JPH06201303A - Three dimensional measuring device - Google Patents

Abstract

PURPOSE:To provide a three dimensional measuring device capable of performing measurement more efficiently and more precisely for sketch work conducted at the time of the modification and the replacement of small-size machinery such as reduction gears, pumps, and the like, and peripheral devices such as couplings, and the like at the site of maintenance work, and the like in a factory. CONSTITUTION:A three dimensional measuring device contains a support base 11 transportable to a site, an articulated arm 12 supported on the support base 11, an angle sensor incorporated in the articulated arm 12, and a measuring controller outputting a measured value after performing a fixed computation based on a signal from the angle sensor. The support base 11 is provided with a level meter, or is desirably provided with three leg portions 11a. The measuring controller desirably contains a means for determining the slant of the installation plane of an object to be measured against the installation plane of the measuring device based on the signal from the angle sensor, and a means correcting the computed measured value based on the slant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to three-dimensional measurement for three-dimensional measurement of small equipment such as speed reducers and pumps in the factory, peripheral equipment such as couplings, or robot workpiece fixing jigs in the factory. It relates to measuring instruments.

[0002]

2. Description of the Related Art FIG. 4 is a perspective view showing an example of a conventional three-dimensional measuring instrument. The three-dimensional measuring device shown in FIG. 4 includes a surface plate 1, a base 3 which is installed on the surface plate 1 and moves along a guide rail 2, and a base 3.
A column 4 and an auxiliary bar 5 which are vertically installed, a head 6 which is vertically movable with respect to the column 4 and the auxiliary bar 5, and a head which penetrates the head 6 and is perpendicular to the column 4. The movable arm 7 is provided so as to be slidable on the movable arm 7 and a probe 8 attached to the tip of the movable arm 7. When using this conventional three-dimensional measuring instrument, first, an object to be measured (not shown) is placed on the platen 1.
To move on. Then, the base 3, the head 6, and the movable arm 7 are moved to measure the dimensions of the object to be measured (three-dimensional object) with three-dimensional values.

[0003]

However, when such a conventional three-dimensional measuring device is used, the object to be measured must be moved onto the surface plate 1 before the measurement. Therefore, conventionally, when measuring these devices for sketches of small devices such as reduction gears and pumps and peripheral devices such as couplings, etc., in the field such as maintenance work in a factory, such conventional devices are used. It was not possible to use a three-dimensional measuring instrument, and there was no choice but to perform measurement using a single-function measuring instrument such as a tape measure, a straight scale, a pass, or a caliper. Therefore, in such a case, there is a problem that sufficient measurement accuracy cannot be obtained, and a measurement assistant is required, so that efficient measurement cannot be performed. The present invention has been made in view of such problems of the conventional technology, and provides a three-dimensional measuring device capable of safely and efficiently performing high-precision three-dimensional measurement on-site such as maintenance work in a factory. The purpose is to

[0004]

A three-dimensional measuring instrument of the present invention for achieving the above object is a multi-joint type having a support base that can be carried to the site and a probe supported at the support base at the tip. An arm, an angle sensor incorporated in the articulated arm, and a predetermined calculation based on an angle signal from the angle sensor when the probe contacts or approaches a plurality of arbitrary measured points of the measured object. And a measurement controller for performing. Further, in the present invention, it is desirable that the support table is provided with a level meter. Further, in the present invention, it is preferable that the support base is provided with three height adjustable legs.
Further, in the three-dimensional measuring device of the present invention, the measurement controller is configured to detect the object based on an inclination signal from an angle sensor when the probe contacts or approaches any three points corresponding to the installation surface of the object to be measured. It is desirable to include means for obtaining a measurement reference plane of the object to be measured, and means for calculating the calculated measurement value based on the obtained measurement reference plane and the angle signal.

[0005]

