JP2020012636A - Measuring device cover, measuring device with cover and cover for arm type robot - Google Patents

Abstract

To provide a measuring device cover that protects a moving mechanism of a measuring device that operates in an environment in which dust, mist and the like scatter.SOLUTION: A measuring device cover 1 is a cover attached to a measuring device 100 including a probe 140, a measuring head 130 that moves the probe 140, and a pillar 120 that supports the measuring head 130. The measuring device cover includes a cover body 2 having a first opening 21 through which the pillar 120 is inserted and a second opening 23 through which the probe 140 is inserted, and configured to house the measuring head 130. The cover body 2 has flexibility that can be deformed according to the movement of the probe 140.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a measuring device cover mounted on a measuring device, a measuring device with a cover mounted with the measuring device cover, and an arm type robot cover mounted on an arm type robot.

2. Description of the Related Art In a measuring apparatus having a moving mechanism for moving a probe, such as a three-dimensional measuring machine or a shape measuring machine, a dustproof mechanism for preventing foreign matter from entering the moving mechanism is provided.
For example, in a three-dimensional coordinate measuring machine disclosed in Patent Document 1, a carriage supporting a probe is configured to be movable by a guide mechanism. In such a guide mechanism, a bellows cover that expands and contracts with the movement of the carriage is provided at the opening of the groove in which the carriage slides.

JP 2018-017738 A

In recent years, there has been a demand for installing a measuring device such as a three-dimensional measuring machine or a shape measuring machine at a manufacturing site such as a factory to measure a product immediately after manufacturing.
Therefore, it has been studied to install a column-type measuring device that can be easily installed in a narrow place at a manufacturing site instead of a so-called gate type. Note that in this specification, a column-type measuring device refers to a type of measuring device in which a moving mechanism that moves a probe by driving a motor or the like is supported by a single column. Alternatively, installation of a measuring device using a multi-joint arm mechanism at a manufacturing site, such as a multi-joint arm robot for measurement in which a probe is attached to the multi-joint arm mechanism or an arm type three-dimensional measuring device, is also being studied.

However, it is difficult to install and use the above-described measuring device at a manufacturing site where fine particles of dust and mist are generated.
For example, even if the bellows cover described in Patent Literature 1 is provided for the moving mechanism of the column-type measuring device, dust and mist enter the moving mechanism through the gap existing in the fold of the bellows cover. I will. Further, in a measuring device using a multi-joint arm mechanism, there is a possibility that dust or mist may enter a joint connecting the arms. A similar problem is common to an arm type robot using an articulated arm mechanism.

  An object of the present invention is to provide a cover for a measuring device for enabling measurement in an environment where dust or mist or the like is scattered, a measuring device with a cover to which the cover for the measuring device is attached, and a cover for an arm type robot. To provide.

  The measuring device cover according to the present invention is a measuring device cover attached to a measuring device including a probe, a moving mechanism for moving the probe, and a support for supporting the moving mechanism, wherein the support is inserted. A cover main body configured to accommodate the moving mechanism, the cover main body being deformable in accordance with the movement of the probe. It is characterized by having flexibility.

The cover for a measuring device according to the present invention is used for a so-called support type measuring device. When the measuring device cover having such a configuration is mounted on the measuring device, the moving mechanism is accommodated in the cover main body, the support is inserted through the first opening of the cover main body, and the probe is inserted through the second opening of the cover main body. Let it. Then, by bringing the respective peripheral portions of the first opening and the second opening into close contact with the respective peripheral surfaces of the support and the probe, the first opening through which the support is inserted and the second opening through which the probe is inserted are hermetically sealed, respectively. close. Thereby, the cover body is sealed, and the moving mechanism is protected from dust and mist in the outside air.
In the measuring device equipped with the measuring device cover, since the probe is exposed from the cover main body through the second opening, the probe can measure an object to be measured arranged outside the cover main body. In addition, since the cover main body has flexibility that can be deformed in accordance with the movement of the probe, the probe can measure the object to be measured while moving without being disturbed by the cover main body.
Therefore, according to the present invention, there is provided a cover for a measurement device that protects the measurement device that operates in an environment where dust, mist, and the like are scattered.

It is preferable that the measuring device cover according to the present invention further includes a ventilator attached to the cover main body and configured to ventilate inside and outside of the cover main body.
According to such a configuration, it is possible to suppress the heat generated from the drive unit or the like of the moving mechanism from accumulating inside the cover body. Thereby, a measurement error due to thermal expansion of each part of the measuring device can be suppressed, and thermal runaway of the measuring device can be prevented.

