JPH01132905U

JPH01132905U -

Info

Publication number: JPH01132905U
Application number: JP2526488U
Authority: JP
Priority date: 1988-02-27
Filing date: 1988-02-27
Publication date: 1989-09-11

Description

[Brief explanation of drawings]

第１図は本考案の三次元計測ロボツトの側面図
、第２図は第１図における計測ヘツド部分の拡大
図、第３図は計測ヘツドの他の実施例を示す図で
ある。１……三次元計測ロボツト、２……計測ヘツド
、１１……ロボツトアーム、１２……計測ヘツド
本体、１３……第１回転アーム、１５……第２回
転アーム、１７……接触子、１８……接触子ヘツ
ド、１９……第１計測子としてのα軸エンコーダ
、２０……第２計測子としてのβ軸エンコーダ、
α……回転第１軸、β……回転第２軸、Ｃ……軸
心、Ｐ……交点、Ｘ，Ｙ，Ｚ……直交３軸。 FIG. 1 is a side view of the three-dimensional measuring robot of the present invention, FIG. 2 is an enlarged view of the measuring head portion in FIG. 1, and FIG. 3 is a diagram showing another embodiment of the measuring head. DESCRIPTION OF SYMBOLS 1... Three-dimensional measurement robot, 2... Measurement head, 11... Robot arm, 12... Measurement head body, 13... First rotating arm, 15... Second rotating arm, 17... Contactor, 18 . . . Contact head, 19 . . . α-axis encoder as a first sensor, 20 . . . β-axis encoder as a second sensor,
α...First axis of rotation, β...Second axis of rotation, C...Axial center, P...Intersection, X, Y, Z...3 orthogonal axes.

Claims

[Scope of utility model registration request]

A three-dimensional measurement robot having three orthogonal axes includes a measurement head body attached to a robot arm movable in three-dimensional directions, and a first rotation arm rotatably supported by the measurement head body about a first rotation axis. a second rotary arm rotatably supported by the first rotary arm around a second rotation axis intersecting the first rotation axis at a predetermined angle; and a second rotary arm having a contact at its tip. One rotation arm and the second
When the rotary arms are on the same plane, the second rotation is performed such that the axis substantially coincides with the first rotation axis, and the intersection point of the first rotation axis and the second rotation axis always substantially coincides with the tip. A measuring head comprising a contact head provided on the arm, a first measuring element for measuring the rotation angle of the first rotating arm, and a second measuring element for measuring the rotation angle of the second rotating arm, A three-dimensional measurement robot, characterized in that it measures the three-dimensional position of a measurement point and the rotation angle of the two rotary arms at the measurement point.