CN102012211A - Three pairs of sliding pair-spherical hinge-spherical hinge (3-PSS) mechanism-based coordinate measuring machine - Google Patents
Three pairs of sliding pair-spherical hinge-spherical hinge (3-PSS) mechanism-based coordinate measuring machine Download PDFInfo
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- CN102012211A CN102012211A CN 201010541816 CN201010541816A CN102012211A CN 102012211 A CN102012211 A CN 102012211A CN 201010541816 CN201010541816 CN 201010541816 CN 201010541816 A CN201010541816 A CN 201010541816A CN 102012211 A CN102012211 A CN 102012211A
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Abstract
The invention discloses a three pairs of sliding pair-spherical hinge-spherical hinge (3-PSS) mechanism-based coordinate measuring machine. The 3-PSS mechanism-based coordinate measuring machine is characterized in that: a three pairs of sliding pair-spherical hinge-spherical hinge parallel mechanism is provided; three motion sliding blocks are independently arranged on a pair of ball guide rails which are arranged in parallel and can slide freely along the ball guide rails respectively; the three motion sliding blocks are connected with one end of each of three pairs of link rods through one end of a universal joint respectively; the other end of each of three pairs of link rods are connected with a measuring moveable platform through the other end of the universal joint respectively; a measuring head is arranged on the lower plane of the measuring moveable platform; three indication gratings are fixedly connected to the three motion sliding blocks respectively; a scale grating and the pair of ball guide rails are arranged in parallel and are arranged on the guide rail mounting surfaces of guide rail cross beams; and the guide rail cross beams are suspended and fixedly connected to a pair of brackets. The 3-PSS mechanism-based coordinate measuring machine has high rigidity, a simple structure, high processing assembly property and low cost and can measure the three-dimensional space sizes, the shapes and the mutual positions of parts quickly and precisely.
Description
Technical field
The present invention relates to be applied to automobile, Aeronautics and Astronautics, boats and ships, lathe etc. with the measuring machine in the accurate manufacturing of machinery, the precision of more specifically say so a kind of component of machine space three-dimensional size and pattern detects machinery.
Background technology
Three coordinate measuring machine has been widely used in the high-acruracy survey of size, shape and the mutual alignment of 3 D complex part, and fields such as mock-up digitizing and line Quality Control.Three coordinate measuring machine at present commonly used mainly comprises two types, and promptly Cartesian coordinates coordinate measuring machine and spheric coordinate system measuring machine also claim the flexible articulated arm three coordinate measuring machine.German in addition ZEISS company also releases unique a cylindrical coordinates measuring machine (also claiming parallel joint three coordinate measuring machine).Traditional Cartesian coordinate measuring machine highly versatile, measurement range is big, precision is high, efficient is high, performance is good, can be connected with flexible manufacturing system, the title that " measuring center " arranged, but this instrument inconvenience is carried, and the measured workpiece size must be less than the measurement space of measuring machine, and price is also very expensive.Though the flexible articulated arm three coordinate measuring machine is an a kind of portable coordinate measurement system, the deficiency and the defective of traditional measurement machine have partly been remedied, but its structure is similar to the serial machine people in essence, have a plurality of joint arms, the cumulative errors that has bigger transitivity inevitably, in order to guarantee measuring accuracy, must be rotating accuracy and select the high precision angular encoder by strict Control Shaft, therefore cause difficulty of processing big, the manufacturing cost height, simultaneously, system stiffness is poor after adopting cascaded structure, show as system accuracy on the whole and be difficult to control, on measurement space, show the unevenness of precision.
Parallel institution has good rigidity, light, the natural unique advantages such as error average effect of movement inertia, on parallel robot, parallel machine and MEMS performer, obtained very ripe application, but in the measurement of coordinates field, parallel institution is not also well used.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point, provide a kind of rigidity height, simple in structure, process and assemble is good, cost is low coordinate measuring machine, to realize measurement to the quick and accurate three dimensions size of part, shape and mutual alignment based on 3-PSS mechanism.
