M297464 八、新型說明： 【新型所屬之技術領域】 本創作係有關於一福知接 種曰慧型關節式座標測量機，特別 疋指^量測時測頭接觸被测件時，按下量測按紐，則開始 2打量測’角度編碼器測出各個測量臂的旋轉角度，再根 1兩關節間的固定臂長即可得出測頭在空間的三維位置座 才不並且利用反力矩平衡系統，能平衡測量臂的自重，使 得測量臂可在任意位置保持近似自平衡狀態。 I【先前技術】 /按’攜帶型關節座標測量機由於其使用方便、測量靈 活等優點而得到廣泛& m舍』 芬PADn〜層乏的研製。國際上，美國已有CIMCORE 及FARO兩豕公司生產關節座標測量機。 …4兩種產σσ雖具有不同的結構，但其測量臂桿均採用 維製作:,纖維具有重量輕、熱膨脹係數較低等優點， =石厌纖維畢竟是非金屬材料，與—般金屬材料比較起來， > 其主要缺點為： 1 ·穩定性較差，經長期佶用，士、 s 箄璜m 4使用尤其疋在工廠作業現場 4衣兄較差的情況下，受強光照射、油污等影響，容易產 生纖維層脫落，從而嚴重影響使用效果。 測量機的關節部分必須使用金屬材料製作，而與 行連接，在連接時一般採用枯合劑，溫度劇烈變 由於膨脹率的不同，容易在連接處産生鬆動、甚至 脫洛的現象，嚴重影響整機性能。 另外，上述兩種測量機都採用了軟體上的誤差修正技 5 M297464 術，通過軟體手段彌補硬體上的不足，這種技術能夠降低 f本’爲精密儀器設計製造所廣泛採用；^果能從硬體 f計上就採用誤差補償、修正的思想，同時又能結合軟體 誤差修正，從而更能優化設計，達到最佳效果。 【新型内容】 爰此，有鐾於目前習知之關節式座標測量機構造在使 =上，具有上述之缺點，故本創作係在提供一種智慧型關 籲節式座私測1機，其在機構設計中有一套平衡裝置，利用 力矩平衡的原理，採用氣彈簧結構，實現平衡之目的；整 套裝置一端固定於其中一測量臂上，另一端固定於轉盤 上，該轉盤係可供套持於基座上，以便於任意轉動。 . 本創作實施例確實具有下列之優點： 1 ·本創作所研製的關節式座標測量機臂桿、關節零件 均採用航空金屬材料鈦合金製作，與一般的鋼材料比起 來，鈦合金具有密度小一半，熱膨脹係數低，剛度、強度 • 高等優點。而碳纖維比較起來，性能穩定，長時間使用不 會變形，不腐蝕，能適應較惡劣的工廠現場環境；同時， 由於整部測量機均採用同一種材料，在溫度急劇變化時， 不會因材料熱膨脹的不同而産生鬆動、甚至産生内部應力 的現象。 2·在硬體設計上採用了誤差補償、修正的思想，該測 量機關鍵零件交叉軸、内嵌轴的設計均引用了誤差補償、 修正的思想，可將相鄰兩個互相垂直的旋轉關節融爲一 • 體，控制了兩相鄰關節軸線的垂直度誤差，通過硬體的加 6 M297464 ?該項系統誤差值控制在一定範圍内，在系統整 了 ST的：許下’ 1亥系統誤差項無需軟體補償，大大減少 :、差補償、修正的工作量，同時也增強了系統的穩定性。 3·每個關即處採取雙軸承結構，該設計借鑒了工具機 :軸的設計思想，能夠大大增加關節旋轉的精度。每個關 :的疑轉疋通過軸承實現的，而軸承的徑向跳動會引起關 :軸線的偏轉，從而降低了整部測量機精度，且該偏轉量 flk機}'生的，無法從軟體上進行誤差修正，而本創作能夠 從硬體上消除該偏轉量，A大減小機器的隨機誤差。 •本創作具有力平衡機構，係採用了一種隨意停的摩 $式氣彈更作爲力支撐，能夠做到測量機測量臂在空間任 思位置的擺放’從而方便量測，同時各個關節能夠左右旋 轉其中第一、二、五關節能夠旋轉任意角度，而第二、 四、六關節能夠在0。到180。範圍内自由旋轉，完全能夠達 到靈活、輕便的柔性效果。 【實施方式】 首先，請參閱第一圖所示，本創作主要系包括有基座 (1)、測量臂組（2)、測頭（3)及平衡裝置（4)，其中·· 基座（1)，係供固定有測臂組（2)。 測量臂組（2)，其係設有第一測量臂（2丨）而固定於基座 (1)上，該第一測篁臂（21)之頂端設有可以自由轉動之第一 關節（22)和第二關節（23)，該第二關節（23)可共同連接有 第二測量臂（24)，又第二測量臂（24)之另端係設有可以自 由轉動之第三關節（25)和第四關節（26)，該第四關節（26) 7 M297464 可連接有第三測量臂（27)，該第三測量臂（27)之另端則設 有可以自由轉動之第五關節（28)和第六關節（29)。 測頭（3)，係供連接於第六關節（29)上。 平衡裝置（4)，如第二圖所示，其係設有轉盤（41)可疊 加在基座（1)上，並可以繞著第一測量臂（21)的軸線旋轉， 又聯接頭（42)和支柱（44)的一端均固定在轉盤（41)上，該 聯接頭（42)的另一端與氣彈簧（43)的一端鉸鏈聯接，兩者 間可以相互轉動，支柱（44)的另一端與垂直桿（46)鉸鏈聯 接’兩者間也可以相互轉動，氣彈簧（43)的另一端同樣也 與垂直杯（46)鉸鏈聯接，而夾套（45)是用來固定支柱 (44) ’並使得支柱（44)可帶動轉盤（41)及整個平衡裝置（4) 均隨著第一關節（22)繞著第一測量臂（21)的軸線旋轉，支 桿（47)的一端固定於垂直桿（46)上，而另一端則固定於支 環（48)上，該支環（48)可夾套於第二測量臂（24)上。 本創作之第一測量臂（21)與第一、二關節（22)、（23) 組成一個極座標系，第二測臂（24)與第三、四關節（25)、 (26)組成第二個極座標系，而第三測量臂（27)與第五、六 關節（28)、（29)組成第三個極座標系，如此，每組極座標 系中的極徑長度及旋轉角度，再借助於機器人研究中運用 成熟的D-Η方法，即可得出測頭（3)在空間的三維座標，又 在第一、二、三、四、五、六關節（22)、（23)、（25)、（26)、 (28)、（29)處裝有精密軸承⑸，使得每個關節都能自由活 動，則六個關節共有六套精密軸承，實現六個方向的運動， 即有六個自由度，可以靈活運動；其次，第二測量臂（24) M297464 及第二测量臂（27)及測頭（3)的長度均爲固定值，即極徑一 定，只要測出旋轉角度即可，因此，爲了測出每個關節的 旋轉角度，即測出每套精密軸承的轉角，再在每根旋轉軸 上安放一個高精度的角度編碼器（6)，即可測出每個軸承（5) 的轉角，各個角度信號在通過電路傳送到電腦中，再經過 軟體進行處理，即可顯示出測頭（3)的三維位置座標，而第 一測虽# (24)的重力作用在支環（48)上，即相當於作用於 垂直桿（46)的一端，是一個受力點，氣彈簧（43)與垂直桿 (46)的連接處是另一個受力點，此外力由氣彈簧㈠”提 供，即第二測量臂（24)的自身重力由氣彈簧（43)的力來抵 消’構成一典型的力平衡系統。 使用時，如第三圖所示，可以一手握住第三測量臂 (27)，另一手控制測頭（3)，於待測物（a)之表面進行移動， 當第二測置臂（27)向上移動時，則會透過第三關節（25)和 第四關節（26)而連動第二測量臂（24)向上旋轉，使平衡裝 置的支桿（47)、支環（48)以及垂直桿（46)均向上旋轉，垂 直桿（46)向上旋轉，以使得探測頭（3)可以於待測物（A)表 面移動，垂直桿（46)同時帶動氣彈簧（43)作拉伸移動，從 而産生一作用於第二測量臂（24)的支撐力，而避免因測量 臂組（2)及測頭（3)的重量而使得量測費時費力，控制測頭 (3)的手可以使測頭（3)繞著第三測量臂（27)作空間回轉， 從而可以在不轉動測量臂組（2)的其他部件的情況下，精確 的找到被測點’提高量測精度同時節省量測時間。 又當本創作以手握住第三測量臂（27)之控制測頭 M297464 (3)，於待測物（A)之表面向下移動時，如第四圖所示，則 同樣會透過第三關節（25)和第四關節（26)而連動第二測量 臂（24)向下旋轉，使平衡裝置（4)的支桿（47)、支環（48)以 及垂直桿（46)均向下旋轉，垂直桿（46)向上下旋轉，以使 :探測！T可以於待測物(A)表面移動，垂直桿(46)同時 帶動氣彈簧（43)作壓縮移動，從而同樣産生一作用於第二 測畺# (24)的支撐力’從而也實現高精度、高效率的量測。 # _另當相對於第一測量臂（21)而轉動測量臂組（2)和測 頭（3)進行量測時，如第五圖所示，則該平衡裝置"）可利 用轉盤（41)而隨著測量臂組（2)同步轉動，使得 位置均能平衡測量臂組⑵及測頭⑶的自重=== 省時省力，並且可以提高量測精度。 