In the measuring device cover according to the present invention, it is preferable that an annular elastic ring is attached to the cover main body along a peripheral portion of the second opening.
In such a configuration, the second opening can be easily closed by press-fitting the probe into the elastic ring.

In the measuring device cover according to the present invention, it is preferable that the cover body is configured to be larger than the moving mechanism in each moving direction of the probe.
In such a configuration, the cover body forms slack around the probe when the cover for the measuring device is mounted on the measuring device. Since the slack of the cover main body is deformed in accordance with the movement of the probe, the cover main body does not stretch and the resistance applied to the movement of the probe is reduced. Thereby, it is possible to suppress a decrease in measurement accuracy in the measurement device.

In the measurement device cover according to the present invention, it is preferable that an elastic member that pulls the cover body away from the probe is connected around the probe in the cover body.
According to such a configuration, when the slack of the cover main body is large, the elastic member pulls the slack of the cover main body so as to separate the slack from the probe, so that the slack can be prevented from interfering with the probe. Thereby, a decrease in measurement accuracy can be suppressed.

In the measuring device cover according to the present invention, it is preferable that a bellows-like fold centering on the second opening is formed around the second opening in the cover body.
According to such a configuration, the amount by which the slack of the cover main body sags can be reduced, so that interference of the slack of the cover main body with the probe can be suppressed. Further, even if the cover body has a certain degree of rigidity, the resistance applied to the movement of the probe is further reduced due to the expansion and contraction of the bellows-like fold.

  A measuring device with a cover according to the present invention includes a probe, a moving mechanism for moving the probe, a support for supporting the moving mechanism, and the above-described measuring device cover. ADVANTAGE OF THE INVENTION According to the measuring apparatus with a cover of this invention, a probe can be moved stably even in the environment where dust, mist, etc. scatter.

  A measurement device cover according to a second aspect of the present invention includes a multi-joint arm mechanism having a plurality of arms and joints connecting the arms, and a probe attached to the multi-joint arm mechanism. A measurement device cover attached to the, having a first opening and a second opening through which the different arm portion is inserted, and comprising a cover body configured to accommodate the joint portion, The cover body has a flexibility that can be deformed according to the movement of the probe.

The measurement device cover according to the second aspect of the present invention is used for a measurement device using an articulated arm mechanism, such as an articulated arm robot or an arm-type three-dimensional measuring device. When the measurement device cover having such a configuration is mounted on the measurement device, the joint portion is housed in the cover body, and different arm portions are inserted through the first opening and the second opening of the cover body. Then, the first opening and the second opening are air-tightly closed by bringing the respective peripheral portions of the first opening and the second opening into close contact with the peripheral surface of each arm. Thereby, the cover body is sealed, and the joint is protected from dust and mist in the outside air. In addition, since the cover main body has flexibility that can be deformed in accordance with the movement of the probe, the probe can measure the object to be measured while moving without being disturbed by the cover main body.
Therefore, according to the present invention, there is provided a cover for a measurement device that protects the measurement device that operates in an environment where dust, mist, and the like are scattered.

  A measuring device with a cover according to the present invention includes a multi-joint arm mechanism having a plurality of arms and joints connecting the arms, a sensor attached to the multi-joint arm mechanism to measure an object, And a cover for a measuring device according to the second aspect described above. According to the measuring device with a cover of the present invention, the probe can be operated stably even in an environment where dust, mist, and the like are scattered.

An arm-type robot cover according to the present invention is an arm-type robot cover attached to a drive device having a multi-joint arm mechanism having a plurality of arms and joints connecting the arms. A cover main body having a first opening and a second opening through which the arm section is inserted, and configured to accommodate the joint section, wherein the cover main body is deformed according to the operation of the multi-joint arm mechanism; It is characterized by having possible flexibility.
INDUSTRIAL APPLICABILITY The present invention is not limited to a cover for a measuring device, and can be widely applied to a cover for an arm type robot. ADVANTAGE OF THE INVENTION According to the cover for arm type robots of this invention, the articulated arm mechanism can be protected under the environment where dust and mist scatter.

FIG. 1 is a schematic diagram illustrating a measurement device cover according to a first embodiment of the present invention and a measurement device to which the measurement device cover is attached. FIG. 2 is a rear perspective view showing the measuring device provided with the measuring device cover of the first embodiment. FIG. 3 is a schematic diagram showing a slack of the cover body of the first embodiment. The schematic diagram which shows the cover for measuring devices concerning the modification of the said 1st embodiment. The schematic diagram which shows the cover for measuring devices which concerns on the other modification of the said 1st embodiment. FIG. 9 is a schematic view showing a measurement device cover according to another modified example of the first embodiment, showing a portion around a probe in a cover body. The schematic diagram which shows the cover for measuring devices of FIG. The schematic diagram which shows the cover for measuring devices which concerns on 2nd embodiment of this invention, and the measuring device with which the cover for measuring devices was mounted.

