CN105547211B - It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose - Google Patents
It is a kind of to be adjusted and fixed auxiliary stand for articulated coordinate machine pose Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
本发明提供了一种关节式坐标测量机位姿调整与固定的辅助支架，包括：辅助支架主体和控制单元，辅助支架主体包括：用于支撑辅助支架主体的基座、第一夹具、第一托具、第二夹具、气弹簧、电推杆、第二托具、第一关节、第二关节、第三关节、第四关节，第一关节位于远离基座的一端，第一关节、第二关节、第三关节和第四关节依次序连接，第四关节位于靠近基座的一端，第二关节和第四关节之间通过电推杆连接，第三关节和第四关节之间通过气弹簧连接；第一关节上设有固定测量臂的第一夹具和支撑测量臂的第一托具；第一关节和第二关节之间设置有支撑测量臂的第二托具；第四关节上设有固定气弹簧和电推杆的第二夹具。
The invention provides an auxiliary support for adjusting and fixing the pose of an articulated coordinate measuring machine, which includes: a main body of the auxiliary support and a control unit, the main body of the auxiliary support includes: a base for supporting the main body of the auxiliary support, a first clamp, a first Bracket, second clamp, gas spring, electric push rod, second bracket, first joint, second joint, third joint, fourth joint, the first joint is located at the end away from the base, the first joint, the second The second joint, the third joint and the fourth joint are connected in sequence, the fourth joint is located at one end close to the base, the second joint and the fourth joint are connected by an electric push rod, and the third joint and the fourth joint are connected by an air push rod. spring connection; the first joint is provided with a first fixture for fixing the measuring arm and a first support for supporting the measuring arm; a second support for supporting the measuring arm is provided between the first joint and the second joint; the fourth joint is There is a second clamp for fixing the gas spring and the electric push rod.
Description
技术领域technical field
本发明属于坐标测量技术领域，具体涉及关节式坐标测量机位姿调整与固定的辅助支架。The invention belongs to the technical field of coordinate measurement, and in particular relates to an auxiliary bracket for position adjustment and fixation of an articulated coordinate measuring machine.
背景技术Background technique
关节式坐标测量机是一种多自由度非正交坐标式的三坐标测量机，通常具有6个自由度。它仿照人体关节结构，由三个测量臂和一个测头通过六个(旋转)关节串联连接构成空间开链结构，从而以角度测量基准取代了长度测量基准。在使用测量机进行测量时，测头坐标是测量机运动学参数与其六个关节角度的函数。与传统的正交坐标系式三坐标测量机相比，它具有测量范围大、方便灵活、精度较高、环境适应性好等优点。但是另一方面，其结构是一种串联结构，误差因素多，且误差传递系数大、误差控制复杂，从而其精度难以得到保证。不仅如此，关节式坐标测量机在测量过程中对人工要求也比较高，需要双手进行测量并且手臂的抖动也会影响测量精度。因此，如何既能提高关节式坐标测量机的精度又能尽可能地降低测量过程中对人工的要求成为了关节式坐标测量机的研究重点。Articulated coordinate measuring machine is a multi-degree-of-freedom non-orthogonal coordinate measuring machine, usually with 6 degrees of freedom. It is modeled on the joint structure of the human body, and consists of three measuring arms and a measuring head connected in series through six (rotation) joints to form a space open chain structure, thereby replacing the length measurement reference with the angle measurement reference. When measuring with a measuring machine, the probe coordinates are a function of the kinematic parameters of the measuring machine and the angles of its six joints. Compared with the traditional three-coordinate measuring machine with orthogonal coordinate system, it has the advantages of large measurement range, convenience and flexibility, high precision and good environmental adaptability. But on the other hand, its structure is a series structure, there are many error factors, and the error transmission coefficient is large, and the error control is complicated, so its accuracy is difficult to be guaranteed. Not only that, the articulated coordinate measuring machine also has relatively high labor requirements during the measurement process, requiring both hands to measure and the shaking of the arm will also affect the measurement accuracy. Therefore, how to improve the accuracy of the articulated coordinate measuring machine and reduce the labor requirements in the measurement process as much as possible has become the research focus of the articulated coordinate measuring machine.