The present invention adopts following technical scheme:
The design feature that the present invention is based on the coordinate measuring machine of 3-PSS mechanism is:
The parallel institution of three pairs of moving sets-ball pivot-ball pivots is set, and described parallel institution is that three motion slide blocks independently are set on a pair of spherical guide that be arranged in parallel, and three motion slide blocks can be free to slide along spherical guide respectively; Described three motion slide blocks link to each other with an end of three pairs of link rods by an end universal joint respectively, and the other end of three pairs of link rods links to each other with the measurement moving platform jointly by other end universal joint respectively, on the lower plane of described measurement moving platform gauge head is installed;
Three indication gratings are connected in respectively on three motion slide blocks, and a scale grating and a pair of spherical guide be arranged in parallel and be installed in jointly on the guide rail installed surface of guide rail beam; Described guide rail beam is to suspend and is connected on the pair of brackets;
The surveying work platform is one to can be adjusted to the flat board parallel with spherical guide.
The design feature that the present invention is based on the coordinate measuring machine of 3-PSS mechanism also is:
Described gauge head adopts the trigger-type contact.
A described end universal joint and other end universal joint all adopt candan universal joint.
Guide rail installed surface on the described guiderail base crossbeam is 45 ° of inclinations obliquely upward.
The present invention adopts manual measurement, and three motion slide blocks are driven member, and operating personnel draw and measure moving platform and gauge head motion, the servo-actuated of three motion slide blocks.When gauge head during near measuring position different on the workpiece, ergometry reach setting value then gauge head send trigger pip, be positioned at the horizontal coordinate x of three grating reading heads on the motion slide block by the computer system synchronous acquisition of supporting setting
i, according to three horizontal coordinate value (x
1x
2x
3) by calculated with mathematical model go out gauge head 3 d space coordinate (x, y, z).
Measurement model of the present invention is simple, and the error component that influences measuring accuracy is few, and the X horizontal direction can be according to measuring the needs spreading.Error source of the present invention mainly comprises: the straightness error of spherical guide, grating reading error, each rod member in parallel and universal joint processing and rigging error etc., these errors are to reduce even to eliminate by demarcation and high precision measurement, greatly help improving measuring accuracy.
The present invention has embodied the advantage of parallel-connection structure effectively, light such as inertia in the gauge head motion, system stiffness is big, Deformation Member is little, the gauge head spatial pose is flexible etc., the error average effect of parallel-connection structure makes that the member error can cancel each other, compensate in the parallel-connection structure.
Figure 3 shows that the sketch of parallel-connection structure moving model, because two link rods on each motion slide block are identical, so from mathematics, can simplify a bar.What the M among Fig. 3, N, P represented is the position of three motion slide blocks, (x, y z) are the position of gauge head to figure mid point P, A (0,0, b), B (0, a, 0) 2 straight line AB that determined stretch out a plane inclined along directions X, and three motion slide block coplanes are installed on this plane inclined, and wherein the position coordinates of the first motion slide block and the 3rd motion slide block is respectively M (x
1, 0, b); N (x
2, 0, b), the position coordinates of the second motion slide block is Q (x
3, a, 0).MP, NP are respectively first bar and the 3rd bar, and length is l
1QP is second bar, and length is l
2Three grating reading head synchronous acquisition go out M in the measurement, N, and the position of Q (is x
1, x
2, x
3), (x, y z) can be by following simple system of equations simultaneous solution for the three-dimensional coordinate P of gauge head.Equation (1) is subtracted formula (2) can draw in the P point coordinate,
The x coordinate that is to say gauge head is the mean value of two grating reading heads, with in precision angle, arrange two read heads identical effect of averaging with circle grating diameter, parallel system that Here it is has the embodiment of natural error average effect, and the long error of spherical hinge gap error and bar all shows the characteristics of similar average effect theoretically to the influence of measuring accuracy.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention is simple in structure, has reduced the quantity of using the high-accuracy linear displacement sensor on the instrument to greatest extent, and the error source that reduces, and helps realizing quick, high-acruracy survey;
2, the present invention is provided with an accurate rolling guide and gets final product the implementation space three-dimensional coordinate measurement, and traditional coordinate measuring machine needs three secondary precise guide rail and its mutual verticality that very high installation requirement is arranged, adopt accurate rolling guide effectively to guarantee the motion straightness of three slide blocks, guarantee that slide block movement is light and flexible, the autokinesis height;
3, the present invention adopts candan universal joint to replace the conventional spherical linkage that uses of tradition in motion, help reducing the movement clearance error in the spherical linkage revolution, candan universal joint can obtain very high quality of fit and very little tolerance clearance by cooperating to grind, thereby guarantees measuring accuracy;
4, the present invention adopts touch trigger probe to make and can guarantee that ergometry is constant in the measuring process, avoid because the stochastic error that the ergometry instability is produced, after ergometry reached the predetermined value of setting, gauge head sent the triggering electric signal, realizes the synchronous acquisition of three road raster datas simultaneously.
