CN208780166U - A kind of articulated coordinate machine locking type shaft - Google Patents
A kind of articulated coordinate machine locking type shaft Download PDFInfo
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- CN208780166U CN208780166U CN201821680029.9U CN201821680029U CN208780166U CN 208780166 U CN208780166 U CN 208780166U CN 201821680029 U CN201821680029 U CN 201821680029U CN 208780166 U CN208780166 U CN 208780166U
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Abstract
The utility model discloses a kind of articulated coordinate machine locking type shafts.The high-precision Circular gratings angular encoder of excessive bulk is not available at present to improve articulated coordinate machine precision.The utility model shaft is made of shaft main shaft, shaft shell, first bearing, outer ring spacer, cone spacer, second bearing, hollow locking stud, internal locking nut, reading head chip module, low precision Circular gratings disk, locking ball, spring and calibration machine, it is demarcated using calibration machine, when locking ball is located at lock groove, reading head chip module reads the angle-data of low precision Circular gratings disk, the host equipment of articulated arm coordinate measuring machine judges which locking position shaft main shaft belongs to according to the angle, transfers the corresponding High-precision angle data in locking position.The utility model can reach the measurement accuracy of high accuracy circular grating angle encoder using low precision Circular gratings angular encoder, reduce the manufacturing cost of measuring machine.
Description
Technical field
The utility model belongs to coordinate measuring technology field, and in particular to a kind of articulated coordinate machine locking type turn
Axis.
Background technique
Articulated coordinate machine is a kind of multivariant coordinate measuring machine, in series by measurement arm and rotary joint
Open-chain structure.Compared to traditional orthogonal coordinate system formula three coordinate measuring machine, it has, and small in size, portable, measurement range is big,
The advantages that convenient, flexible, good environmental adaptability.But the shortcomings that amplifying due to this cascaded structure there is deviation accumulation, Ge Jiguan
The structural parameters error of section can be amplified step by step, lead to the reduction of its precision.Articulated coordinate machine currently on the market is general
For 6 freedom degrees, i.e. measuring machine integrally includes 6 rotary shafts, and each rotary shaft is single-revolution pair, provides one degree of freedom.Often
Circular gratings angular encoder is arranged in a rotary shaft.The angle value of each Circular gratings angular encoder is read, then substitutes into joint
In the corresponding mathematical model of formula coordinate measuring machine, articulated coordinate machine gauge head can be obtained in base coordinate system by calculating
Under space coordinate, to achieve the purpose that measurement.
The primary determinant of the precision of articulated coordinate machine is the Circular gratings angular encoder arranged in its shaft.?
Under identical grating manufacturing process, in Circular gratings angular encoder core component --- the volume of Circular gratings disk is bigger, circle light
The precision of grid angular encoder is higher.The portability of articulated coordinate machine determines that its volume cannot be too big.It is limited to
The volume of articulated coordinate machine is not available the high-precision Circular gratings angular encoder of excessive bulk at present to improve joint
Formula coordinate measuring machine accuracy, and high-precision Circular gratings angular encoder is at high cost.
If Circular gratings manufacturing technology can be broken through, the precision of the Circular gratings angular encoder of unit volume will be made higher,
Under the premise of the current articulated coordinate machine of holding various advantages, its measurement accuracy is effectively improved.But current Circular gratings
Manufacturing technology is difficult to break through in a short time, and gesture improves the measurement of articulated coordinate machine as desired by some other method
Precision, and the existing advantage of current articulated coordinate machine is not destroyed.
Summary of the invention
The purpose of this utility model is to provide a kind of articulated coordinate machine locking type shafts, and the shaft is compared to biography
Unite shaft, devise a kind of lockable mechanism, this lockable mechanism can guarantee articulated coordinate machine at work, only by compared with
When small operating force, first rotating shaft can be locked in a certain position.And the shaft passes through before being installed on articulated coordinate machine
Corresponding scaling method is demarcated, and the disk light beam encoder of lower accuracy is cooperated to can reach high rotating accuracy, is guaranteeing joint
Under the premise of formula coordinate measuring machine portability and economy, the measurement accuracy of measuring machine is improved.