在提高关节式坐标测量机精度方面，主要存在提高加工装配精度和优化结构参数标定两种方法。前者无疑将增加制造成本以及加长生产周期，越来越多的关节式坐标测量机研究者将目标锁定在后者。目前结构参数标定的方法有很多种，比如基于三坐标测量机的标定方法、光学标定方法、基于平面和距离的标定方法等等。这其中绝大多数标定方法都需要一定的辅助支架来完成支撑与调整工作。如《基于激光跟踪仪的关节式坐标测量机参数标定》中所提到的固定卡具；《关节臂式坐标测量机标定技术的研究》中所使用的测量架；《关节臂式坐标测量机标定系统的设计》所采用的装夹工具；以及《六自由度关节式柔性坐标测量机高精度标定方法》中所用的专用夹具等。以上文献中的辅助支架都需要根据标定策略的不同而改变，兼容性不强，功能比较单一。亟需要一种“一具多用”的辅助支架来尽可能地完成以上标定实验的角色。新型辅助支架的问世可以改变关节式坐标测量机只使用一种标定方式的现状，使其进行多方式多层次标定成为可能。In terms of improving the precision of articulated coordinate measuring machines, there are mainly two methods: improving processing and assembly precision and optimizing structural parameter calibration. The former will undoubtedly increase manufacturing costs and lengthen the production cycle, and more and more researchers of articulated coordinate measuring machines are targeting the latter. At present, there are many methods for structural parameter calibration, such as calibration methods based on three-coordinate measuring machines, optical calibration methods, calibration methods based on planes and distances, and so on. Most of these calibration methods require a certain auxiliary bracket to complete the support and adjustment work. Such as the fixed fixture mentioned in "Parameter Calibration of Articulated Coordinate Measuring Machine Based on Laser Tracker"; the measuring frame used in "Research on Calibration Technology of Articulated Arm Coordinate Measuring Machine"; "Articulated Arm Coordinate Measuring Machine" The clamping tools used in "Design of Calibration System"; and the special fixtures used in "High-precision Calibration Method of Six-DOF Articulated Flexible Coordinate Measuring Machine", etc. The auxiliary supports in the above literatures all need to be changed according to different calibration strategies, the compatibility is not strong, and the functions are relatively single. There is an urgent need for a "one tool with multiple uses" auxiliary bracket to fulfill the role of the above calibration experiment as much as possible. The advent of the new auxiliary bracket can change the current situation that the articulated coordinate measuring machine only uses one calibration method, making it possible to perform multi-mode and multi-level calibration.
在简化人工操作，降低关节式坐标测量机对人工要求的方面，目前主要是通过安装助力设备来实现的，如《柔性三座标测量机的平衡机构》在关节式坐标测量机外部利用“随意停型空气弹簧”对臂做辅助支撑。《一种可调重力平衡机构》中利用气弹簧和外部固定装置对关节式坐标测量机进行固定等等。以上设计都能很好地降低人为颤抖对测量结果的影响，但是都只能对第一级测量臂提供助力，并不能满足更复杂的位姿要求和助力要求。In terms of simplifying manual operation and reducing the labor requirements of the articulated coordinate measuring machine, it is mainly realized by installing power-assisted equipment at present. "Stop type air spring" is used as auxiliary support for the arm. In "An Adjustable Gravity Balance Mechanism", gas springs and external fixing devices are used to fix the articulated coordinate measuring machine and so on. The above designs can well reduce the influence of artificial tremors on the measurement results, but they can only provide assistance to the first-level measurement arm, and cannot meet more complex pose requirements and assistance requirements.
本发明的目的是提供一种多功能关节式坐标测量机位姿调整与固定的辅助支架。可以完成全部测量臂的固定和调整任务。可以满足关节式坐标测量机更好的位姿需要，提高测量机的整体精度。本发明还可以完成测量臂的助力任务，亦可以两个辅助支架配合使用完成更复杂的助力任务，降低了关节式坐标测量机对人工要求。The purpose of the present invention is to provide an auxiliary bracket for position adjustment and fixation of a multifunctional articulated coordinate measuring machine. The fixing and adjustment tasks of all measuring arms can be completed. It can meet the better pose requirements of the articulated coordinate measuring machine and improve the overall accuracy of the measuring machine. The present invention can also complete the assisting task of the measuring arm, and can also complete more complicated assisting tasks through the cooperative use of two auxiliary brackets, thereby reducing the labor requirement of the articulated coordinate measuring machine.
