series open mechanism with five-freedoms, the hand-hold device is embedded with an integral microprocessing system. The invention can measure the three-dimension relative coordinate and the space distance between two spots easily. It is an integral and independent system, it can be supplied by battery and it can be folded, the volume is small, it is very convenient.
Description
Technical field
The present invention relates to a kind of coordinate measuring system, specifically is a kind of portable space relative coordinate and Range Measurement System.Belong to the Robotics field.
Background technology
Present coordinate measuring machine plays an important role in improving the quality of products, shorten production cycle and new product development mainly towards modern manufacturing industry, becomes indispensable survey instrument in modern industry detection, quality control and the manufacturing technology.The coordinate measuring machine that has obtained the comparison widespread use mainly contains: bridge-type measuring machine, horizontal arm type measuring machine, cantilevered measuring machine, planer-type measuring machine etc.The axially-movable that this class generally has the high rigidity of structure, high acceleration rate and is exceedingly fast towards the coordinate measuring machine of modern manufacturing industry, add control system software and high measurement accuracy, so system is quite complicated huge, cost is very high, is furnished with special-purpose computing machine, and all be hard-wired, the measurement and the machine that can not be used for the strange land assembles, debugging is on-the-spot.In addition, all be to have very targetedly by force towards the design of the various coordinate measuring machines of modern manufacturing industry, this has limited their widespread usage.Yet, in laboratory and small-sized factory, still adopting traditional ruler, slide calliper rule even tape measure in processing and the commissioning device process, precision is low and very inconvenient.Especially in the commissioning device process, need measure some parts three-dimensional relative position and apart from the time because debugged apparatus is generally all very compact, traditional ruler, slide calliper rule have just been lost the ample scope for abilities, generally can only use eye estimate.Find by literature search, introduced on http://www.romer.com/main/index.php webpage: a few money boom coordinate measuring machines that French ROMER company produced in recent years can be taken main body apart, interior (the dress computer of two suitcases of packing into, the dress measuring machine mechanical part that another is big), purpose is to realize that " portable " makes on-the-spot needs to adapt to exchange work.But it costs an arm and a leg, and the computing machine of Pei Beiing will install special software at random, and volume is bigger than normal, all needs after moving to re-assembly, connect, proofread and correct at every turn, and is still convenient inadequately.
Summary of the invention
The objective of the invention is at deficiency of the prior art, a kind of portable space relative coordinate and Range Measurement System are provided.Make that it can be popular towards the laboratory and midget plant, simple in structure, simple operation, can measure the three-dimensional relative coordinate and the space length in 2 in space at an easy rate, being particularly suitable for laboratory and factory, to carry out accuracy requirement be not that very high space three-dimensional relative coordinate is measured.The present invention simultaneously is a complete and independent system, can adopt powered battery and mechanism to fold, and volume is very little, so can be convenient for carrying, move and finish field work everywhere.The each use do not need to ressemble.
The present invention realizes that by following technical scheme the present invention includes three parts: measuring machine basic machine, polycore cable, hander, the measuring machine basic machine is connected by polycore cable with hander.The measuring machine basic machine is the 5R series connection open chain mechanism of a five degree of freedom, this mechanism rotates in each joint vice division chief and all is provided with angular transducer, embedded a complete microprocessor system in the hander, the angular transducer on the mechanism joint is changed in real time, resolved by the information that polycore cable transmits and refreshes display result.The invention belongs to type hand contact three coordinate measuring machine.
The measuring machine basic machine is the 5R series connection open chain mechanism of a five degree of freedom, comprising: body support, first angular transducer, second angular transducer, third angle degree sensor, the 4th angular transducer, the 5th angular transducer, turntable, first connecting rod, second connecting rod, third connecting rod and measuring head.The shell of each angular transducer and axle are separately fixed on the adjacent part, have realized the revolute pair function between each adjacent parts indirectly.By the output of detection angles sensor, directly obtain the joint angle in each joint.Their annexation is: body support horizontal positioned, and the first angular transducer shell is connected on the body support, and its rotor shaft direction is vertical, links to each other with turntable.Second, third, the 4th angular transducer rotor shaft direction level and being parallel to each other, their shell and rotating shaft respectively with turntable, first connecting rod, first and second connecting rod, second and third connecting rod links to each other.The 5th angular transducer shell links to each other with third connecting rod, and rotating shaft and the 4th angular transducer rotor shaft direction quadrature are connected with measuring head.