The utility model solves technical problem and adopts the technical scheme that:
The utility model is by shaft main shaft, shaft shell, first bearing, outer ring spacer, cone spacer, second bearing, hollow lock
Tight stud, internal locking nut, reading head chip module, low precision Circular gratings disk, locking ball, spring and calibration machine composition；It is described
Calibration machine include fixture, high accuracy circular grating disc and encoder count head；The most taper end of the shaft main shaft is located at outside shaft
In shell, shaft main shaft and the coaxial arrangement of shaft shell；First is set gradually along butt end to taper end direction in shaft main shaft most taper end
Bearing, spacer assemblies, second bearing and locking assembly；The spacer assemblies include cone spacer and outer ring spacer；The locking
Component includes internal locking nut and hollow locking stud；Cone spacer is nested in shaft main shaft most taper end；First bearing and second
Bearing inner race is cooperatively connected with shaft main shaft most taper end；The periphery of the outer ring and outer ring spacer of first bearing and second bearing
It is cooperatively connected with the inner headed face of shaft shell；Cone spacer and outer ring spacer are identical in the upward position of shaft spindle shaft, outer ring spacer
Internal diameter is greater than the outer diameter of cone spacer；The inner ring of first bearing and second bearing is axial by the shaft shoulder and cone spacer of shaft main shaft
The outer ring of positioning, first bearing and second bearing is axially fixed by the integrally formed inner retaining side of shaft outer casing end and outer ring spacer
Position；The threaded connection of internal locking nut and shaft main shaft most taper end periphery, and compress the inner ring of second bearing；Hollow locking screw
The threaded connection of column and shaft shell inner headed face, and compress the outer ring of second bearing；Low precision Circular gratings disk, which is coaxially fixed on, to be turned
On axis main shaft most taper end end face；Reading head chip module is coaxially fixed on shaft shell, and opposite with low precision Circular gratings disk
And spacing is arranged；N circumferentially uniformly distributed circular hole, n >=18, each circular hole are offered on the shaft main shaft end face opposite with shaft shell
Locking ball is connected with by spring；Locking ball roller track is offered on the shaft shell end face opposite with shaft main shaft, and is locked
Only ball roller track bottom offers n circumferentially uniformly distributed lock groove；The lock groove top surface is rounded, and the circular radius
It is equal with the spherical radius of the width of locking ball roller track and locking ball；All locking balls with locking ball roller track structure
At sliding pair.
The spring is compressed spring.
The lock groove is spherical groove or tapered slot.
The utility model has the advantages that
1, according to articulated coordinate machine actually use situation, using multiple proven high-precision locking positions as
Angle reference substitutes angle reference provided by the Circular gratings angular encoder of original general precision, and it is original to maintain measuring machine
In the case where freedom degree, the rotation precision of articulated coordinate machine locking type shaft is improved.
2, it is compared to the shaft of general type, lower essence can be used in the articulated coordinate machine locking type shaft
The Circular gratings angular encoder of degree, small volume, effectively reduces articulated coordinate machine locking type shaft volume, and reduce
The manufacturing cost of measuring machine.
3, it using the shaft of locking form, effectively reduces first caused by being shaken in measurement process because of the hand of operator
The measurement error of joint shake and generation.
4, using the design form of multiple locking positions of circumference uniform distribution, there is the effect of error-correction model, so that locking bit
Error is minimum.
Detailed description of the invention
Fig. 1 is the overall structure cross-sectional view of the utility model；
Fig. 2 is that the utility model locking ball is in the schematic diagram in lock groove；
Fig. 3 is that the utility model locking ball is in the schematic diagram in locking ball roller track；
Fig. 4 is the shaft main shaft perspective view of the utility model；
Fig. 5 is the shaft shell perspective view of the utility model；
Fig. 6 is the calibration schematic diagram of the utility model.
Specific embodiment
It elaborates with reference to the accompanying drawings and examples to the utility model.