不仅如此，本发明还预留了安装外部标定设备的区域，可以根据不同标定方法安装不同的标定设备，提高设备利用率。Not only that, the present invention also reserves an area for installing external calibration equipment, and different calibration equipment can be installed according to different calibration methods to improve equipment utilization.
发明内容Contents of the invention
针对上述标定过程中存在的问题，提供一种关节式坐标测量机位姿调整与固定的辅助支架，包括：辅助支架主体和控制单元，辅助支架主体包括：用于支撑辅助支架主体的基座、第一夹具、第一托具、第二夹具、气弹簧、电推杆、第二托具、第一关节、第二关节、第三关节、第四关节，第一关节位于远离基座的一端，第一关节、第二关节、第三关节和第四关节依次序连接，第四关节位于靠近基座的一端，第二关节和第四关节之间通过电推杆连接，第三关节和第四关节之间通过气弹簧连接；第一关节上设有固定测量臂的第一夹具和支撑测量臂的第一托具；第一关节和第二关节之间设置有支撑测量臂的第二托具；第四关节上设有固定气弹簧和电推杆的第二夹具。In view of the problems existing in the above calibration process, an auxiliary support for adjusting and fixing the pose of an articulated coordinate measuring machine is provided, including: the main body of the auxiliary support and a control unit, the main body of the auxiliary support includes: a base for supporting the main body of the auxiliary support, The first clamp, the first bracket, the second clamp, the gas spring, the electric push rod, the second bracket, the first joint, the second joint, the third joint, and the fourth joint, the first joint is located at the end away from the base , the first joint, the second joint, the third joint and the fourth joint are connected in sequence, the fourth joint is located at one end close to the base, the second joint and the fourth joint are connected by an electric push rod, the third joint and the fourth joint The four joints are connected by gas springs; the first joint is provided with the first clamp for fixing the measuring arm and the first support for supporting the measuring arm; the second support for supporting the measuring arm is provided between the first joint and the second joint tool; the fourth joint is provided with a second clamp for fixing the gas spring and the electric push rod.
优选地，所述第一关节上设有第一开关。Preferably, the first joint is provided with a first switch.
优选地，其中所述气弹簧上设有第二开关。Preferably, the gas spring is provided with a second switch.
优选地，所述第一夹具上设置有将其与测量臂固定的螺钉。Preferably, the first fixture is provided with screws for fixing it with the measuring arm.
优选地，所述第一托具根据测量需要水平移动调整。Preferably, the first bracket is horizontally moved and adjusted according to measurement needs.
优选地，所述电推杆通过控制单元控制升降。Preferably, the lift of the electric push rod is controlled by a control unit.
优选地，所述电推杆和气弹簧上刻有标尺。Preferably, scales are engraved on the electric push rod and gas spring.
应当理解，前述大体的描述和后续详尽的描述均为示例性说明和解释，并不应当用作对本发明所要求保护内容的限制。It should be understood that both the foregoing general description and the following detailed description are exemplary illustrations and explanations, and should not be used as limitations on the claimed content of the present invention.
附图说明Description of drawings
参考随附的附图，本发明更多的目的、功能和优点将通过本发明实施方式的如下描述得以阐明，其中：With reference to the accompanying drawings, more objects, functions and advantages of the present invention will be clarified through the following description of the embodiments of the present invention, wherein:
图1为关节式坐标测量机辅助支架示意图。Fig. 1 is a schematic diagram of an auxiliary support for an articulated coordinate measuring machine.
图2为关节式坐标测量机示意图。Figure 2 is a schematic diagram of an articulated coordinate measuring machine.
