CN101024286A - Active-passive joint-arm type measuring robot - Google Patents
Active-passive joint-arm type measuring robot Download PDFInfo
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- CN101024286A CN101024286A CN 200710064929 CN200710064929A CN101024286A CN 101024286 A CN101024286 A CN 101024286A CN 200710064929 CN200710064929 CN 200710064929 CN 200710064929 A CN200710064929 A CN 200710064929A CN 101024286 A CN101024286 A CN 101024286A
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Abstract
The invention relates to active passive knuckle arm type measuring robot. It includes I, II, III, IV, and V shaft assemblies. Its features are that each shaft assembly is set actuator and active passive switching unit; encoder used to measure output corner is connected with the output axis. The invention has high measuring accuracy, can actively process trace plan. The encoder can collect final moving corner for each knuckle axis to avoid mechanical error between step motor and harmonic reducer. The invention can be widely used in various products measuring and detecting.
Description
Technical field
The present invention relates to a kind of robot, particularly about a kind of active-passive joint-arm type measuring robot.
Background technology
In fact traditional three coordinate measuring machine can be regarded as a Digit Control Machine Tool, and only the former is used for measurement size, tolerance, and error contrast etc., the latter is used for processing.The three coordinate measuring engine measurement scope varies, the little space measurement scope of probably having only more than 1 meter, and big can directly measure the car load profile, and certainty of measurement also can be subjected to structure, material, drive system, the influence of each links such as grating chi.The grating chi resolution ratio of three coordinate measuring machine is generally at 0.0005mm, and precision is subjected to a lot of such environmental effects such as temperature, humidity, vibrations at that time again during measurement.With the traditional measurement instrument relatively, three coordinate measuring machine can a clamping, finishes the measurement of a lot of sizes, can also import cad model, adopts a little on model and measures automatically, this is that a lot of traditional measurement instruments can't be realized.Traditional three coordinate measuring machine and laser double frequency interferometer no doubt have very high certainty of measurement, but this measurement mechanism complicated operation, bulky, can not move, constraint that its measurement space often is subjected to frame for movement, can only be confined to be unsuitable for product is carried out tracking measurement in the quite limited scope.And its metering system is subjected to the restriction of rectangular coordinate system and self structure, and the little and irregular product design of some volumes is difficult to effectively measure, and especially to some internal structures, it is powerless to seem more.
For the various deficiencies on the measuring technique that remedies three coordinate measuring machine, developed flexible more measuring machine-articulated type flexible measuring arm in the world again.At present in the world for the research of articulated type flexible measuring arm, mainly concentrate on the mode of operation of hand gage beam, usually to promote the operation of gage outfit by means of artificial external force, and need manual activation gage outfit switch, with contact type measurement mode image data.The Ultimate flexible measuring arm of U.S. FARO company can reach 0.010mm/500mm in the certainty of measurement of 1.2m measurement category; The single-point precision of Platinum series reaches as high as 0.005mm, and the space length certainty of measurement can reach 0.018mm.INFINITE joint-arm type measuring and the certainty of measurement of STINGER II articulated arm flexible measuring machine in the 1.8m scope that U.S. CimCore company makes can reach ± 0.015mm.But, the articulated type flexible measuring arm that FARO and Cimcore released all is a passive measurement, there is not the motor active drive, can not carry out trajectory planning or off-line programing, the measuring route that need come the planning survey head by means of artificial external force, and trigger gage outfit and gather the measured point data, to finish desired measurement flow process.U.S. Brown﹠amp; The spot measurement precision of Bravo-NT rectangular co-ordinate on-line measurement robot in the 1.8m scope of Sharp company can reach ± 0.02mm.Though this measuring machine is the active driving of adopting motor, but structurally more level off to traditional three coordinate measuring machine, though improve to some extent, but can not be to the such flexible use of flexible measuring arm, and it is huge than gage beam at volume, and be difficult for moving, still can not perfect at last robot measurement.
The passive type non-cpntact measurement machine of development such as the Shao Wei of Xi'an University of Technology is a fan-shaped mechanism of having installed two-freedom on the precision rotating platform additional at home, at the arc surface of sectional wheel a reflective strip grating is installed, and fixedly mounts grating reading head on pedestal.When master rocker was swung, strip grating and read head on the sectional wheel tangentially did relative motion, and measuring system is measured the arc length that sectional wheel turns over.This linear measure longimetry resolution ratio can reach 0.5 μ m.But the configuration space of this measuring mechanism is less, can not realize tracking measurement.Harbin Institute of Technology's robot research mechanics principle, suit joint characteristic and method of testing that space suit is measured carried out more deep research, developed a four-degree-of-freedom passive measurement arm, and declared robot measurement patent (CN2573172), but the method for designing and the certainty of measurement of robot itself are not researched and analysed.In fact on theory of mechanisms and robotics principle, this gage beam can not be called robot measurement.