Microprocessor system in the hander can adopt any a single-chip microcomputer to constitute.Microprocessor system to each angular transducer on mechanism's joint revolute pair by the information that polycore cable transmits sample, change with the joint angle that obtains each joint of basic machine under the current state, mechanism's direct kinematics resolves and refreshes display result in real time.Mainly contain two groups of vector: X, X in the internal memory of microprocessor system
DWherein X is the absolute three-dimensional coordinate of measuring head tip in base coordinate system that real-time mechanism direct kinematics resolves out; X
DThe absolute three-dimensional coordinate of the reference mark (when pressing " zero-bit " key, the position at measuring head tip) that obtains for by " zero-bit " key on the hander time in base coordinate system.Vector X-X
DThree components be the three-dimensional coordinate of the most advanced and sophisticated relative reference basic point of measuring head, and mould | X-X
D| be the distance in 2 in this space.With vector X-X
DThree components and scalar | X-X
D| show at digital readout system, can know space relative coordinate and distance at once when the most advanced and sophisticated relative reference basic point of front heads, very convenient directly perceived.
The present invention is placed near the point to be measured the measuring machine support is stable when measuring.The measuring head of hand-held this invention of operator touches the measurement point that needs measurement earlier with its tip, presses " zero-bit " key on the hander one time; Touch the measurement point that needs measurement again, nixie display (LED or LCD) has just shown the space relative coordinate and the distance of two measurement points.Exactly the location of measuring machine basic machine being settled of most convenient of the present invention has no requirement.Can move everywhere, place everywhere, if guarantee point to be measured all within reached at the space of measuring machine and when measuring measuring machine basic machine support stablize motionless.
Adopt the present invention can measure the three-dimensional relative coordinate and the space length in 2 in space at an easy rate, being particularly suitable for laboratory and factory, to carry out accuracy requirement be not very high space three-dimensional relative coordinate and range observation.Because it is a complete and independent system, can adopt powered battery and mechanism to fold, so can be convenient for carrying, move and finish field work, improved measuring accuracy and very convenient everywhere.
Description of drawings
Fig. 1 structural representation of the present invention
The structural representation of Fig. 2 measuring machine basic machine of the present invention
Fig. 3 work synoptic diagram of the present invention
Embodiment
As shown in Figure 1, the present invention includes three parts: measuring machine basic machine 1, polycore cable 2, hander 3.Measuring machine basic machine 1 is connected by polycore cable 2 with hander 3.Measuring machine basic machine 1 is the 5R series connection open chain mechanism of a five degree of freedom, embedded a complete microprocessor system in the hander 3, the angular transducer on the mechanism joint is changed in real time, resolved by the information that polycore cable 2 transmits and refreshes display result.
As shown in Figure 2, measuring machine basic machine 1 is the 5R series connection open chain mechanism of a five degree of freedom, comprising: body support 4, first angular transducer 5, turntable 6, second angular transducer 7, first connecting rod 8, third angle degree sensor 9, second connecting rod 10, the 4th angular transducer 11, third connecting rod 12, the 5th angular transducer 13 and measuring head 14.The most last connecting rod of this 5R series connection open chain mechanism is exactly a measuring head 14.Their annexation is: body support 4 horizontal positioned, first angular transducer, 5 shells are connected on the body support 4, its rotor shaft direction is vertical, link to each other with turntable 6, second, third, the 4th angular transducer 7,9,11 rotor shaft direction levels and being parallel to each other, their shell and rotating shaft respectively with turntable 6, first connecting rod 8, first and second connecting rod 8,10, second and third connecting rod 10,12 links to each other, the 5th angular transducer 13 shells link to each other with third connecting rod 12, rotating shaft and the 4th angular transducer 11 rotor shaft direction quadratures are connected with measuring head 14.
The shell of angular transducer 5,7,9,11,13 and axle are separately fixed on the adjacent connecting rod, have realized the revolute pair function between each adjacent connecting rod indirectly, and angular transducer adopts the high precision code-disc, perhaps adopts the high precision potentiometer.
Hander 3 has 4 groups of nixie displaies, shows three-dimensional coordinate and distance respectively.Hander 3 configuration " zero-bit " function keys show respectively that by 4 groups of nixie displaies measuring head 14 most advanced and sophisticated real time positions set the relative coordinate and the distance of " zero-bit " relatively.
Claims (5)
1, a kind of portable space relative coordinate and Range Measurement System, comprise: measuring machine basic machine (1), polycore cable (2), hander (3), it is characterized in that, measuring machine basic machine (1) is connected by polycore cable (2) with hander (3), measuring machine basic machine (1) is the 5R series connection open chain mechanism of a five degree of freedom, embedded a complete microprocessor system in the hander (3), the angular transducer on measuring machine basic machine (1) the mechanism joint has been changed in real time by the information that polycore cable (2) transmits, resolve and refresh display result.