(First embodiment)
The measurement device cover according to the first embodiment of the present invention will be described.
FIG. 1 and FIG. 2 are views showing a use mode of the cover 1 for a measuring device of the present embodiment. As shown in FIGS. 1 and 2, the measuring device cover 1 is attached to a measuring device 100, for example, a three-dimensional measuring machine, and protects the measuring device 100 from dust and mist. FIG. 1 shows only the outline of the portion of the cover 1 for the measuring device that covers the measuring device 100. In other words, FIG. 1 also illustrates a portion of the measuring device 100 covered by the measuring device cover 1.

  In the present embodiment, the measuring device 100 to which the measuring device cover 1 is attached is a column-type measuring device. Specifically, the measuring apparatus 100 includes a base 110, a support 120 erected on the base 110, a measurement head 130 supported by the support 120, and a probe 140 supported by the measurement head 130. ing.

Although not shown, a table on which an object to be measured is placed is installed on the base 110. The column 120 extends in the Z-axis direction (vertical direction) from the upper surface of the base 110, and supports the measuring head 130.
The measuring head 130 corresponds to a moving mechanism of the present invention, and includes a mounting portion 131 mounted on the support 120, a head main body 132 movably provided in the Z-axis direction with respect to the mounting portion 131, A Y slider 133 provided movably in the Y-axis direction (perpendicular to the Z-axis direction) with respect to the main body 132, and movable in the X-axis direction (perpendicular to the Y- and Z-axis directions) with respect to the Y slider 133. And an X slider 134 provided at the end. Although not shown, the measuring head 130 includes a driving unit for driving the head main body 132, the Y slider 133, and the X slider 134 in each axial direction, a scale for acquiring these coordinates, and the like. I have.

  The probe 140 has a probe main body 141 supported by the X slider 134 and a stylus 142 mounted on the probe main body 141. The probe body 141 detects the displacement of the stylus 142 that has come into contact with the measured object as an electric signal. In addition, the probe 140 is not limited to such a contact type configuration, and may be a non-contact type configuration.

  In the measuring apparatus 100 having the above configuration, the measuring head 130 causes the stylus 142 to come into contact with the measured object while moving the probe 140 in each axis direction. The measuring apparatus 100 can measure the size and shape of the measured object based on the coordinate values of the axes of the measuring head 130 and the displacement information of the stylus 142 when the probe 140 comes into contact with the measured object.

  The measuring device cover 1 is used by being attached to the measuring device 100. More specifically, the measuring device cover 1 includes a cover main body 2 that houses the measuring head 130 and a ventilation unit 3 attached to the cover main body 2.

  The cover body 2 is formed in a bag shape from a flexible sheet material such as vinyl, and accommodates both the measuring head 130 and the upper part 121 of the support 120 to which the measuring head 130 is attached.

  The cover main body 2 has a first opening 21 through which the support 120 is inserted. After the measurement device cover 1 is attached, the peripheral portion 210 of the first opening 21 in the cover main body 2 is tightly fixed to the peripheral surface 122 of the column 120 by a fixing tool 41 such as a tape.

The cover main body 2 is formed with a slit 22 cut from the edge of the first opening 21. Before the measurement device cover 1 is attached, the slit 22 that is opened by the operator's hand forms a wider opening together with the first opening 21 so that the measurement head 130 and the like can be inserted.
A fastener 42 is attached around the slit 22 in the cover body 2. The fastener 42 is, for example, a slide fastener or a hook-and-loop fastener, and is attached between both ends in the longitudinal direction of the slit 22 so as to be along the cutting direction (longitudinal direction) of the slit 22. After the cover 1 for the measuring device is mounted, the opening of the slit 22 can be closed by closing the fastener 42.

  Further, a second opening 23 through which the probe 140 is inserted is formed in the cover body 2, and an elastic ring 43 is attached to the second opening 23. The elastic ring 43 has an annular shape along the peripheral edge of the second opening 23, and the inner diameter of the elastic ring 43 is set to be slightly smaller than the diameter of the probe body 141 that is the root of the probe 140. I have. The elastic ring 43 is elastically deformed when the probe body 141 is press-fitted, and comes into close contact with the probe body 141.