Robot adopts servomotor as type of drive, also just determined it in the installation of encoder and use and all have certain defective, though for robot control itself, can satisfy the requirement of its motion aspect, but, still there is a certain distance for satisfying the high-precision requirement of measuring.Itself is problem: robot has generally adopted servomotor in motor-driven process, and servomotor adopts the encoder postposition, and both encoder was installed in the rear end of motor output shaft, directly gathered the output data of motor and gave feedback compensation.But, reducing gear such as the decelerator that is connected for the motor front end, the intrinsic machine error of harmonic assembly can not be compensated elimination, that is to say, for the existing machine error of robot itself, the data that encoder is gathered, can not really reflect accurate position relation relative between each joint, even if there is not profile errors in robot aspect trajectory planning, there is not tracking error in each single shaft control aspect yet, still can influences certainty of measurement owing to the existence of intrinsic machine error.On the other hand, encoder is only gathered the anglec of rotation of motor itself, rather than the actual anglec of rotation of each joint end, resulting like this data just calculate the position of the terminal clamper of robot with respect to origin system itself, and can not obtain the position of testee measured point with respect to origin system, also just can not satisfy the required precision of measurement.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of both can ACTIVE CONTROL, again can Passive Control, go slick the active-passive joint-arm type measuring robot that certainty of measurement is high.
For achieving the above object, the present invention takes following technical scheme: a kind of active-passive joint-arm type measuring robot, and it comprises I shaft assembly, II shaft assembly, III shaft assembly, IV shaft assembly and the V shaft assembly that connects successively; It is characterized in that: described I shaft assembly comprises that one is connected with the support of a beam barrel, described beam barrel bottom connects one speed reducer, described input shaft of speed reducer connects an I spindle motor, the output shaft of described decelerator connects an I axle by an electromagnetic clutch, described I axle bottom connects the power shaft of an I shaft encoder, the fixedly connected described decelerator outer casing bottom of described I shaft encoder; Described II shaft assembly comprises that one connects the pedestal of I axle, one side of described pedestal connects an II spindle motor, described II spindle motor connects an II axle by one speed reducer, described II axle connects an II axle carbon fiber pipe by an II axle bed, one II shaft encoder is connected on the described pedestal by a fixed mount, and the power shaft of described II shaft encoder is connected with described II axle; Described III shaft assembly comprises that one is connected the III spindle motor of described pedestal opposite side, and described III spindle motor connects an III axle by one speed reducer, and described III axle connects an III axle carbon fiber pipe by a connecting rod; Described IV shaft assembly comprises that one is connected with the housing of IV spindle motor, described IV spindle motor connects a driven wheel by one speed reducer, described driven wheel center connects an IV axle, one IV shaft encoder is connected on the housing of described IV spindle motor below, the power shaft of described encoder is connected with described IV axle, the sheathed IV axle carbon fiber pipe in the outside of described IV axle, described IV axle and the output of IV axle carbon fiber pipe are connected the Internal and external cycle of a bearing block upper bearing (metal) respectively; Described V shaft assembly comprises an axle bed that is connected with the bearing block of described IV shaft assembly, on described axle bed with the vertical corresponding connection one V spindle motor of bearing of trend and a V shaft encoder of described IV axle, described V spindle motor connects a V axle by one speed reducer, connect a gage outfit mount pad on the described V axle, the power shaft of described V shaft encoder connects the other end of described V axle; Described II axle fibre pipe and III axle carbon fiber pipe top are provided with a sleeve pipe respectively, each described sleeve pipe crosswise fixed one minor axis, each described minor axis is supported in the holder rotationally, the top of two described holders is socketed in respectively on the described IV axle carbon fiber pipe, the minor axis at described II axle top is as the power shaft of III shaft encoder, and described III shaft encoder is fixed on described holder one side; Being provided with one on the decelerator of described II shaft assembly, III shaft assembly, IV shaft assembly and V shaft assembly respectively can make described II axle, III axle, IV axle and V axle break away from the passive switching device shifter of each corresponding described motor-driven master.