As described above, in the three-dimensional measuring instrument according to the present invention, a support base that can be carried to the site, an articulated arm that is supported by the support base and has a probe at its tip, and this articulated arm. Since it is equipped with an angle sensor built in, and measures based on the signal from this angle sensor, at the site of maintenance work etc., move the three-dimensional measuring device near the object to be measured, Three-dimensional measurement can be performed on the spot. Therefore, it is not necessary to move the object to be measured to the surface plate of the coordinate measuring machine as in the conventional case.
Further, even when performing three-dimensional measurement on site, there is no need to perform measurement using a measurement assistant with a single-function measuring instrument as in the conventional case, and efficient and highly accurate three-dimensional measurement becomes possible. Further, in this three-dimensional measuring device, since the support table is provided with the level meter, the three-dimensional measuring device can be held horizontally at the work site. Further, in this three-dimensional measuring device, the support base is provided with three height-adjustable legs, so that the three-dimensional measuring device can be used even in a place having uneven surface. It is also possible to keep it horizontal using the level meter described above. Furthermore, in this three-dimensional measuring device, the measurement controller is configured to measure the object to be measured based on a tilt signal from an angle sensor when the probe contacts or approaches any three points corresponding to the installation surface of the object to be measured. The means for determining the measurement reference plane and the means for calculating the calculated measurement value based on the obtained measurement reference plane and the angle signal are provided with the installation surface of the object to be measured. Even when the installation surface of the three-dimensional measuring device is not in a parallel state, it is possible to correct the measurement error caused by that and output the same measurement value as when the two are in a parallel state. Therefore, conventionally, the object to be measured is removed from the operating place and placed on the surface plate of the measuring instrument to perform the measurement work, whereas in the present invention, the object to be measured is moved from the operating place. Instead, it becomes possible to perform high-precision measurement with this attached.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to illustrated embodiments. FIG. 1 is a diagram showing a coordinate measuring machine according to a first embodiment of the present invention. In FIG. 1, the coordinate measuring machine of the present embodiment has a movable support base 11 having four legs 11a, and an articulated arm 12 having five joints 21 to 25 attached thereto. This articulated arm 12
Is the support base 11, the first joint portion 21, and the second joint portion 22.
A first arm portion 12a connected to the first arm portion 12a, a second arm portion 12b connected to the first arm portion 12a via a third joint portion 23 and a fourth joint portion 24, and a second arm portion 12b. And a third arm portion 12c connected via the fifth joint portion 25.

The first joint portion 21 is formed in a cylindrical shape, and is attached so as to be rotatable about the center of the circle in a direction parallel to the plane of the support base 11. Also, the second
The joint portion 22 is mounted on the first joint portion 21 so as to be rotatable in the arrow α direction in the figure. Thereby, the first arm portion 12a can move in any three-dimensional direction around the first joint portion 21. Also,
The third joint portion 23 is attached to the end portion of the first arm portion 12a so as to be rotatable in the direction of arrow β in the figure. Further, the fourth joint portion 24 is formed in a cylindrical shape, and is attached to the third joint portion 23 so as to be rotatable about the axial direction of the second arm portion 12b. Accordingly, the second arm portion 12b can move in any three-dimensional direction with the third joint portion 23 as a starting point. Further, the fifth joint portion 25 is attached to the end portion of the second arm portion 12b so as to be rotatable in the arrow γ direction in the figure. Accordingly, the third arm portion 12
c can move freely around the fifth joint 23 in the γ direction in the figure. Furthermore, a probe 13 is attached to the tip of the third arm portion 12c, and at a position near the probe 13 of the third arm portion 12c,
A grip 14 is provided.

In this embodiment, a rotary encoder is built in each of the joints 21 to 25.
The turning angles of the joint portion 21 and the fourth joint portion 24 and the elevation angles of the second joint portion 22, the third joint portion 23, and the fifth joint portion 25 can be detected. The signals from these rotary encoders are input to the portable measurement controller 15. The measurement controller 15 performs predetermined arithmetic processing based on the signals from the rotary encoders, and outputs the result to the liquid crystal display 16 or the printer 17. Note that reference numeral 18 in the figure indicates that the measurer sets the measurement controller 15 (what kind of measurement value is to be obtained in the horizontal distance, vertical distance, height, angle, etc.) on the measurement controller 15, and the display is displayed. -A remote control commander that gives necessary instructions such as printing.

In this embodiment, although not shown, the support base 11 is provided with a level meter. This level meter
This is for detecting the inclination of the support base 11 with respect to the horizontal direction. The measurer, based on the display of this level meter,
The three-dimensional measuring instrument can be adjusted so that the installation surface is horizontal. Therefore, according to the present embodiment, even if the three-dimensional measuring instrument is brought to the site, it is possible to obtain a highly accurate measurement result with the installation surface horizontal.