The ventilation unit 3 includes an intake fan 31, an exhaust fan 32, and a cable insertion unit 33, and is fixed to the upper surface 123 of the column 120 by a clamp member (not shown) or the like.
The intake fan 31 sends outside air into the internal space 25 of the cover main body 2, and the exhaust fan 32 sends out air in the internal space 25 of the cover main body 2 to the outside. Each of the intake fan 31 and the exhaust fan 32 is provided with a filter for preventing dust and mist in the outside air from entering the internal space 25 of the cover body 2.
The cable insertion portion 33 has a hole 331 through which a cable 151 (for example, a signal cable or a power cable) connected to the measurement head 130 is inserted.

  With the measuring device cover 1 having the above configuration attached to the measuring device 100, the cover main body 2 is fixed to the measuring device 100 at a plurality of (for example, three) portions. Specifically, the cover main body 2 is fixed to the probe 140 via the elastic ring 43, is fixed to the peripheral surface 122 of the support 120 by the fixing tool 41, and is fixed to the upper surface 123 of the support 120 via the ventilation part 3. Fixed.

  The cover body 2 having such a configuration is larger than the measuring head 130 in each moving direction of the probe 140. In particular, in the cover body 2, the range connecting between the elastic ring 43 and the ventilation unit 3 and the range connecting between the elastic ring 43 and the fixture 41 are the minimum required to cover the measuring head 130. The dimension is set by taking into account the distance of movement of the probe 140 in each axial direction with respect to the dimension.

When the cover main body 2 having such a configuration houses the measuring head 130 and the like, a slack 2A is formed around the probe 140 in the cover main body 2. For example, as shown in FIG. 3A, when the probe 140 is located at the most one side in the Y-axis direction, the cover body 2 on one side in the Y-axis direction with respect to the probe 140 is attached to the cover 140 in the Y-axis direction. A slack 2A corresponding to the movable distance is formed.
The slack 2A of the cover body 2 is deformed so as to expand and contract by the force applied from the probe 140 when the probe 140 moves. For example, as shown in FIG. 3B, when the probe 140 moves from one side in the Y-axis direction to the other side, in the cover body 2, the slack 2A of the probe 140 in one side in the Y-axis direction is reduced, and The probe 140 is deformed so that the slack 2A on the other side in the Y-axis direction becomes large.
Although FIGS. 3A and 3B show the slack 2A in the Y-axis direction, the same applies to the slack 2A in the X-axis direction.
According to such a configuration, when the probe 140 moves in each axial direction, no tension occurs in the cover body 2, and the movement of the probe 140 is not hindered by the cover body 2. Thus, the resistance applied to the movement of the probe 140 is reduced.

An example of a method of attaching the measuring device cover 1 having the above configuration to the measuring device 100 will be described.
First, the probe body 141 is pressed into the elastic ring 43. Thereby, the elastic ring 43 is fixed to the probe 140, and the second opening 23 of the cover main body 2 is airtightly closed.
Next, the measurement head 130 is housed in the cover body 2 via the first opening 21 and the slit 22 with the opening of the slit 22 being widened. At this time, the cover main body 2 is put on the measuring head 130 from below, and the ventilation part 3 is fixed to the upper surface 123 of the support 120, and then the cover main body 2 is put on the support 120 from above. Further, the cable 151 connected to the measuring head 130 is inserted into the hole 331 of the cable insertion portion 33, and the gap between the holes 331 is sealed with a sealing material or the like.

Next, the slit 22 is airtightly closed by closing the opening of the slit 22 using the fastener 42. Then, the peripheral portion 210 of the first opening 21 is brought into close contact with the peripheral surface 122 of the column 120, and is fixed by the fixing tool 41. Thereby, the first opening 21 is airtightly closed.
As described above, the measuring device cover 1 is attached to the measuring device 100. The measuring device 100 with the measuring device cover 1 attached thereto corresponds to the measuring device with a cover of the present invention.

[Effects of the first embodiment]
Since the cover main body 2 of the measuring device cover 1 is sealed in a state in which the measuring head 130 is housed, the measuring head 130 can be protected from dust and mist in the outside air. Further, since the probe 140 is exposed from the cover main body 2 via the second opening 23, it is possible to measure an object to be measured arranged outside the cover main body 2. In addition, since the cover main body 2 has flexibility that can be deformed in accordance with the movement of the probe 140, the probe 140 can measure an object to be measured while moving without being hindered by the cover main body 2.
Therefore, the measuring device cover 1 can protect the measuring head 130 operating in an environment where dust, mist, and the like are scattered.

