CN208671936U - A kind of large scale articulated arm coordinate measuring machine - Google Patents
A kind of large scale articulated arm coordinate measuring machine Download PDFInfo
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- CN208671936U CN208671936U CN201821535637.0U CN201821535637U CN208671936U CN 208671936 U CN208671936 U CN 208671936U CN 201821535637 U CN201821535637 U CN 201821535637U CN 208671936 U CN208671936 U CN 208671936U
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- joint
- coordinate measuring
- measuring machine
- large scale
- articulated arm
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Abstract
The utility model discloses a kind of large scale articulated arm coordinate measuring machines, belong to fine measuring instrument field.It cannot keep preferable balance in rotation for joint in prior art coordinate measuring machine and connecting rod, to the not high problem of measurement accuracy, it includes pedestal that the utility model, which provides a kind of large scale articulated arm coordinate measuring machine, column, first joint, second joint, third joint, 4th joint, 5th joint, 6th joint and probe, column is installed on the base, first joint, second joint, third joint, 4th joint, 5th joint and the 6th joint are sequentially connected in series, probe is mounted on the lower section in the 6th joint, it further include air pressure balance mechanism, air pressure balance mechanism one end is fixed on the base, the other end is fixed on the measurement arm where third joint.By air pressure balance mechanism as the rotation of measurement arm keeps the balance of measurement arm and connecting rod in rotation in real time, measurement accuracy is high and stability is good, while simple structure and reasonable design.
Description
Technical field
The utility model belongs to fine measuring instrument field, more specifically to a kind of large scale articulated arm coordinate
Measuring machine.
Background technique
With the fast development of China's manufacturing industry, advanced metrology and measurement instrument gradually attracts people's attention, articulated type
Coordinate measuring machine is a kind of nonopiate coordinate-measuring instrument, is to calculate a kind of novel precise measuring instrument important in test, it
Compared with traditional orthogonal coordinates measuring machine, there is tandem-in-space structure, thus have that freedom degree is big, measurement space is open, operation
The features such as flexibly and easily and being suitable for in-site measurement.However, existing articulated coordinate machine can not be freely covert in joint
Pressure is freely adjusted afterwards, in rotation there are unbalanced problem, influences measurement result.
In view of the above-mentioned problems, also having carried out being correspondingly improved such as Chinese Patent Application No. 201520081971.3, publication date
For on July 1st, 2015, which disclose a kind of change shoulder joint formula coordinate measuring machines, were related to coordinate measuring machine technical field, it
Including measuring arm, the both ends of the measurement arm pass through joint respectively and are connected with gauge head and pedestal measurement arm, and the pedestal measures arm
It is installed on a pedestal, the measurement arm includes sequentially connected first fixed arm, swing arm and the second fixed arm, one end of the swing arm
It is sleeved on outside first fixed arm, the swing arm is threadedly coupled with first fixed arm, and the other end of the swing arm passes through bolt
It is connected with one end of second fixed arm.The patent is disadvantageous in that: although the brachium of the measurement arm of the patent is adjustable,
But pressure suffered in device cannot achieve from main regulation, there is unbalanced state during rotation so that measurement
Precision is relatively low.
Summary of the invention
1, it to solve the problems, such as
It cannot keep preferable balance in rotation for joint in prior art coordinate measuring machine and connecting rod, to measure
The not high problem of precision, the utility model provide a kind of large scale articulated arm coordinate measuring machine, by air pressure balance mechanism with
The rotation of measurement arm and keep the balance of measurement arm and connecting rod in rotation in real time, measurement accuracy is high and stability is good, simultaneously
Simple structure and reasonable design.
2, technical solution
To solve the above problems, the utility model adopts the following technical scheme.
A kind of large scale articulated arm coordinate measuring machine, including pedestal, column, the first joint, second joint, third pass
Section, the 4th joint, the 5th joint, the 6th joint and probe, column are installed on the base, and the first joint, second joint, third are closed
Section, the 4th joint, the 5th joint and the 6th joint are sequentially connected in series, and it further includes gas that probe, which is mounted on the lower section in the 6th joint,
Balance mechanism is pressed, air pressure balance mechanism one end is fixed on the base, and the other end is fixed on the measurement arm where third joint.With
Measurement arm rotation can remain balance so that measurement result is more accurate.