又本創作係製成有實物，如附件相片所示，由於平衡 系統平衡了測量臂的很大一部分自重，量測時，人手可以 輕便的控制第三測量臂（27)及測頭（3)，使測頭（3)在球形 •空間内任意位置進行量測，量測範圍較大，當測頭（3)接觸 被量測點時，按下測量按鈕就可顯示出測頭（3)的三維座 標，量測方便輕巧，並且，由於一、二、三測量臂（21)、 (24)、（27)採用鈦合金材料，使得整個量測系統的質量輕， 穩定性能好，總重量不到10公斤，移動方便；當此量測系 統閒置時，可以將第二測量臂（24)固定於任意位置，並且 可以將第三測量臂（27)折疊放於第二測量臂（24)之上，卡 與支環（48)中的圓弧中，各個第一、二、三測量臂（21)、 (24)、（27)位置均固定，不易損壞；不用時，可以將平衡 M297464 三測量臂（21)、（24)、（27)折疊 系統拆下，將第一、一 放入箱中，則輕巧便於攜帶 【圖式簡單說明】 第一圖係為本創作之構造示意圖。 第二圖係為本創作平衡裝置之構造示意圖。 第三圖係為本創作之探頭向上移動示意圖。 第四圖係為本創作之探頭向下移動示意圖。 第五圖係為本創作轉盤相對於第一測臂轉動之示意圖 附件：係為本創作製成為實物之相片。 【主要元件符號說明】 (1) 基座 (21) 第一測量臂 (23) 第二關節 (25) 第三關節 (27) 第三測量臂 (29) 第六關節 (4) 平衡裝置 (42) 聯接頭 (44) 支枉 (46) 垂直桿 (48) 支環 (6) 角度編碼器 (2) 測量臂組 (22) 第一關節 (24) 第—测量 (26) 第四關節 (28) 第五關節 (3) 测頭 (41) 轉盤 (43) 氣彈簧 (45) 失套 (47) 支桿 (5) 精密軸承 (A) 待測物M297464 VIII. New description: [New technical field] This creation department has a joint measuring machine for the Iso-infected 曰-type joint type, especially when the measuring head touches the measured part during the measurement, press the measurement New, then start the measurement of 2 'angle encoders to measure the rotation angle of each measuring arm, and then the fixed arm length between the two joints can get the three-dimensional position of the probe in space and not use the counter-torque balance The system balances the weight of the measuring arm so that the measuring arm can maintain an approximately self-balancing state at any position. I [Prior Art] / Press the 'portable joint coordinate measuring machine' because of its convenient use and flexible measurement, it has been widely developed for the lack of PADn~ layer. Internationally, the United States has CIMCORE and FARO two companies to produce joint coordinate measuring machines. ...4 Although the two kinds of σσ have different structures, the measuring arm is made of dimension: the fiber has the advantages of light weight and low thermal expansion coefficient. = Stone fiber is a non-metallic material after all, compared with general metal materials. Up, > The main disadvantages are: 1 · The stability is poor, after long-term use, the use of Shi, s 箄璜m 4 is especially affected by the strong light, oil pollution, etc. It is easy to cause the fiber layer to fall off, which seriously affects the use effect. The joint part of the measuring machine must be made of metal material, and connected with the row. Generally, the deadener is used when connecting. The temperature is drastically changed due to the difference in expansion ratio, and it is easy to loosen or even detach the joint at the joint, which seriously affects the whole machine. performance. In addition, the above two measuring machines use the error correction technology 5 M297464 on the software to compensate for the lack of hardware through software. This technology can reduce the f's use for precision instrument design and manufacture; From the hardware f meter, the idea of error compensation and correction is adopted, and at the same time, the software error correction can be combined, so that the design can be optimized to achieve the best effect. [New content] , , , , 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节 关节There is a balance device in the design of the mechanism, which uses the principle of torque balance and adopts the gas spring structure to achieve the purpose of balance; one end of the whole device is fixed on one of the measuring arms, and the other end is fixed on the turntable. On the base to facilitate any rotation. The present embodiment has the following advantages: 1. The articulated coordinate measuring machine arm and joint parts developed by the present invention are made of aerospace metal material titanium alloy, and the titanium alloy has a small density compared with the general steel material. Half, low coefficient of thermal expansion, stiffness, strength and high strength. Compared with carbon fiber, the performance is stable, it will not be deformed or corroded for a long time, and it can adapt to the harsh factory site environment. At the same time, because the whole measuring machine adopts the same material, when the temperature changes sharply, it will not be caused by the material. The difference in thermal expansion causes looseness and even internal stress. 