  Since the cover body 2 is made of vinyl or the like, it can be configured as a disposable type that can be discarded when it is soiled with dust or mist. Thus, the measuring device cover 1 can be more suitably used for the measuring device 100 installed at the manufacturing site.

Since the measurement device cover 1 has the ventilation unit 3 that ventilates the inside and outside of the cover main body 2, it is possible to suppress heat generated from the driving unit of the measurement head 130 and the like from accumulating inside the cover main body 2. Thereby, a measurement error due to thermal expansion of each part of the measuring device 100 can be suppressed, and thermal runaway of the measuring device 100 can be prevented.
When the cover body 2 is configured as a disposable type, the ventilation unit 3 may be configured to be detachable from the cover body 2 and may be reused.

  An annular elastic ring 43 is attached to the cover body 2 along the peripheral edge of the second opening 23. Therefore, by inserting the probe 140 through the elastic ring 43, the second opening 23 can be easily closed.

  The cover main body 2 is larger than the measuring head 130 in each moving direction of the probe 140. In such a configuration, the cover main body 2 forms a slack 2 </ b> A around the probe 140 in a state in which the measuring device cover 1 is attached to the measuring device 100. Since the slack 2A of the cover main body 2 is deformed in accordance with the movement of the probe 140, the cover main body 2 is not stretched, and the resistance applied to the movement of the probe 140 is reduced. This can suppress a decrease in measurement accuracy in the measurement device 100.

[Modification of First Embodiment]
(Modification 1)
As shown in FIG. 4, the measurement device cover 1 </ b> A of the first modification may include one or more elastic members 5 connected to the cover main body 2.
The elastic member 5 is, for example, a coil spring. One end of the elastic member 5 is connected to a portion of the cover main body 2 where the slack 2A is formed, and the other end of the elastic member 5 is positioned horizontally with respect to the probe 140, It is connected to a position vertically above the probe 140. The place where the other end of the elastic member 5 is connected may be the cover body 2 or may be a facility such as a pillar or a wall existing near the measuring device 100. When a plurality of elastic members 5 are provided for the cover body 2, it is preferable that the plurality of elastic members 5 be arranged uniformly around the probe 140. Further, the elastic force of the elastic member 5 is preferably smaller than that of the elastic ring 43, and it is preferable that an excessive tension is not applied to the cover body 2.
According to such a configuration, when the amount of the slack 2A of the cover main body 2 increases, the elastic member 5 pulls the slack 2A of the cover main body 2 so as to separate the slack 2A from the probe 140. Interference can be suppressed, and deterioration of measurement accuracy can be suppressed.

(Modification 2)
As shown in FIG. 5, the measurement device cover 1 </ b> B of Modification 2 may include a plate-shaped member 6 that connects between the peripheral edge of the second opening 23 and the elastic ring 43. The plate-shaped member 6 is arranged to protect the space around the probe 140 from above. Even with such a configuration, it is possible to suppress the slack 2 </ b> A of the cover main body 2 from interfering with the probe 140.

(Modification 3)
FIG. 6 shows a portion of the cover main body 2 around the probe 140 in the measuring device cover 1C according to the third modification. As shown in FIG. 6, in the cover for measurement device 1 </ b> C, a bellows-like fold 71 centering on the second opening 23 is formed around the second opening 23 in the cover main body 2. Here, it is assumed that the cover main body 2 does not lose its flexibility and has such rigidity as to be creased. Outside the area where the bellows-like folds 71 are arranged in the cover main body 2, for example, an adhesive portion 72 such as a tape is uniformly provided around the second opening 23. The cover main body 2 is fixed to the measuring device 100 via a plurality of adhesive portions 72.
According to such a configuration, as shown in FIG. 7, the cover main body 2 is folded in a bellows shape, and the amount of sagging of the slack 2A is reduced, so that interference of the slack 2A with the probe 140 can be suppressed. Further, even if the cover body 2 has a certain degree of rigidity, the bellows-like fold 71 is bent and stretched, whereby the resistance applied to the movement of the probe 140 can be reduced.

(Other modifications)
The measurement device cover 1 of the embodiment includes the ventilation unit 3, but the ventilation unit 3 may be omitted when the heat generated from the measurement device 100 does not matter.
In addition, although the ventilation unit 3 of the embodiment has both the intake fan 31 and the exhaust fan 32, one of them may be omitted. When one of the intake fan 31 and the exhaust fan 32 is omitted, the measuring device cover 1 may have an intake port or an exhaust port provided with a filter.