5, the present invention is simple in structure, compact, and cost is low, and the gauge head that is equipped with other types on moving platform can be realized complex-curved measurement.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is a measuring principle synoptic diagram of the present invention.
Fig. 4 is the local enlarged diagram of motion slide block of the present invention.
Number in the figure: 1 adjustable pad pin, 2 instrument bases, 3 leveling pad foot bolts, 4 surveying work platforms, 5 supports, 6 gauge heads, 7 measure moving platform, 8 link rods, 9 spherical guides, 10 scale gratings, 11 indication gratings, 12 motion slide blocks, 13a one end universal joint, 13b other end universal joint, 14 guide rail beams, 15 blocks.
Embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, the parallel institution of three pairs of moving sets-ball pivot-ball pivots is set, parallel institution is 12, three motion slide blocks 12 of three motion slide blocks independently to be set can be free to slide along spherical guide 9 respectively on a pair of spherical guide 9 that be arranged in parallel; Three motion slide blocks 12 link to each other with an end of three pairs of link rods 8 by an end universal joint 13a respectively, and the other end of three pairs of link rods 8 links to each other with measurement moving platform 7 jointly by other end universal joint 13b respectively, and gauge head 6 is installed on the lower plane of measuring moving platform 7;
Three indication gratings 11 are connected in respectively on three motion slide blocks 12, and a scale grating 10 and a pair of spherical guide 9 be arranged in parallel and be installed in jointly on the guide rail beam 14; Guide rail beam 14 is to suspend and is connected on the pair of brackets 5;
In concrete the enforcement, gauge head 6 adopts the trigger-type contact; One end universal joint 13a and other end universal joint 13b all adopt candan universal joint; Adjustable pad pin 1 is used to adjust the level of instrument base 2; Leveling pad foot bolt 3 is used to adjust the level of surveying work platform 4, in the practical set, can finish the overall level-off of instrument by means of level meter, in long-term placement and use, can reduce because the instrument distortion inaccuracy that gravity brought like this; Block 15 is arranged on the both ends of guide rail beam 14, block 15 is used to prevent motion slide block 12 slippages on the spherical guide 9, guide rail installed surface on the guiderail base crossbeam 14 is 45 ° of inclinations obliquely upward, can guarantee that gauge head 6 is at X, Y, have bigger space on three directions of Z, effectively guarantee measurement range; Three pairs of link rod 8 length dimensions can guarantee that motion measurement moving platform 7 all parallels with motion slide block 12 and spherical guide 9 during any position in measurement space; Three indication gratings 11 are that the gap between grating reading head and the scale grating 10 can be finely tuned, and make optical grating pair produce the high-quality Moire fringe, so that reading smoothly; Shown in Figure 4, scale grating 10 is the centres that are configured in two spherical guides 9, is parallel to each other, and this is easy to realize from processing technology, the accurate grinding that can finish spherical guide installed surface and grating chi installed surface once is installed on surface grinding machine, and the mutual alignment precision is easy to guarantee.If be used for for reducing cost, can only adopting a secondary spherical guide in low precision occasion, this moment, gauge head need not to be equipped with touch trigger probe, can be hard gauge head, controlled three synchronous readings of grating head by the mode of manual triggers, finished data acquisition.
As long as the length and the selected grating chi length of spherical guide are enough, can on directions X, freely expand measurement range, be particularly suited for realizing the measurement of sleeve configuration complex profile, such as blade of wind-driven generator, helicopter propeller etc.
The present invention three in the face of outer unlimited, is convenient to install measured piece on structural design; During detection, after workpiece installs, operating personnel spur measurement moving platform 7 and touch measured surface until gauge head 6, measure moving platform 7 and slide into corresponding position along spherical guide 9 by three motion slide blocks 12 of link rod 8 tractions, when adopting touch trigger probe, when ergometry arrives certain numerical value, trigger gauge head and can trigger three grating head readings automatically, finish the collection of three horizontal ordinate x.When adopting hard gauge head, need manual trigger switch to realize data acquisition, finish the measurement of measured point coordinate.Move to down then a bit, obtain the coordinate of any down.Behind the single-point three-dimensional coordinate acquisition and recording, obtaining with traditional coordinate measuring machine of its follow-up data processing and measurement result is as broad as long, has special-purpose commercial software to use.If the Numeric Control Technology that adopts measuring machine realizes measuring automatically, then three motion slide blocks need the configuration driven system, such as adopting lead screw transmission or cylinder pneumatic actuation, this moment, the motion of gauge head was passive movement, by the variation of three motion slide block mutual alignments with cooperate the motion that realizes gauge head.