As shown in Fig. 1,4 and 5, a kind of articulated coordinate machine locking type shaft, by shaft main shaft 1, shaft shell 2,
First bearing 3, outer ring spacer 4, cone spacer 5, second bearing 6, hollow locking stud 7, internal locking nut 8, reading head chip module
9, low precision Circular gratings disk 10, locking ball 11, spring 12 and calibration machine composition；Calibration machine includes fixture 201, high accuracy circular grating
Disk 203 and encoder count head 204；The most taper end of shaft main shaft 1 is located in shaft shell 2, and shaft main shaft 1 and shaft shell 2 are same
Axis setting；First bearing 3, spacer assemblies, second bearing 6 are set gradually along butt end to taper end direction in the most taper end of shaft main shaft 1
And locking assembly；Spacer assemblies include cone spacer 5 and outer ring spacer 4；Locking assembly includes internal locking nut 8 and hollow locking stud
7；Cone spacer 5 is nested in the most taper end of shaft main shaft 1；First bearing 3 and 6 inner ring of second bearing with the most taper end of shaft main shaft 1
It is cooperatively connected；Inner headed face of the periphery of the outer ring and outer ring spacer 4 of first bearing 3 and second bearing 6 with shaft shell 2 is matched
Close connection；The position of cone spacer 5 and outer ring spacer 4 in 1 axial direction of shaft main shaft is identical, and 4 internal diameter of outer ring spacer is greater than the outer of cone spacer 5
Diameter；The inner ring of first bearing 3 and second bearing 6 passes through 5 axially position of the shaft shoulder and cone spacer of shaft main shaft, first bearing 3
Pass through 4 axially position of the integrally formed inner retaining side of shaft outer casing end and outer ring spacer, i.e. cone spacer with the outer ring of second bearing 6
5 two end faces are contacted with the inner ring of the inner ring of first bearing 3 and second bearing 6 respectively, two end faces of outer ring spacer 4 respectively with
The outer ring of first bearing 3 and the outer ring contact of second bearing 6, the shaft shoulder of shaft main shaft 1 contact with the inner ring of first bearing 3, turn
The inner retaining side of shaft housing 2 is contacted with the outer ring of first bearing 3；The screw thread of internal locking nut 8 and the most taper end periphery of shaft main shaft 1
Connection, and compress the inner ring of second bearing 6；The threaded connection of hollow locking stud 7 and 2 inner headed face of shaft shell, and compression the
The outer ring of two bearings 6；Low precision Circular gratings disk 10 is coaxially fixed on the most taper end end face of shaft main shaft 1；Reading head chip module 9
It is coaxially fixed on shaft shell 2, and and spacing setting opposite with low precision Circular gratings disk 10；9 end face of reading head chip module
Meet Circular gratings angular encoder requirement at a distance from low precision Circular gratings disk 10；Shaft main shaft 1 and shaft shell 2 are opposite
End face on offer 36 circumferentially uniformly distributed circular holes, each circular hole is connected with locking ball 11 by spring 12；Shaft shell 2
Locking ball roller track is offered on the end face opposite with shaft main shaft 1, and locking ball roller track bottom offers circumferentially
36 lock grooves of cloth；Lock groove top surface is rounded, and the width and lock of the circular radius and locking ball roller track
Only the spherical radius of ball 11 is equal；All locking balls 11 constitute sliding pair with locking ball roller track.
As shown in Figures 2 and 3, when locking occurs for shaft main shaft, locking ball is located in lock groove, and shaft main shaft is in work shape
State, reading head chip module 9 read the angle-data of low precision Circular gratings disk 10, the host equipment root of articulated arm coordinate measuring machine
Judge which locking position shaft main shaft belongs to according to the angle, transfers the corresponding High-precision angle data in locking position；Shaft main shaft
When locking not occurring, locking ball is located on locking ball roller track, and shaft main shaft is in off working state.
Spring 12 is compressed spring.
Lock groove is spherical groove or tapered slot.
Shaft main shaft rotate a circle it is total pass through 36 locking positions, i.e. working position, remaining is inoperative position.
As shown in fig. 6, the calibration process of the articulated coordinate machine locking type shaft is as follows:
Step 1: the shaft shell 2 of the utility model shaft 202 is held on fixture 201, it is ensured that shaft main axis
When, shaft shell does not rotate；
Step 2: high accuracy circular grating disc 203 is coaxially fixed on shaft main shaft butt end end face, high accuracy circular grating disc
203 can rotate together with shaft main shaft；
Step 3: by fixture regular coding device reading head 204, so that encoder count head 204 is directed at high accuracy circular light
The end face distance of grating on grid disk 203,204 end face of encoder count head and 203 end face of high accuracy circular grating disc meets reading
Head requirement；
Step 4: shaft main axis to a certain locking position is turned at this time so that all locking balls are respectively positioned in lock groove
Axis main shaft is in stable state, remembers that the locking position is No.1 locking position, encoder count head reads high accuracy circular grating disc 203
Angle-data θ1, and it is transmitted to the host equipment of joint arm measuring machine；
Step 5: rotating shaft main shaft, so that all locking balls deviate from lock groove, into roller track, until shaft turns
It moves to next locking position, all locking balls are located in lock groove at this time, and encoder count head reads high accuracy circular grating disc 203
Angle-data θ, and be transmitted to the host equipment of joint arm measuring machine；
Step 6: repeating step 5, in repetitive process, shaft main shaft rotates in the same direction, until obtaining all lockings
The angle-data θ of position1、θ2..., θ36；
Step 7: angle when note shaft main shaft is located at No.1 locking position is 0 degree, then shaft main shaft is located at i locking position
When angle be θi-θ1, i=1,2 ..., 36；
Step 8: high accuracy circular grating disc 203 is removed from shaft main shaft, shaft shell 2 is removed from fixture 201.