In the above-described embodiment, the ventilation section 3 has the cable insertion section 33, but the cable insertion section 33 may be omitted. In this case, the cable 151 connected to the measuring head 130 may extend outside from the first opening 21 or a part of the slit 22.
In the above embodiment, the slit 22 may be closed with a double-sided tape or a simple tape instead of the fastener 42.

  In the above embodiment, the cover main body 2 has the slit 22, but this slit 22 may be omitted. For example, the first opening 21 may be formed so large that the measuring head 130 can be inserted.

  In the above embodiment, the elastic ring 43 is attached to the second opening 23 of the cover main body 2, but this elastic ring 43 may be omitted. For example, after the probe 140 is inserted through the second opening 23 of the cover main body 2, the peripheral portion of the second opening 23 may be brought into close contact with the peripheral surface of the probe 140 by another means such as a tape.

  In the above embodiment, the cover main body 2 houses the measuring head 130 as a moving mechanism of the measuring device 100, but the present invention is not limited to this. That is, the moving mechanism accommodated in the cover body of the present invention is not limited to the measuring head as in the above embodiment, but may be any moving mechanism that moves the probe in at least one direction.

  In each of the above embodiments, a three-dimensional measuring device is illustrated as the measuring device 100 to which the measuring device cover 1 is attached. However, the present invention is not limited to this, and a surface texture measuring device, a roundness measuring device, or the like may be used. May be another measuring device.

(Second embodiment)
A measurement device cover according to a second embodiment of the present invention will be described.
FIG. 8 is a diagram illustrating a use mode of the measurement device cover 8 of the present embodiment. As shown in FIG. 8, the measuring device cover 8 is mounted on the measuring device 900 to protect the measuring device 900 from dust and mist.

In the present embodiment, the measuring device 900 to which the measuring device cover 8 is attached is a multi-joint arm type measuring device.
First, the configuration of the measuring device 900 will be described. The measuring device 900 is, for example, a three-dimensional measuring device, and includes a probe 910 and an articulated arm mechanism 920.

The probe 910 has the same configuration as the probe 140 of the first embodiment, and has a probe main body 911 supported by the articulated arm mechanism 920 and a stylus 912 mounted on the probe main body 911. . The probe main body 911 detects the displacement of the stylus 912 as an electric signal.
Note that the probe 910 is not limited to the above configuration, and the probe body 911 may output a trigger when the measurer recognizes contact between the stylus 912 and the device under test and presses a switch. . In addition, the probe 910 is not limited to such a contact type configuration, and may be configured as a non-contact type.

  The articulated arm mechanism 920 is configured to be able to move the probe 910 in a three-dimensional space by an external force (operation by a measurer). Specifically, the multi-joint arm mechanism 920 includes a support 920A, a first link 920B to a sixth link 920G, and a first joint 920H to a sixth joint 920M. The support 920A and the first to sixth links 920B to 920G correspond to the arm portion of the present invention.

The column 920A is fixed to a workbench or the like along, for example, a first axis Ax1 parallel to the vertical direction.
The first joint 920H connects the support 920A and one end of the first link 920B, and the first link 920B is rotatable about the first axis Ax1 with respect to the support 920A.
The second joint 920I connects the other end of the first link 920B and one end of the second link 920C, and the first and second links 920B and 920C connect, for example, the second axis Ax2 along the horizontal direction. It is relatively rotatable as a center.
The third joint 920J connects the other end of the second link 920C and one end of the third link 920D, and the second and third links 920C and 920D are relatively centered on the center axis Ax3 of each other. It is rotatable.
The fourth joint 920K connects the other end of the third link 920D and one end of the fourth link 920E, and the third and fourth links 920D and 920E define a third axis Ax4 orthogonal to the central axis Ax3. It is relatively rotatable as a center.

The fifth joint 920L connects the other end of the fourth link 920E and one end of the fifth link 920F, and the fourth and fifth links 920E and 920F are relatively positioned around the center axis Ax5 of each other. It is rotatable.
The sixth joint 920M connects the other end of the fifth link 920F to one end of the sixth link 920G. It is relatively rotatable as a center. A probe body 911 is attached to a multi-end of the sixth link 920G.

  As described above, the multi-joint arm mechanism 920 is configured to be able to operate on a plurality of axes (six axes in the present embodiment). An angle sensor (not shown) is attached to each of the first joint 920H to the sixth joint 920M. The angle sensor detects a relative rotation angle of the first joint 920H to the sixth joint 920M connected to each other by the first joint 920H to the sixth joint 920M.