2. In the hardware design, the idea of error compensation and correction is adopted. The design of the cross-axis and the embedded axis of the key parts of the measuring machine all cite the idea of error compensation and correction, and the two adjacent rotating joints can be adjacent. Melt into a body, control the perpendicularity error of the axis of two adjacent joints, through the hardware plus 6 M297464? The system error value is controlled within a certain range, in the system to complete the ST: Xu '1 Hai system The error term does not require software compensation, which greatly reduces: the difference compensation, the corrected workload, and also enhances the stability of the system. 3. Each bearing is in a double bearing structure. The design draws on the design of the machine tool: the axis, which can greatly increase the accuracy of joint rotation. Each off: the suspected turn is achieved by the bearing, and the radial runout of the bearing will cause the off: the deflection of the axis, thereby reducing the accuracy of the entire measuring machine, and the deflection amount is not born from the software. Error correction is performed on the above, and the creation can eliminate the deflection amount from the hardware, and A greatly reduces the random error of the machine. • This creation has a force balance mechanism, which adopts a kind of random stop, and can be used as a force support. It can make the measuring arm of the measuring machine in the position of the space to facilitate measurement, and each joint can Rotating left and right, the first, second, and fifth joints can rotate at any angle, while the second, fourth, and sixth joints can be at zero. To 180. Free rotation in the range, fully flexible and lightweight. [Embodiment] First, as shown in the first figure, the creation mainly includes a base (1), a measuring arm set (2), a probe (3), and a balancing device (4), wherein the base is provided. (1) is for fixing the arm group (2). a measuring arm set (2) is provided with a first measuring arm (2丨) fixed to the base (1), and a first joint of the first measuring arm (21) is provided with a freely rotatable first joint ( 22) and a second joint (23), the second joint (23) may be connected to the second measuring arm (24), and the other end of the second measuring arm (24) is provided with a third joint that is free to rotate (25) and the fourth joint (26), the fourth joint (26) 7 M297464 can be connected with a third measuring arm (27), and the other end of the third measuring arm (27) is provided with a freely rotatable Five joints (28) and sixth joints (29). The probe (3) is attached to the sixth joint (29). The balancing device (4), as shown in the second figure, is provided with a turntable (41) superimposable on the base (1) and rotatable about the axis of the first measuring arm (21), and the coupling head ( 42) and one end of the strut (44) is fixed on the turntable (41), the other end of the joint (42) is hingedly coupled with one end of the gas spring (43), and the two can rotate with each other, the pillar (44) The other end is hingedly coupled to the vertical rod (46). The two ends can also be rotated relative to each other. The other end of the gas spring (43) is also hingedly coupled to the vertical cup (46), and the jacket (45) is used to fix the pillar ( 44) 'and cause the strut (44) to drive the turntable (41) and the entire balancing device (4) to rotate with the first joint (22) about the axis of the first measuring arm (21), the strut (47) One end is fixed to the vertical rod (46), and the other end is fixed to the support ring (48), and the support ring (48) can be sleeved on the second measuring arm (24). The first measuring arm (21) of the creation and the first and second joints (22) and (23) form a polar coordinate system, and the second measuring arm (24) and the third and fourth joints (25) and (26) constitute the first Two pole coordinates, and the third measuring arm (27) and the fifth and sixth joints (28), (29) form a third polar coordinate system, so that the length and rotation angle of each set of polar coordinate systems are Using the mature D-Η method in robot research, the three-dimensional coordinates of the probe (3) in space can be obtained, and the first, second, third, fourth, fifth, and sixth joints (22), (23), (25), (26), (28), (29) are equipped with precision bearings (5), so that each joint can move freely. There are six sets of precision bearings in the six joints, which realize the movement in six directions. Six degrees of freedom, flexible movement; secondly, the length of the second measuring arm (24) M297464 and the second measuring arm (27) and the probe (3) are fixed values, that is, the pole diameter is constant, as long as the rotation angle is measured That is, therefore, in order to measure the rotation angle of each joint, the rotation angle of each set of precision bearings is measured, and then on each rotation axis By placing a high-precision angle encoder (6), the angle of each bearing (5) can be measured. The signals of each angle are transmitted to the computer through the circuit, and then processed by the software to display the probe. The three-dimensional position coordinates, while the first measurement although # (24) gravity acts on the support ring (48), which corresponds to the end acting on the vertical rod (46), is a force point, the gas spring (43) The connection with the vertical rod (46) is another force point, and the force is provided by the gas spring (one), that is, the self-gravity of the second measuring arm (24) is offset by the force of the gas spring (43) 'constituting a typical The force balance system. When used, as shown in the third figure, the third measuring arm (27) can be held in one hand, and the measuring head (3) can be controlled by the other hand to move on the surface of the object to be tested (a). When the two measuring arms (27) move upward, the second measuring arm (24) is rotated upward through the third joint (25) and the fourth joint (26) to make the strut (47) and the branch of the balancing device. The ring (48) and the vertical rod (46) both rotate upward, and the vertical rod (46) rotates upward so that the probe head (3) can When the surface of the object to be tested (A) moves, the vertical rod (46) simultaneously drives the gas spring (43) for the tensile movement, thereby generating a supporting force acting on the second measuring arm (24), and avoiding the measuring arm group (2) And the weight of the probe (3) makes the measurement time-consuming and laborious. The hand of the control probe (3) can make the probe (3) spatially rotate around the third measuring arm (27), so that the measurement can be performed without rotation. In the case of other components of the arm set (2), accurately finding the measured point 'improves the measurement