The air pressure balance mechanism includes cylinder, moving parts and piston, and the bottom end of piston and moving parts is perpendicular
Setting, moving parts front end is fixed on the base, and bottom end is arranged in cylinder.The pressures that moving parts is generated with the difference of position
Power difference is different, therefore can bear different power to keep balancing.
The both sides up and down of cylinder are respectively arranged with stomata.From being filled in stomata in different gas to cylinder, different gas
Body and different spaces will generate different pressure P1 and P2, and pressure difference between the two promotes moving parts that can bear centainly
Pressure has certain stability.
It further include gas spring, gas spring one end is fixed on the base, and the other end is fixed on the measurement arm where third joint
On.Gas spring can be from main regulation pressure for use as auxiliary balance after joint is freely covert.
Further include angular encoder, is separately positioned on the first joint, second joint, third joint, the 4th joint, the 5th pass
On section and the 6th joint, two angular encoders, third joint and the 4th joint angle Zhong Liangge in the first joint and second joint
Spending encoder, the 5th joint and two angular encoders in the 6th joint is in be arranged in a mutually vertical manner.Guarantee angle-data measurement
Precision and stability.
Two readings of setting are popped one's head in the angular encoder.Reading probe is the angle for reading joint and link rotatable
A kind of instrument, each reading probe are an independent data transmission, and the data that two groups of probes are transmitted are in angular encoder
Middle circuit module is first summed, then is averaged, and outputs information to the information receiving unit of system again later, so that surveying
The angle-data of amount has higher precision and stability.
Angular encoder is internally provided with the circuit module for obtaining articulation angle and connecting rod angle data, circuit module
It is connect with external system signal.The data of the angle of articulation and connecting rod corner are handled and fed back.
Between the first joint and second joint, between third joint and the 4th joint, the 5th joint and the 6th joint it
Between be coated respectively with lubricating oil.Reduce the friction between joint, so that each joint is more flexible light in rotation.
First joint length is greater than third joint length, and third joint length is greater than the 5th joint length.It is more advantageous to each
Rotation between joint mitigates joint weight, so that rotation is more convenient flexibly.
Cylinder is connected as being flexibly connected with the measurement arm where third joint.Entire air pressure balance mechanism can be with measurement
The rotation of arm and rotate, in real time keep measurement arm rotation when balance.
3, beneficial effect
Compared with the prior art, the utility model has the following beneficial effects:
(1) the utility model in coordinate measuring machine by being provided with air pressure balance mechanism, so that coordinate measuring machine is closing
It keeps balancing when section is rotated with connecting rod, to improve the precision and efficiency of measurement；
(2) the utility model is mutually assisted by gas spring with air pressure balance mechanism, after gas spring is freely covert in joint
It can be from main regulation pressure for use as auxiliary balance；
(3) angular encoder is arranged in each joint in the utility model, and angular encoder is in be arranged in a mutually vertical manner, angle
Spend encoder in setting there are two reading probe, reading probe for read joint and link rotatable a kind of instrument of angle, two
The obtained data of reading probe are first summed averages again, so that the angle-data of measurement has higher precision
With stability；
(4) the utility model reduces the friction between joint, so that respectively by being coated with lubricant between each joint
A joint is more flexible light in rotation；
(5) cylinder is connected as being flexibly connected with the measurement arm where third joint in the utility model, so that entire air pressure
Balance mechanism can keep in real time the balance of measurement arm and connecting rod in rotation with the rotation of measurement arm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is atmospheric pressure equilibrium principle figure.
Figure number explanation:
1, pedestal；2, column；3, the first joint；4, angular encoder；5, second joint；6, third joint；7, it the 4th closes
Section；8, the 5th joint；9, the 6th joint；10, it pops one's head in；11, gas spring；12, cylinder；13, moving parts；14, piston；15, gas
Hole I；16, stomata II.
Specific embodiment
The utility model is further described below with attached drawing combined with specific embodiments below.