  In the measuring device 900 having the above configuration, the measurer can operate the articulated arm mechanism 920 by directly moving the probe 910 by hand. The measuring device 900 measures the size and shape of the object to be measured based on displacement information of the stylus 912 when the probe 910 contacts the object to be measured and each rotation angle of the first joint 920H to the sixth joint 920M. it can.

In the following description, the first joint portion 920H to the sixth joint portion 920M in the measurement device 900 will be described by being divided into a first joint group 901 to a third joint group 903. Note that the first joint portion 920H to the sixth joint portion 920M are divided so that those arranged close to each other belong to the same group.
Specifically, the first joint 920H, the second joint 920I, and the third joint 920J belong to the first joint group 901; the fourth joint 920K belongs to the second joint group 902; 920L and the sixth joint 920M belong to the third joint group 903.

  The measuring device cover 8 of the present embodiment is used by being attached to the measuring device 900. Specifically, the measuring device cover 8 includes cover main bodies 81 to 83 that respectively accommodate the first joint group 901 to the third joint group 903. The cover main bodies 81 to 83 are independently formed of a flexible sheet material such as vinyl.

  The cover main body 81 is formed in a cylindrical shape having a first opening 811 through which the support 920A is inserted and a second opening 812 through which the third link 920D is inserted, and accommodates the first joint group 901. When the cover main body 81 is mounted on the measuring device 900, the cover main body 81 is fixed to a fixing member 84 such as a tape while the first opening 811 and the second opening 812 are respectively inserted through the columns 920A and the third links 920D. Sealed by.

  The cover body 82 is formed in a tubular shape having a first opening 821 through which the third link 920D is inserted and a second opening 822 through which the fourth link 920E is inserted, and accommodates the second joint group 902. When the cover main body 82 is attached to the measuring device 900, the cover main body 82 is fixed with a tape or the like while the first opening 821 and the second opening 822 are inserted through the third link 920D and the fourth link 920E, respectively. It is sealed by the tool 85.

  The cover main body 83 is formed in a tubular shape having a first opening 831 through which the fourth link 920E is inserted and a second opening 832 through which the sixth link 920G is inserted, and accommodates the third joint group 903. When the cover main body 83 is attached to the measuring device 900, the cover main body 83 is fixed with a tape or the like while the first opening 831 and the second opening 832 are inserted through the fourth link 920E and the sixth link 920G, respectively. It is sealed by the tool 86.

Each of the cover main bodies 81 to 83 has a size to allow the operation of the joint groups 901 to 903 accommodated by each of the cover main bodies 81 to 83 to the extent necessary for the measurement.
For example, when the cover main body 81 is described as an example, the cover main body 81 includes a rotation of a first link 920B with respect to a support 920A via a first joint 920H, and a second link with a first link 920B via a second joint 920I. The rotation of the first link 920C and the rotation of the third link 920D with respect to the second link 920C via the third joint 920J are configured to be permitted to the extent necessary for the measurement. The degree required for the measurement is, for example, a degree that allows rotation of 180 to 360 degrees. According to such a configuration, the cover main body 81 is configured to be larger than just covering the first joint group 901. Therefore, when measuring device 900 is in the reference state (or standby state), cover body 81 has slack.
The cover bodies 82 and 83 have the same configuration as the cover body 81.
The measuring device 900 with the measuring device cover 8 attached thereto corresponds to the measuring device with a cover of the present invention.

[Effects of the second embodiment]
Since each of the cover main bodies 81 to 83 of the measurement device cover 8 is sealed while accommodating each of the joint groups 901 to 903, each of the joint groups 901 to 903 can be protected from dust and mist in the outside air. In addition, since the cover main bodies 81 to 83 have flexibility that can be deformed according to the movement of the probe 910, the probe 910 can measure an object to be measured while moving without being hindered by the cover main bodies 81 to 83.
Therefore, the measuring device cover 8 can protect the measuring head 130 that operates in an environment where dust, mist, and the like are scattered.

  Since each of the cover bodies 81 to 83 of the measuring device cover 8 is made of vinyl or the like, it can be configured as a disposable type that can be discarded when it becomes dirty with dust or mist. Thus, the measuring device cover 1 can be more suitably used for the measuring device 100 installed at the manufacturing site.

[Modification of Second Embodiment]
In the above embodiment, the measuring device cover 8 includes three cover bodies 81 to 83, but the number of cover bodies is not limited to this. The measurement device cover of the present invention can include an arbitrary number of cover bodies according to, for example, the number and arrangement of the joints of the measurement device.