2, portable space relative coordinate according to claim 1 and Range Measurement System, it is characterized in that, measuring machine basic machine (1) is the 5R series connection open chain mechanism of a five degree of freedom, comprise: body support (4), first angular transducer (5), turntable (6), second angular transducer (7), first connecting rod (8), third angle degree sensor (9), second connecting rod (10), the 4th angular transducer (11), third connecting rod (12), the 5th angular transducer (13) and measuring head (14), the most last connecting rod of this 5R series connection open chain mechanism is exactly measuring head (14), their annexation is: body support (4) horizontal positioned, first angular transducer (5) shell is connected on the body support (4), its rotor shaft direction is vertical, link to each other with turntable (6), second, the 3rd, the 4th angular transducer (7), (9), (11) rotor shaft direction level and being parallel to each other, their shell and rotating shaft respectively with turntable (6), first connecting rod (8), first, two connecting rods (8), (10), second, three connecting rods (10), (12) link to each other, the 5th angular transducer (13) shell links to each other with third connecting rod (12), rotating shaft and the 4th angular transducer (11) rotor shaft direction quadrature are connected with measuring head (14).
3, portable space relative coordinate according to claim 2 and Range Measurement System, it is characterized in that, the shell of angular transducer (5), (7), (9), (11), (13) and axle are separately fixed on the adjacent part, angular transducer adopts the high precision code-disc, perhaps adopts the high precision potentiometer.
4, portable space relative coordinate according to claim 1 and Range Measurement System is characterized in that, hander (3) be one adopt any a chip microcontroller embedded system.
5, portable space relative coordinate according to claim 4 and Range Measurement System, it is characterized in that, hander (3) configuration " zero-bit " function key shows the most advanced and sophisticated real time position of measuring head (14) relative coordinate and the distance of " zero-bit " relatively respectively by 4 groups of nixie displaies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310109346 CN1258074C (en) | 2003-12-12 | 2003-12-12 | Portable type spatial relative coordinates and distance measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310109346 CN1258074C (en) | 2003-12-12 | 2003-12-12 | Portable type spatial relative coordinates and distance measuring system |
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| Publication Number | Publication Date |
|---|---|
| CN1546946A true CN1546946A (en) | 2004-11-17 |
| CN1258074C CN1258074C (en) | 2006-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310109346 Expired - Fee Related CN1258074C (en) | 2003-12-12 | 2003-12-12 | Portable type spatial relative coordinates and distance measuring system |
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| CN (1) | CN1258074C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758499A (en) * | 2008-12-17 | 2010-06-30 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN102029612A (en) * | 2011-01-25 | 2011-04-27 | 南京工业大学 | Manipulator controller |
| CN103575177A (en) * | 2012-07-31 | 2014-02-12 | 株式会社三丰 | Handheld measurement tool with user defined display |
| CN104350355A (en) * | 2012-06-01 | 2015-02-11 | 法罗技术股份有限公司 | Coordinate measuring machines with dual layer arm |
| CN105496558A (en) * | 2015-12-09 | 2016-04-20 | 哈尔滨工业大学 | Five-DOF (degree of freedom) serial-parallel mechanism capable of realizing spatial three-dimensional positioning and two-dimensional positioning |
| CN107218908A (en) * | 2016-12-13 | 2017-09-29 | 中电科芜湖钻石飞机制造有限公司 | A kind of airframe space coordinate measurement apparatus |
| CN111060051A (en) * | 2020-01-07 | 2020-04-24 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
-
2003
- 2003-12-12 CN CN 200310109346 patent/CN1258074C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758499A (en) * | 2008-12-17 | 2010-06-30 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN101758499B (en) * | 2008-12-17 | 2014-11-19 | 库卡机器人有限公司 | Hand-held device and method for determining the spatial position of an operating point of a manipulator |
| CN102029612A (en) * | 2011-01-25 | 2011-04-27 | 南京工业大学 | Manipulator controller |
| CN104350355A (en) * | 2012-06-01 | 2015-02-11 | 法罗技术股份有限公司 | Coordinate measuring machines with dual layer arm |
| CN103575177A (en) * | 2012-07-31 | 2014-02-12 | 株式会社三丰 | Handheld measurement tool with user defined display |
| CN103575177B (en) * | 2012-07-31 | 2016-07-06 | 株式会社三丰 | There is the handheld measurement tool of user-defined display |
| CN105496558A (en) * | 2015-12-09 | 2016-04-20 | 哈尔滨工业大学 | Five-DOF (degree of freedom) serial-parallel mechanism capable of realizing spatial three-dimensional positioning and two-dimensional positioning |
| CN105496558B (en) * | 2015-12-09 | 2018-03-30 | 哈尔滨工业大学 | A kind of achievable space three-dimensional positioning and the five degree of freedom hybrid mechanism of two dimension orientation |
| CN107218908A (en) * | 2016-12-13 | 2017-09-29 | 中电科芜湖钻石飞机制造有限公司 | A kind of airframe space coordinate measurement apparatus |
| CN111060051A (en) * | 2020-01-07 | 2020-04-24 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
| CN111060051B (en) * | 2020-01-07 | 2021-04-30 | 杭州电子科技大学 | Measuring space self-adaptive adjusting method of joint type coordinate measuring machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1258074C (en) | 2006-05-31 |
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