Embodiment 1
As shown in Figure 1, a kind of large scale articulated arm coordinate measuring machine, including pedestal 1, column 2, the first joint 3, second
Joint 5, third joint 6, the 4th joint 7, the 5th joint 8, the 6th joint 9 and probe 10, column 2 is mounted on pedestal 1, and first
Joint 3, second joint 5, third joint 6, the 4th joint 7, the 5th joint 8 and the 6th joint 9 are sequentially connected in series, the first joint
3 length are greater than 6 length of third joint, and 6 length of third joint is greater than 8 length of the 5th joint, are more advantageous between each joint and turn
It is dynamic, mitigate joint weight, so that rotation is more convenient flexibly；Probe 10 is mounted on the lower section in the 6th joint 9, further includes that air pressure is flat
Weigh mechanism, and air pressure balance mechanism one end is fixed on pedestal 1, and the other end is fixed on the measurement arm at 6 place of third joint.Such as figure
Shown in 2, air pressure balance mechanism includes cylinder 12, moving parts 13 and piston 14, and the bottom end of piston 14 and moving parts 13 is in hanging down
Straight setting, 13 front end of moving parts are fixed on pedestal 1, and bottom end is arranged 12 in cylinder, and the both sides up and down of cylinder 12 are set respectively
It is equipped with stomata, cylinder 12 is connected as being flexibly connected with the measurement arm where third joint 6, and different gas is passed through stomata respectively
I15 and stomata II16 are filled in cylinder 12, and different gas and different spaces will generate different pressure P1 and P2, the two
Between pressure difference promote moving parts 13 that can bear certain pressure, 13 position difference of moving parts generates different pressure differences,
Different power can be born, entire air pressure balance mechanism can keep in real time measurement arm and connecting rod to exist with the rotation of measurement arm
Balance when rotation, so that measurement accuracy is higher with stability；It further include gas spring 11,11 one end of gas spring is fixed on base
On seat 1, the other end is fixed on the measurement arm at 6 place of third joint, and gas spring 11 can be from homophony after joint is freely covert
Pressure is saved for use as auxiliary balance, the whole machine balancing better performances of coordinate measuring machine, so that measurement accuracy is higher with stability.
Embodiment 2
Substantially with embodiment 1, the present embodiment further includes angular encoder 4, is separately positioned on the first joint 3, second joint
5, on third joint 6, the 4th joint 7, the 5th joint 8 and the 6th joint 9, the first joint 3 is compiled with two angles in second joint 5
Two angles are compiled in two angular encoders 4, the 5th joint 8 and the 6th joint 9 in code device 4, third joint 6 and the 4th joint 7
Code device 4 is in being arranged in a mutually vertical manner, and two readings of setting are popped one's head in the angular encoder 4, is arranged inside angular encoder 4
There is the circuit module for obtaining articulation angle and connecting rod angle data, circuit module is connect with external system signal, the system
System includes information receiving unit, measurement model unit, coordinate transformation unit, error correction unit and the three-dimensional coordinate being sequentially connected
Processing unit, reading probe are a kind of instrument of angle for reading joint and link rotatable, and the data measured are transferred to angle and are compiled
Code device 4 in articulation angle and connecting rod angle data circuit module in, each reading probe be an independent number
According to transmission, the data that two groups of probes are transmitted first are summed in angular encoder 4, then are averaged, and export letter again later
The information receiving unit of system is ceased, so that the angle-data of measurement has higher precision and stability；Outside system
System is mainly based upon the basic measuring machine program of VC and OPENGL design, mainly receives the angle letter sent from measuring circuit
Breath converts the final coordinate for obtaining probe 10 by coordinate using D-H Mo Xing or generalized geometric error model foundation measurement model
Information obtains three-dimensional coordinate information after error correction and processing, in the setting and external system inside angular encoder 4
Setting be the prior art.
Embodiment 3
Substantially with embodiment 1, it is preferred that between the first joint 3 and second joint 5, third joint 6 and the 4th joint 7
Between, lubricating oil is coated respectively between the 5th joint 8 and the 6th joint 9, reduce the friction between joint, so that each joint exists
It is more flexible light when rotation.
Example described in the utility model is only that preferred embodiments of the present invention are described, not to this reality
It is defined with novel conception and scope, under the premise of not departing from the design concept of the utility model, this field engineering technology people
The various changes and improvements that member makes the technical solution of the utility model, should all fall into the protection scope of the utility model.
Claims (10)
1. a kind of large scale articulated arm coordinate measuring machine, including pedestal (1), column (2), the first joint (3), second joint
(5), third joint (6), the 4th joint (7), the 5th joint (8), the 6th joint (9) and probe (10), column (2) are mounted on base
On seat (1), the first joint (3), second joint (5), third joint (6), the 4th joint (7), the 5th joint (8) and the 6th joint
(9) it is sequentially connected in series, probe (10) is mounted on the lower section in the 6th joint (9), it is characterised in that: further includes air pressure balance machine
Structure, air pressure balance mechanism one end are fixed on pedestal (1), and the other end is fixed on the measurement arm where third joint (6).
2. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: the air pressure is flat
The mechanism that weighs includes cylinder (12), moving parts (13) and piston (14), and piston (14) and the bottom end of moving parts (13) are perpendicular
Setting, moving parts (13) front end are fixed on pedestal (1), and bottom end setting is in cylinder (12).
3. a kind of large scale articulated arm coordinate measuring machine according to claim 2, it is characterised in that: cylinder (12) it is upper
Lower both sides are respectively arranged with stomata.
4. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: further include gas spring
(11), gas spring (11) one end is fixed on pedestal (1), and the other end is fixed on the measurement arm where third joint (6).
5. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: further include that angle is compiled
Code device (4), is separately positioned on the first joint (3), second joint (5), third joint (6), the 4th joint (7), the 5th joint (8)
On the 6th joint (9), two angular encoders (4), third joint (6) and the 4th in the first joint (3) and second joint (5)
Two angular encoders (4), the 5th joint (8) and two angular encoders (4) in the 6th joint (9) are in phase in joint (7)
Mutually it is vertically arranged.
6. a kind of large scale articulated arm coordinate measuring machine according to claim 5, it is characterised in that: the angle is compiled
Two readings of setting are popped one's head in code device (4).
7. a kind of large scale articulated arm coordinate measuring machine according to claim 6, it is characterised in that: angular encoder
(4) circuit module for obtaining articulation angle and connecting rod angle data, circuit module and external system signal are internally provided with
Connection.
8. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: in the first joint
(3) between second joint (5), between third joint (6) and the 4th joint (7), the 5th joint (8) and the 6th joint (9) it
Between be coated respectively with lubricating oil.
9. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: the first joint (3)
Length is greater than third joint (6) length, and third joint (6) length is greater than the 5th joint (8) length.
10. a kind of large scale articulated arm coordinate measuring machine according to claim 1, it is characterised in that: cylinder (12) with
Measurement arm where third joint (6) is connected as being flexibly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821535637.0U CN208671936U (en) | 2018-09-19 | 2018-09-19 | A kind of large scale articulated arm coordinate measuring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821535637.0U CN208671936U (en) | 2018-09-19 | 2018-09-19 | A kind of large scale articulated arm coordinate measuring machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208671936U true CN208671936U (en) | 2019-03-29 |
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ID=65842701
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821535637.0U Expired - Fee Related CN208671936U (en) | 2018-09-19 | 2018-09-19 | A kind of large scale articulated arm coordinate measuring machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208671936U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110411390A (en) * | 2019-09-06 | 2019-11-05 | 派姆特科技(苏州)有限公司 | A kind of large scale articulated arm coordinate measuring machine |
| CN111015724A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for pneumatic joint |
| CN111578876A (en) * | 2020-05-29 | 2020-08-25 | 英格索兰（中国）工业设备制造有限公司 | Measuring rod and three-coordinate measuring machine |
| CN114523336A (en) * | 2022-03-03 | 2022-05-24 | 西安理工大学 | Tool setting and rolling depth measuring mechanism of multi-joint vertical cold rolling machine tool |
-
2018
- 2018-09-19 CN CN201821535637.0U patent/CN208671936U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110411390A (en) * | 2019-09-06 | 2019-11-05 | 派姆特科技(苏州)有限公司 | A kind of large scale articulated arm coordinate measuring machine |
| CN111015724A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Flexible positioning and supporting device for pneumatic joint |
| CN111578876A (en) * | 2020-05-29 | 2020-08-25 | 英格索兰（中国）工业设备制造有限公司 | Measuring rod and three-coordinate measuring machine |
| CN114523336A (en) * | 2022-03-03 | 2022-05-24 | 西安理工大学 | Tool setting and rolling depth measuring mechanism of multi-joint vertical cold rolling machine tool |
| CN114523336B (en) * | 2022-03-03 | 2023-02-24 | 西安理工大学 | Tool setting and rolling depth measuring mechanism of multi-joint vertical cold rolling machine tool |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20210919 |
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| CF01 | Termination of patent right due to non-payment of annual fee |