  In the above-described embodiment, the measuring device cover 8 includes the cover main bodies 81 to 83 that individually accommodate the joint groups 901 to 903, respectively, but is not limited thereto. That is, the measuring device cover 8 may include a cover main body that accommodates all of the joints 920H to 920M at one time. In this case, the cover main body is formed in a tubular shape having a first opening through which the support 920A is inserted and a second opening through which the sixth link 920G is inserted.

  The measurement device cover of the present invention is not limited to protecting all the joints provided in the measurement device. For example, the measurement device cover of the present invention may include a cover main body configured to protect only the joint portion where the influence of dust and mist is concerned.

  In the above embodiment, the measuring device 900 which is a manual type three-dimensional measuring device is described, but the measuring device to which the cover for the measuring device of the present invention is attached is not limited to this. For example, the measurement device to which the measurement device cover of the present invention is attached may be an arm-type robot that includes an articulated arm and a probe attached to the articulated arm, and that automatically controls the driving of the articulated arm. .

  In the above embodiment, the measuring device cover 8 used for the measuring device 900 is described. However, the measuring device cover 8 is used as an arm type robot cover for an arm type robot having an articulated arm mechanism. Can be attached. For example, in a transfer arm type robot including a multi-joint arm and a chuck attached to the multi-joint arm, the measuring device cover 8 can be attached to the multi-joint arm as an arm type robot cover. According to such a configuration, similarly to the above-described embodiment, the multi-joint arm mechanism can be protected in an environment where dust, mist, and the like are scattered.

  1, 1A, 1B, 1C, 8 ... cover for measuring device, 2, 81 to 83 ... cover body, 21, 811, 821, 831 ... first opening, 22 ... slit, 23, 821, 822, 832 ... second Opening, 25 ... Internal space, 3 ... Ventilation part, 31 ... Intake fan, 32 ... Exhaust fan, 33 ... Cable insertion part, 331 ... Hole, 41 ... Fixture, 42 ... Fastener, 43 ... Elastic ring, 5 ... Elastic member Reference numeral 6: plate member, 71: fold, 100, 900: measuring device, 110: base, 120: support, 121: upper part, 122: peripheral surface, 123: upper surface, 130: measuring head, 131: mounting portion , 132: Head body, 133: Y slider, 134: X slider, 140: Probe, 141: Probe body, 142: Stylus, 151: Cable, 920A: Strut (arm), 920 ~920G ... link (arm part), 920H~920M ... joints.

Claims (10)

A probe, a moving mechanism for moving the probe, and a measuring device cover attached to the measuring device including a support supporting the moving mechanism,
A cover body having a first opening through which the support is inserted and a second opening through which the probe is inserted, and comprising a moving mechanism is provided.
The cover for a measuring device, wherein the cover body has flexibility that can be deformed in accordance with movement of the probe. The measuring device cover according to claim 1,
A cover for a measuring device, further comprising a ventilation unit attached to the cover main body and configured to ventilate inside and outside of the cover main body. The measurement device cover according to claim 1 or 2, wherein:
A cover for a measuring device, wherein an annular elastic ring is attached to the cover body along a peripheral portion of the second opening. It is a cover for measuring devices according to any one of claims 1 to 3,
The cover for a measuring device, wherein the cover body is configured to be larger than the moving mechanism in each moving direction of the probe. The measurement device cover according to claim 4,
An elastic member for pulling the cover main body away from the probe is connected around the probe in the cover main body. The measurement device cover according to claim 4,
A bellows-like fold centering on the second opening is formed around the second opening in the cover body. A probe,
A moving mechanism for moving the probe,
A column supporting the moving mechanism;
A measuring device with a cover, comprising: the measuring device cover according to any one of claims 1 to 6. A multi-joint arm mechanism having a plurality of arm portions and an articulation portion connecting the arm portions to each other, and a measurement device cover attached to a measurement device including a probe attached to the multi-joint arm mechanism,
A first opening and a second opening through which the different arms are inserted, and a cover body configured to accommodate the joint;
The cover for a measuring device, wherein the cover body has flexibility that can be deformed in accordance with movement of the probe. A multi-joint arm mechanism having a plurality of arms and joints connecting the arms,
A probe attached to the articulated arm mechanism,
A measuring device with a cover, comprising: the measuring device cover according to claim 8. An arm-type robot cover attached to an arm-type robot having a multi-joint arm mechanism having a plurality of arm units and an articulation unit connecting the arm units,
A first opening and a second opening through which the different arms are inserted, and a cover body configured to accommodate the joint;
The cover for an arm type robot, wherein the cover body has flexibility that can be deformed in accordance with the operation of the articulated arm mechanism.

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