Be horizontally disposed with an adjusting rod on the pedestal that connects described II axle, diagonal brace one is used for the air spring of supplemental support between described adjusting rod and II axle carbon fiber pipe top.
Decelerator in the described I shaft assembly is a worm type of reduction gearing.
Decelerator in the described I shaft assembly is a worm type of reduction gearing.
Described II shaft assembly, the III shaft assembly, decelerator in the V shaft assembly is a harmonic speed reducer, described harmonic speed reducer comprises that one is connected with the power shaft of wave producer, described wave producer connects two wheels just by a flexbile gear, described two firm wheels connect an end cap and an output flange respectively, the part outer ring of described end cap is provided with the gear teeth, the passive switching device shifter of described master is one to be arranged on the passive switch knob of master of the described gear teeth of rotatable insertion on the described decelerator shell, the power shaft that connects described wave producer connects described II spindle motor, one of III spindle motor and V spindle motor, described output flange connects described II axle, one of III shaft assembly and V axle.
Decelerator in the IV shaft assembly is a harmonic gear reducer, described harmonic gear reducer comprises that one is connected with the power shaft of wave producer, described wave producer connects two wheels just by a flexbile gear, described two firm wheels connect an end cap and an output gear respectively, the part outer ring of described end cap is provided with the gear teeth, the passive switching device shifter of described master is one to be arranged on the passive switch knob of master of the described gear teeth of rotatable insertion on the described decelerator shell, the power shaft that connects described wave producer connects described IV spindle motor, and described output flange gear is connected described IV axle by one with the driven wheel of its engagement.
The passive switching device shifter of described master is one to be arranged on the electromagnetic clutch of described decelerator input or output.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is in conjunction with the advantage of traditional three coordinate measuring machine and existing passive joint-arm type measuring, remedied the deficiency that the precision problem of traditional industry robot and passive type articulated arm gage beam can only passive image data simultaneously, both had higher certainty of measurement, can also initiatively carry out trajectory planning simultaneously.2, the present invention proposes encoder is separated with motor, and encoder is directly installed on the end of each final execution unit in joint in the system, accurately gathered the actual anglec of rotation in each joint, avoided because motor loses the measure error that the mechanical clearance of commentaries on classics and transmission mechanism itself is brought, finally obtained the accurate position of the measured point of testee with respect to origin system.3, encoder reading of the present invention is the actual anglec of rotation in each joint, by the kinematical equation of robot measurement, can obtain robot end's physical location, after comparing with the target location, can make corresponding error compensation and track correction; Because the reading of encoder is the actual anglec of rotation in each joint, therefore can calculate the coordinate points of measured point in addition, thereby realize encoder completing place feedback and two kinds of functions of measurement data acquisition simultaneously.4, the present invention compares with three coordinate measuring machine in the past, robot measurement has very flexible and vast measurement space, has very high certainty of measurement, simultaneously the active type measure robot also had concurrently passive type flexible measuring arm small size, light weight, be easy to characteristics such as carrying, be suitable for carrying out field survey at different scenes.5, the present invention compares with passive type flexible measuring arm, has practical significance widely, is applicable to more that also various The field situation, particularly the present invention have very high stability all the time, do not exist the instability problem of data acquisition in the measured point; Simultaneously, be not suitable for manually-operated dangerous scene for some, the present invention has remarkable advantages especially, only need can evade potential hazards by off-line programing.6, therefore the present invention is not only applicable to stepper motor because the certainty of measurement that can reach is not subjected to the error effect of motor and transmission system, is applicable to various motors such as servomotor yet, has the scope of application comparatively widely.In addition, encoder can collect the last moving corner of each joint shaft, and avoided stepper motor lose the step and each parts of harmonic speed reducer between machine error.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is the side-looking cross-sectional schematic of Fig. 1
Fig. 3 is an I shaft assembly structural representation of the present invention
Fig. 4 is II shaft assembly of the present invention and III shaft assembly structural representation
Fig. 5 is the schematic top plan view of Fig. 4
Fig. 6 is an IV shaft assembly structural representation of the present invention
Fig. 7 is a V shaft assembly structural representation of the present invention
Fig. 8 is an III shaft encoder connection diagram of the present invention
Fig. 9 is a harmonic speed reducer drive principle schematic diagram of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1 and Figure 2, the present invention mainly comprises I shaft assembly 10, II shaft assembly 30, III shaft assembly 50, IV shaft assembly 70 and V shaft assembly 90.