Next, the operation of the coordinate measuring machine according to this embodiment will be described. On-site such as maintenance work in the factory,
When measuring these devices for sketching of small devices such as speed reducers and pumps and peripheral devices such as couplings, the coordinate measuring machine according to this embodiment is moved to the vicinity of the object to be measured. Then, the measurer moves the probe 13 while holding the grip 14 with the right hand while operating the commander 18 with the left hand. Then, the probe 13 is brought into contact with a predetermined measurement point of the object to be measured, and the angles of the joints 21 to 25 at that time are detected by the rotary encoders and output to the measurement controller 15. The measurement controller 15 performs predetermined arithmetic processing based on the signals from the encoders,
The distance or angle between arbitrary points in space is obtained, and display or printing is performed for each designated mode. When the three-dimensional measuring device is brought to the site, the measurer is adjusted so as to be horizontal based on the level meter. Further, the measurement controller 15 may be provided with a data holding function and a communication function so that the measurement data can be transferred to an external personal computer or the like to perform graph display or graphic processing on the screen of the personal computer.

Next, a coordinate measuring machine according to a second embodiment of the present invention will be described. The three-dimensional measuring device according to the second embodiment has almost the same structure as the three-dimensional measuring device shown in FIG. 1, but the four-dimensional measuring device shown in FIG. The difference is that three height adjustable legs 11b are provided (FIG. 2 shows the support base 11 of FIG. 1 from the back side). The legs 11b are respectively
The height can be adjusted by rotating the screw. The three height-adjustable legs 11b are for allowing the support base 11 to be placed horizontally even in a place where the surface is uneven. That is, in the present embodiment, the support table 11 is provided with the level meter as described above, and the level meter can detect the inclination of the support table 11. Therefore,
According to the second embodiment, the measurer can bring in and install a tripod coordinate measuring machine even in a place where the surface is uneven. Moreover, by adjusting the heights of the three leg portions 11b while watching the level meter, the installation of the support base 11 can be adjusted in a horizontal state. Therefore, it becomes possible to perform highly accurate measurement without being affected by the unevenness of the surface of the installation place.

FIG. 3 is a block diagram for explaining a measurement controller of a coordinate measuring machine according to a third embodiment of the present invention. In the third embodiment, when the installation state (installation surface) of the three-dimensional measuring device and the installation state (installation surface) of the object to be measured are not parallel, the angle when the contact point is brought into contact with the measuring point of the object to be measured. If you calculate the measurement value only from the angle signal from the sensor, a measurement error will occur, but in order to correct this error, the measurement controller has a horizontal correction calculation function,
The error is automatically corrected.

That is, as shown in FIG. 3, in the third embodiment, the signals from the rotary encoders 20 incorporated in the joints 21 to 25 are input to the pulse counter circuit 15a. Pulse counter circuit 15
At a, the pulse from each rotary encoder 20 is counted, and the counting result is output to the pulse calculation circuit 15b. The pulse calculation circuit 15b calculates a desired measurement value based on the measurement mode set by the calculation condition setting circuit 15c and outputs it to the display 16 and the printer 17. The calculation condition setting circuit 15c is a measurement mode in which the pulse calculation circuit 15b calculates and outputs a measurement value such as a horizontal / vertical distance, a height, an angle, etc., based on the instruction content from the operator. Is for setting.

Further, in the present embodiment, the calculation condition setting circuit 15c, when the installation state (installation surface) of the coordinate measuring machine and the installation state (installation surface) of the object to be measured are not parallel,
The correction mode is also set for the pulse calculation circuit 15b. When this correction mode is set, the pulse calculation circuit 1
5b is a pulse counter circuit 15a when the probe is brought into contact with any three points corresponding to the installation surface of the object to be measured.
And a measurement reference plane of the object to be measured is calculated based on the output from Then, the pulse calculation circuit 15b outputs the calculated measurement reference plane and the output from the pulse counter circuit 15a when the contact point is brought into contact with the measured point of the measured object.
Based on the above, a desired measurement value is calculated and output to the display 16 or the printer 17.

Next, a measuring method using the coordinate measuring machine according to the third embodiment will be described. First, the measurer installs the three-dimensional measuring device at an arbitrary place on the site where the object to be measured is used, and horizontally installs the three-dimensional measuring device while using the level meter. Next, the measurer assumes a triangle of an appropriate size in a place that is considered to be flush with the installation surface of the object to be measured, and contacts the probe with three points at arbitrary positions near each vertex of the assumed triangle. Let A signal from each rotary encoder 20 when the contact point is brought into contact with three points is input to the pulse counter circuit 15a, and the count value is output to the pulse calculation circuit 15b. The pulse calculation circuit 15b is
Based on this output, the installation surface of the object to be measured (not the installation surface of the measuring device) is recognized and stored as the measurement reference plane. Next, when the measurer makes contact with the measuring point such as the actual length of the object to be measured, the signal from each rotary encoder 20 at that time is output from the pulse counter circuit 15
Input to a. The pulse calculation circuit 15b calculates and outputs a desired measurement value such as the actual length of the object to be measured based on the output from the pulse counter circuit 15a and the measurement reference plane. As a result, the measurement work that was conventionally performed by removing the measured object from its operating location and placing it on the surface plate is performed with high accuracy at that location without removing the measured object from its operating location. I was able to do it.