具体实施方式Detailed ways
图1为关节式坐标测量机辅助支架100的示意图。如图1所示，辅助支架100包括：辅助支架主体和控制单元。辅助支架主体包括：基座101、第一夹具102、第一托具103、第二夹具104、气弹簧105、电推杆106、第二托具108、第一关节110、第二关节111、第三关节112、第四关节113。其中第一关节110上设有第一开关114，气弹簧105上设有第二开关115。第一关节110上还设有第一夹具102和第一托具103。第一关节110和第二关节111之间设置有第二托具108。第四关节113上设有第二夹具104。第一夹具102上设置有将其与测量臂固定的螺钉109。基座101用于支撑辅助支架主体，第一关节110位于远离基座101的一端。第一关节110、第二关节111、第三关节112和第四关节113依次序连接。第四关节113位于靠近基座的一端。第二关节111和第四关节113之间通过电推杆106连接。第三关节112和第四关节113之间通过气弹簧105连接。第二关节111、第三关节112和第四关节113之间形成一个三角形的结构。可以根据测量需求通过螺钉将本发明的关节式坐标测量机辅助支架固定在光学平台或者其他测量平台上，而且基座101自身也有一定配重，在完成简单任务的时候无需固定。FIG. 1 is a schematic diagram of an auxiliary support 100 for an articulated coordinate measuring machine. As shown in FIG. 1 , the auxiliary stand 100 includes: a main body of the auxiliary stand and a control unit. The main body of the auxiliary bracket includes: a base 101, a first clamp 102, a first bracket 103, a second clamp 104, a gas spring 105, an electric push rod 106, a second bracket 108, a first joint 110, a second joint 111, The third joint 112 and the fourth joint 113 . Wherein the first joint 110 is provided with a first switch 114 , and the gas spring 105 is provided with a second switch 115 . The first joint 110 is also provided with a first clamp 102 and a first bracket 103 . A second bracket 108 is disposed between the first joint 110 and the second joint 111 . The second clamp 104 is disposed on the fourth joint 113 . The first fixture 102 is provided with a screw 109 for fixing it with the measuring arm. The base 101 is used to support the main body of the auxiliary bracket, and the first joint 110 is located at an end away from the base 101 . The first joint 110 , the second joint 111 , the third joint 112 and the fourth joint 113 are sequentially connected. The fourth joint 113 is located at one end close to the base. The second joint 111 and the fourth joint 113 are connected through an electric push rod 106 . The third joint 112 and the fourth joint 113 are connected by a gas spring 105 . A triangle structure is formed among the second joint 111 , the third joint 112 and the fourth joint 113 . The articulated coordinate measuring machine auxiliary bracket of the present invention can be fixed on the optical platform or other measurement platforms by screws according to the measurement requirements, and the base 101 itself has a certain counterweight, which does not need to be fixed when completing simple tasks.
图2为关节式坐标测量机示意图。如图2所示，关节式坐标测量机200包括：第一测量臂201、第二测量臂202、第三测量臂203；第五关节204、第六关节205、第七关节206、第八关节207、第九关节208、第十关节209、测头210、基座211。图2所示的关节式坐标测量机，具有六自由度。由第一测量臂201、第二测量臂202、第三测量臂203串联六个可旋转的关节构成空间开链结构，该结构的末端由测头210构成。其第五关节204、第六关节205具有锁紧装置，可根据测量需要通过锁紧第五关节204、第六关节205来使第一测量臂201、第二测量臂202位置固定。Figure 2 is a schematic diagram of an articulated coordinate measuring machine. As shown in Figure 2, the articulated coordinate measuring machine 200 includes: a first measuring arm 201, a second measuring arm 202, a third measuring arm 203; a fifth joint 204, a sixth joint 205, a seventh joint 206, and an eighth joint 207 , the ninth joint 208 , the tenth joint 209 , the probe 210 , and the base 211 . The articulated coordinate measuring machine shown in Figure 2 has six degrees of freedom. Six rotatable joints connected in series by the first measuring arm 201 , the second measuring arm 202 , and the third measuring arm 203 form a space open chain structure, and the end of the structure is constituted by a probe 210 . The fifth joint 204 and the sixth joint 205 have locking devices, which can fix the positions of the first measuring arm 201 and the second measuring arm 202 by locking the fifth joint 204 and the sixth joint 205 according to measurement needs.