As Fig. 2, shown in Figure 3, I shaft assembly 1 of the present invention comprises a support 11, stretch into and fix a beam barrel 12 downwards at support 11 tops, the bottom of beam barrel 12 is provided with the worm type of reduction gearing 13 of a prior art, side at decelerator 13 shells connects an I spindle motor 15 by a flange 14, I spindle motor 15 is by the worm screw 17 of a shaft coupling 16 connection reducers 13, be connected one and the I axle (main output shaft) 20 of its concentric with the worm gear output shaft 18 of worm screw 17 engagement by an electromagnetic clutch 19, I axle 20 is bearing in beam barrel 12 tops by a pressure bearing 21.The bottom of decelerator 13 shells is provided with I shaft encoder 22, and the power shaft 23 of I shaft encoder 22 is connected with worm gear output shaft 18.When electromagnetic clutch 19 adhesives, when I spindle motor 15 drove 20 rotations of I axle by decelerator 13, encoder 22 can directly obtain the moving corner of I axle 20.
As Fig. 1, shown in Figure 4, II shaft assembly 30 of the present invention comprises that one connects the U-shaped pedestal 31 of I axle 20, one side of pedestal 31 connects an axle sleeve 32, axle sleeve 32 connects an II spindle motor 34 by a flange 33, II spindle motor 34 connects the input of a harmonic speed reducer 36 by a shaft coupling 35, the output of decelerator 36 connects an II axle 37, a fixedly connected II axle bed 38 on the II axle 37, the fixedly connected II axle carbon fiber pipe 39 in the top of II axle bed 38.One fixed mount 40 that is connected on the pedestal 31 is set in II axle bed 38, connects an II shaft encoder 41 on fixed mount 40, the power shaft 42 and II axle 37 concentrics of II shaft encoder 41 are connected on the II axle bed 38.When motor 34 drove 37 rotations of II axle by decelerator 36, II axle 37 can drive II axle carbon fiber pipe 39 swings on the II axle bed 38, and II shaft encoder 41 can directly obtain the moving corner of II axle 37.
As Fig. 1, shown in Figure 5, on pedestal 31, be fixed with an adjusting rod 43 that extends forward, external part at adjusting rod 43 is provided with the corresponding adjustment hole 44 of two rows, the bottom of one air spring 45 is connected in a pair of adjustment hole 44 with bolt, the top of air spring 45 is connected the top of II axle carbon fiber pipe 39, and air spring 45 is used for carbon fiber pipe 39 is carried out supplemental support.
As Fig. 1, Fig. 4, shown in Figure 5, III shaft assembly 50 of the present invention comprises an axle sleeve 51, corresponding pedestal 31 opposite sides that are connected of axle sleeve 51 with axle sleeve 32 positions of II shaft assembly 30, axle sleeve 51 connects an III spindle motor 53 by a flange 52, the output of III spindle motor 53 connects a harmonic speed reducer 54, the output of decelerator 54 connects an III axle 55, and III axle 55 is supported on axle sleeve 51 and the II axle bed 38 rotationally by one group of bearing.The output of III axle 55 connects a connecting rod that extends back 56, and connecting rod 56 is by a contiguous block 57, and with II axle carbon fiber pipe 39 parallel connection one III axle carbon fiber pipes 58, the installation of III shaft encoder will be described later.
As Fig. 1, shown in Figure 6, IV shaft assembly 70 of the present invention comprises a housing 71, housing 71 tops one side connects an IV spindle motor 73 by a flange 72, the output of IV spindle motor 73 connects an IV axle harmonic gear reducer 74, the gear of output end 75 of decelerator 74 is by a driven wheel 76, the center of driven wheel 76 connects an IV axle 77, one IV shaft encoders 78 and is fixed on housing 71 bottoms, and the power shaft 79 of encoder 78 is connected with IV axle 77.In the outside of IV axle 77 an IV axle carbon fiber pipe 80 is set, an end of IV axle carbon fiber pipe 80 is fixed on the housing 71, and the other end is fixedly connected on a bearing block 81 (as shown in Figure 8), and IV axle 77 is bearing in the axle bed 81 by two bearings 82.The fixed mount 63 that connects II axle carbon fiber pipe 39 and III axle carbon fiber pipe 58 tops between IV axle carbon fiber pipe 80 two ends, when IV spindle motor 73 drove 77 rotations of IV axle by decelerator 74 and driven wheel 76, IV shaft encoder 78 can directly obtain the moving corner of IV axle 77.