accuracy while saving the measurement time. Also, when the creation holds the third measuring arm (27), the control probe M297464 ( 3), when the surface of the object to be tested (A) moves downward, as shown in the fourth figure, the second measuring arm (24) is also linked through the third joint (25) and the fourth joint (26). Rotate downward to rotate the strut (47), the support ring (48) and the vertical rod (46) of the balancing device (4) downwards, and the vertical rod (46) rotates up and down to: detect! T can move on the surface of the object to be tested (A), and the vertical rod (46) simultaneously drives the gas spring (43) for compression movement, thereby also generating a supporting force acting on the second measuring # (24), thereby achieving high Accuracy, high efficiency measurement. # _ When the measuring arm group (2) and the measuring head (3) are rotated relative to the first measuring arm (21) for measurement, as shown in the fifth figure, the balancing device ") can utilize the turntable ( 41) With the synchronous rotation of the measuring arm group (2), the position can balance the self-weight of the measuring arm group (2) and the measuring head (3) === saving time and labor, and the measurement accuracy can be improved. The creation department is made of real objects. As shown in the attached photo, since the balance system balances a large part of the weight of the measuring arm, the third hand (27) and the probe (3) can be easily controlled by the human hand. The measuring head (3) is measured at any position in the spherical space, and the measuring range is large. When the measuring head (3) contacts the measured measuring point, the measuring head can be displayed by pressing the measuring button (3) The three-dimensional coordinates are easy to measure and light, and because the first, second and third measuring arms (21), (24) and (27) are made of titanium alloy, the quality of the entire measuring system is light, the stability is good, and the total weight is Less than 10 kg, easy to move; when the measuring system is idle, the second measuring arm (24) can be fixed at any position, and the third measuring arm (27) can be folded and placed on the second measuring arm (24) Above, in the arc in the card and the support ring (48), the positions of the first, second and third measuring arms (21), (24) and (27) are fixed and are not easy to be damaged; when not in use, the balance M297464 can be balanced. The three measuring arms (21), (24), (27) folding system is removed, and the first one is placed in the box. In the middle, it is light and easy to carry. [Simple description of the drawing] The first picture is a schematic diagram of the structure of the creation. The second figure is a schematic diagram of the construction of the creation balance device. The third picture is a schematic diagram of the upward movement of the probe of the present creation. The fourth picture is a schematic diagram of the downward movement of the probe of the present creation. The fifth picture is a schematic diagram of the rotation of the creation turntable relative to the first measuring arm. Attachment: This is a photo made into a real object. [Main component symbol description] (1) Base (21) First measuring arm (23) Second joint (25) Third joint (27) Third measuring arm (29) Sixth joint (4) Balancing device (42 ) Connector (44) Support (46) Vertical rod (48) Support ring (6) Angle encoder (2) Measuring arm set (22) First joint (24) No. - Measurement (26) Fourth joint (28 Fifth joint (3) Probe (41) Turntable (43) Gas spring (45) Loss sleeve (47) Strut (5) Precision bearing (A) DUT