A kind of articulated coordinate machine locking type shaft of the utility model is after the completion of calibration, high accuracy circular grating angle
The precision of encoder is the angle precision of each locking position；In actual use, reading head chip module 9 reads low precision circle light
The host equipment of the angle-data of grid disk 10, articulated arm coordinate measuring machine judges which locking shaft main shaft belongs to according to the angle
Position, transfers the corresponding High-precision angle data in the locking position.As it can be seen that the utility model is using lower accuracy, the circle of small volume
Grating angle encoder can reach the measurement accuracy of high accuracy circular grating angle encoder, effectively reduce the survey of articulated type coordinate
Amount machine locking type shaft volume reduces the manufacturing cost of measuring machine, and is guaranteeing articulated coordinate machine portability and warp
Under the premise of Ji property, the measurement accuracy of measuring machine is improved.
Claims (3)
1. a kind of articulated coordinate machine locking type shaft, it is characterised in that: by shaft main shaft, shaft shell, first bearing,
Outer ring spacer, cone spacer, second bearing, hollow locking stud, internal locking nut, reading head chip module, low precision Circular gratings disk,
Locking ball and spring composition；The most taper end of the shaft main shaft is located in shaft shell, and shaft main shaft and shaft shell are coaxially set
It sets；First bearing, spacer assemblies, second bearing and locking group are set gradually along butt end to taper end direction in shaft main shaft most taper end
Part；The spacer assemblies include cone spacer and outer ring spacer；The locking assembly includes internal locking nut and hollow locking screw
Column；Cone spacer is nested in shaft main shaft most taper end；First bearing and second bearing inner ring cooperate with shaft main shaft most taper end
Connection；The periphery of the outer ring and outer ring spacer of first bearing and second bearing is cooperatively connected with the inner headed face of shaft shell；
Cone spacer and outer ring spacer are identical in the upward position of shaft spindle shaft, and outer ring spacer internal diameter is greater than the outer diameter of cone spacer；First bearing
Pass through the shaft shoulder and cone spacer axially position of shaft main shaft, the outer ring of first bearing and second bearing with the inner ring of second bearing
Pass through the integrally formed inner retaining side of shaft outer casing end and outer ring spacer axially position；Internal locking nut and shaft main shaft most taper end
The threaded connection of periphery, and compress the inner ring of second bearing；The threaded connection of hollow locking stud and shaft shell inner headed face,
And compress the outer ring of second bearing；Low precision Circular gratings disk is coaxially fixed on shaft main shaft most taper end end face；Reading head chip
Module is coaxially fixed on shaft shell, and and spacing opposite with low precision Circular gratings disk is arranged；Shaft main shaft and shaft shell
N circumferentially uniformly distributed circular hole, n >=18 are offered on opposite end face, each circular hole is connected with locking ball by spring；Shaft shell
Locking ball roller track is offered on the end face opposite with shaft main shaft, and locking ball roller track bottom offers circumferential be evenly distributed with
N lock groove；The lock groove top surface is rounded, and the width and locking of the circular radius and locking ball roller track
The spherical radius of ball is equal；All locking balls constitute sliding pair with locking ball roller track.
2. a kind of articulated coordinate machine locking type shaft according to claim 1, it is characterised in that: the spring
For compressed spring.
3. a kind of articulated coordinate machine locking type shaft according to claim 1, it is characterised in that: the locking
Slot is spherical groove or tapered slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821680029.9U CN208780166U (en) | 2018-10-16 | 2018-10-16 | A kind of articulated coordinate machine locking type shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821680029.9U CN208780166U (en) | 2018-10-16 | 2018-10-16 | A kind of articulated coordinate machine locking type shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208780166U true CN208780166U (en) | 2019-04-23 |
Family
ID=66163115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821680029.9U Active CN208780166U (en) | 2018-10-16 | 2018-10-16 | A kind of articulated coordinate machine locking type shaft |
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| Country | Link |
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| CN (1) | CN208780166U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506609A (en) * | 2018-10-16 | 2019-03-22 | 杭州电子科技大学 | A kind of articulated coordinate machine locking type shaft and its scaling method |
-
2018
- 2018-10-16 CN CN201821680029.9U patent/CN208780166U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506609A (en) * | 2018-10-16 | 2019-03-22 | 杭州电子科技大学 | A kind of articulated coordinate machine locking type shaft and its scaling method |
| CN109506609B (en) * | 2018-10-16 | 2023-12-15 | 杭州电子科技大学 | Locking type rotating shaft of joint type coordinate measuring machine and calibration method thereof |
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