Claims (4)
1. based on the coordinate measuring machine of 3-PSS mechanism, it is characterized in that:
The parallel institution of three pairs of moving sets-ball pivot-ball pivots is set, and described parallel institution is to go up at a pair of spherical guide (9) that be arranged in parallel three motion slide blocks (12) independently are set, and three motion slide blocks (12) can be free to slide along spherical guide (9) respectively; Described three motion slide blocks (12) link to each other with an end of three pairs of link rods (8) by an end universal joint (13a) respectively, the other end of three pairs of link rods (8) links to each other with measurement moving platform (7) jointly by other end universal joint (13b) respectively, and touch trigger probe (6) is installed on the lower plane of described measurement moving platform (7);
Three indication gratings (11) are connected in respectively on three motion slide blocks (12), and a scale grating (10) be arranged in parallel with a pair of spherical guide (9) and is installed in jointly on the guide rail installed surface of guide rail beam (14); Described guide rail beam (14) is to suspend and is connected on the pair of brackets (5);
Surveying work platform (4) is one to can be adjusted to and the parallel flat board of spherical guide (9).
2. the coordinate measuring machine based on 3-PSS mechanism according to claim 1 is characterized in that described gauge head (6) adopts the trigger-type contact.
3. the coordinate measuring machine based on 3-PSS mechanism according to claim 1 is characterized in that a described end universal joint (13a) and other end universal joint (13b) all adopt candan universal joint.
4. the coordinate measuring machine based on 3-PSS mechanism according to claim 1 is characterized in that the guide rail installed surface on the described guiderail base crossbeam (14) is 45 ° of inclinations obliquely upward.
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| CN2010105418167A CN102012211B (en) | 2010-11-12 | 2010-11-12 | Three pairs of sliding pair-spherical hinge-spherical hinge (3-PSS) mechanism-based coordinate measuring machine |
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|---|---|---|---|
| CN2010105418167A CN102012211B (en) | 2010-11-12 | 2010-11-12 | Three pairs of sliding pair-spherical hinge-spherical hinge (3-PSS) mechanism-based coordinate measuring machine |
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Cited By (7)
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| CN104536384A (en) * | 2014-12-01 | 2015-04-22 | 中国民航大学 | Standard-resolution physical three-dimensional terrain surface model machining system and method thereof |
| CN104602870A (en) * | 2012-09-11 | 2015-05-06 | 赫克斯冈技术中心 | Coordinate measuring machine |
| CN104656675A (en) * | 2014-12-25 | 2015-05-27 | 天津理工大学 | High-speed five-axis linkage parallel three-coordinate measuring machine |
| CN104776788A (en) * | 2015-04-28 | 2015-07-15 | 安徽华茂纺织股份有限公司 | Checkout device for special textile level ruler and use method thereof |
| CN104990478A (en) * | 2015-07-22 | 2015-10-21 | 安徽华茂纺织股份有限公司 | Calibration method for textile spinning machine roller entry and exit fixing gauge |
| CN109781047A (en) * | 2019-03-25 | 2019-05-21 | 浙江大学宁波理工学院 | Probe-type measurement system and its measurement method |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
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| CN104848774A (en) * | 2015-05-21 | 2015-08-19 | 安徽华茂纺织股份有限公司 | Textile special-purpose standard spindle detection apparatus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104602870A (en) * | 2012-09-11 | 2015-05-06 | 赫克斯冈技术中心 | Coordinate measuring machine |
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| CN104656675A (en) * | 2014-12-25 | 2015-05-27 | 天津理工大学 | High-speed five-axis linkage parallel three-coordinate measuring machine |
| CN104776788A (en) * | 2015-04-28 | 2015-07-15 | 安徽华茂纺织股份有限公司 | Checkout device for special textile level ruler and use method thereof |
| CN104990478A (en) * | 2015-07-22 | 2015-10-21 | 安徽华茂纺织股份有限公司 | Calibration method for textile spinning machine roller entry and exit fixing gauge |
| CN109781047A (en) * | 2019-03-25 | 2019-05-21 | 浙江大学宁波理工学院 | Probe-type measurement system and its measurement method |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
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