When it is difficult to recognize three points on the same plane of the measured object when measuring the measurement reference plane of the measured object, it is suitable for a plane perpendicular to the installation surface of the measured object. A triangle of various sizes is assumed, and a probe is brought into contact with three points at arbitrary positions near the respective vertices of the assumed triangle to input the signals from the encoders at that time, and the vertical plane Assuming a triangle of an appropriate size on a plane orthogonal to, and contacting the probe with three points at arbitrary positions near each vertex of the assumed triangle, and inputting the signal from each encoder at that time. It is also possible to detect the same measurement reference plane. Further, although the measurement controller is shown in a circuit block diagram in FIG. 3, it is needless to say that a similar correction calculation function can be realized by software using a microcomputer.

[0017]

As described above, in the three-dimensional measuring device according to the present invention, a support base that can be carried to the site, an articulated arm that is supported by the support base and has a contact point at its tip, and the multi-joint arm It has an angle sensor built into the mold arm, and the measurement is performed based on the signal from this angle sensor.Therefore, you can move the coordinate measuring machine near the object to be measured at the site of maintenance work. Then, three-dimensional measurement can be performed on the spot. Therefore, it is not necessary to move the object to be measured to the surface plate of the coordinate measuring machine as in the conventional case. In addition, even when performing 3D measurement on site, there is no need to perform measurement with the help of a measurement assistant using a single-function measuring instrument as in the past, and efficient and highly accurate 3D measurement is possible. Is possible. Further, in this three-dimensional measuring device, since the support table is provided with the level meter, the three-dimensional measuring device can be held horizontally at the work site. Further, in this three-dimensional measuring device, the support base is provided with three height-adjustable legs, so that the three-dimensional measuring device can be installed even in a place with uneven surface. It is also possible to keep it horizontal by using the above level meter. Further, in this three-dimensional measuring device, the measurement controller is configured so that the measuring element corresponds to an installation surface of an object to be measured.
Means for obtaining the measurement reference plane of the installation surface of the object to be measured based on the tilt signal from the angle sensor when contacting or approaching the point, and the above-mentioned based on the obtained measurement reference plane and the angle signal Since the means for calculating the calculation measurement value is provided, even when the installation surface of the DUT and the installation surface of the three-dimensional measuring device are not in the parallel state, the measurement error caused by that is corrected and both are It is possible to output the same measured value as in the parallel state. Therefore, conventionally, the object to be measured is removed from the operating place and placed on the surface plate of the measuring instrument to perform the measurement work, whereas in the present invention, the object to be measured is moved from the operating place. Instead, it becomes possible to perform high-precision measurement with this attached.

[Brief description of drawings]

FIG. 1 is a diagram showing a coordinate measuring machine according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing a support base of a coordinate measuring machine according to a second embodiment of the present invention from the back side.

FIG. 3 is a block diagram illustrating a measurement controller of a coordinate measuring machine according to a third exemplary embodiment of the present invention.

FIG. 4 is a perspective view showing a conventional coordinate measuring machine.

[Explanation of symbols]

 11 Support stand 11a, 11b Leg part 12 Articulated arm 13 Measuring element 14 Grip 15b Pulse calculation circuit 16 Liquid crystal display 17 Printer 18 Commander 20 Rotary encoder 21, 22, 23, 24, 25 Joint part

Claims (4)

[Claims] 1. A support base that can be carried to a site, and an articulated arm that is supported by the support base and has a probe at its tip,
An angle sensor incorporated in the articulated arm, and a measurement controller that performs a predetermined calculation based on an angle signal from the angle sensor when the probe contacts or is in proximity to a plurality of points to be measured of the object to be measured. A three-dimensional measuring instrument comprising: 2. The coordinate measuring machine according to claim 1, wherein the support base is provided with a level meter. 3. The coordinate measuring machine according to claim 1 or 2, wherein the supporting base is provided with three height adjustable legs. 4. The three-dimensional measuring device according to claim 2 or 3, wherein the measuring controller is configured to detect an angle sensor when the measuring element comes into contact with or comes close to any three points corresponding to an installation surface of an object to be measured. Means for obtaining a measurement reference plane of the object to be measured based on the tilt signal, and means for calculating a desired measurement value based on the obtained measurement reference plane and the angle signal, Three-dimensional measuring devices.