通过关节式坐标测量机辅助支架100的第一夹具102或者第一托具103来与关节式坐标测量机第三测量臂203来固定第三测量臂203和辅助支架100的相对位置。其中第一托具103可根据测量需要水平移动调整。第二夹具104负责固定气弹簧105和电推杆106的相对位置，当关节式坐标测量机位姿无需水平摆动时可将第二夹具104锁死。电推杆106可以通过图1中的控制单元107控制升降，第二夹具104也可以根据具体测量需要上移。电推杆106和气弹簧105上刻有标尺，可以为测量提供参考数据。The relative position of the third measuring arm 203 and the auxiliary support 100 is fixed by the first fixture 102 or the first bracket 103 of the joint coordinate measuring machine auxiliary support 100 and the third measuring arm 203 of the joint joint coordinate measuring machine. Wherein the first bracket 103 can be moved and adjusted horizontally according to measurement needs. The second clamp 104 is responsible for fixing the relative positions of the gas spring 105 and the electric push rod 106, and can lock the second clamp 104 when the pose of the articulated coordinate measuring machine does not need to swing horizontally. The electric push rod 106 can be lifted up and down controlled by the control unit 107 in FIG. 1 , and the second fixture 104 can also be moved up according to specific measurement needs. Scales are engraved on the electric push rod 106 and the gas spring 105, which can provide reference data for measurement.
在需要固定具体一个关节式坐标测量机200的位姿时，将图2中关节式坐标测量机200调整到所需位姿，然后将辅助支架100(图1)中第一夹具102借助螺钉109与第三测量臂203固定，并且关闭第一关节110上的第一开关114和气弹簧105的第二开关115，辅助支架100的所有关节将不再转动，关节式坐标测量机中所有测量臂，以及第五至第八关节将被固定住。只需调节测量机测头210附近的第九关节208和第十关节209就可以得到关节式坐标测量机200的一个确定的位姿数据。When it is necessary to fix the pose of a specific articulated coordinate measuring machine 200, adjust the articulated coordinate measuring machine 200 in FIG. Fixed with the third measuring arm 203, and closing the first switch 114 on the first joint 110 and the second switch 115 of the gas spring 105, all joints of the auxiliary support 100 will no longer rotate, and all measuring arms in the articulated coordinate measuring machine, And the fifth to eighth joints will be immobilized. Only by adjusting the ninth joint 208 and the tenth joint 209 near the probe 210 of the measuring machine can a definite pose data of the articulated coordinate measuring machine 200 be obtained.
在关节式坐标测量机200垂直测量时，将辅助支架100中第一夹具102固定在测量机200的第三测量臂203上，打开第一关节110的第一开关114和气弹簧105的第二开关115，通过移动测量机的第三测量臂203，带动辅助支架100的第二关节111、第三关节112、第四关节113的转动，从而使气弹簧105伸长量随着第三测量臂203的移动而改变，使得关节式坐标测量机200完成单点重复测量的任务。When the articulated coordinate measuring machine 200 is measuring vertically, the first fixture 102 in the auxiliary bracket 100 is fixed on the third measuring arm 203 of the measuring machine 200, and the first switch 114 of the first joint 110 and the second switch of the gas spring 105 are turned on 115, by moving the third measuring arm 203 of the measuring machine, the rotation of the second joint 111, the third joint 112, and the fourth joint 113 of the auxiliary bracket 100 is driven, so that the elongation of the gas spring 105 follows the third measuring arm 203 The movement changes, so that the articulated coordinate measuring machine 200 completes the task of single-point repeated measurement.
当关节式坐标测量机200水平测量时，可以使用第一托具103或第二托具108对测量机的第二测量臂202或第一测量臂201进行支撑，也可以根据需要关闭电推杆106的开关来固定电推杆伸长长度或者通过控制气弹簧105的第二开关115来固定气弹簧105的伸长量，辅助完成测量任务。When the articulated coordinate measuring machine 200 is measuring horizontally, the first bracket 103 or the second bracket 108 can be used to support the second measuring arm 202 or the first measuring arm 201 of the measuring machine, and the electric push rod can also be closed as required 106 switch to fix the elongation of the electric push rod or by controlling the second switch 115 of the gas spring 105 to fix the elongation of the gas spring 105 to assist in completing the measurement task.
结合这里披露的本发明的说明和实践，本发明的其他实施例对于本领域技术人员都是易于想到和理解的。说明和实施例仅被认为是示例性的，本发明的真正范围和主旨均由权利要求所限定。Other embodiments of the invention will be apparent to and understood by those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The description and examples are considered exemplary only, with the true scope and spirit of the invention defined by the claims.
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