As Fig. 1, shown in Figure 7, V shaft assembly 90 of the present invention comprises an axle bed 91, and the input of axle bed 91 connects the bearing block 81 of IV shaft assembly 70.Bearing of trend with IV axle 77 on axle bed 90 is vertical, connect a V spindle motor 93 by a flange 92, the output of V spindle motor 93 connects a harmonic speed reducer 94, decelerator 94 outputs connect a V axle 95, on V axle 95, connect a gage outfit mount pad 96, connect the power shaft 98 of a V shaft encoder 97, V shaft encoder 97 and the V spindle motor 93 relative another sides that are connected axle bed 91 at the other end of V axle 95.When V spindle motor 93 drove 95 rotations of V axle by decelerator 94, V shaft encoder 98 can directly obtain the moving corner of V axle 95.
On the gage outfit mount pad 96 that connects on the V axle 95, can connect the gage outfit (not shown) of various prior aries, the existing gage outfit of existing market can be divided into two big classes: contact type measurement head and non-contact measurement head.In fact, for the measurement of contact, mainly be to depend on by gather the data of current measurement point for the triggering of gage outfit; The non-contact measurement head, just probe mainly is the profile that obtains testee by infrared scan.Robot measurement of the present invention can be selected different gage outfits according to the actual conditions of measured object.
As Fig. 1, Fig. 2, shown in Figure 8, in order to obtain the moving corner of III axle 55, the present invention is provided with a sleeve pipe 60 at the top of II axle carbon fiber pipe 39, crosswise fixed connects a minor axis 61 in the sleeve pipe 60, the two ends of minor axis 61 are supported in the holder 62 rotationally by bearing, 61 whiles of minor axis are as the output shaft of III shaft encoder 63, III shaft encoder 63 is fixedly connected on holder 62 1 sides, the top of holder 62 is fixedly connected on the IV axle carbon fiber pipe 80 of IV shaft assembly 70, still be provided with clip 64 on the sleeve pipe 60, to connect the air spring 45 of II shaft assembly 30.Meanwhile, also be provided with at III axle carbon fiber pipe 58 tops one with the similar sleeve pipe 60 in II axle carbon fiber pipe 39 tops, minor axis 61 and holder 62, the top of holder 62 also is connected with IV axle carbon fiber pipe 80, still on minor axis 61 encoder needn't be installed.When driving III axle 55 by decelerator 54, III spindle motor 53 rotates, and when driving III axle carbon fiber pipes 58 and swing up and down by connecting rod 56, III axle carbon fiber pipe 58 will drive the IV axle carbon fiber pipe 80 at its top, be axis swing with the minor axis 61 in the II axle carbon fiber pipe 39 top holders 62.According to parallelogram principle, holder 62 is with respect to the pendulum angle of minor axis 61, just with the angle identical (corresponding angles of parallelogram) of III axle 55 drivening rods 56 swings, III shaft encoder 64 records proper that therefore is connected II axle carbon fiber pipe 39 tops is the moving corner of III axle 55.
II shaft assembly 30 of the present invention all relates to a cover harmonic speed reducer in III shaft assembly 50 and the V shaft assembly 90, be that example briefly explains with the harmonic speed reducer 36 that is connected in the II shaft assembly 30 below.
As shown in Figure 9, harmonic speed reducer 36 of the present invention comprises the wave producer 361 that is made of cam, one connects the flexbile gear 362 of wave producer 361, just taken turns 363,364 for two by flexbile gear 362 drives, just on the wheel 363,364 end cap 365 and output flange 366 are being set respectively also, output flange 366 connects II axle 37, and wave producer 361 is by connecting a power shaft 368 with key 367, and power shaft 368 connects motor 34 by shaft coupling 35.The gear teeth 369 structures of gear have been adopted in the part outer ring of end cap 365, one main passive switch knob 370 is set on the housing of decelerator 36, rotate main passive switch knob 370 its head is inserted between the gear teeth 369, stop the firm wheel 363 of fixedlying connected to rotate with end cap 365.
The harmonic speed reducer 54 in the III shaft assembly 50 of the present invention and the structure of the harmonic speed reducer 94 in the V shaft assembly 90 and the harmonic speed reducer 36 in the II shaft assembly 30 are basic identical; And be a harmonic gear reducer 74 in the IV shaft assembly 70, its slightly different with the harmonic speed reducer 36 in the II shaft assembly 30 (as Fig. 7, shown in Figure 9), what show mainly that harmonic gear reducer 74 is connected with just wheel 364 is not output flange 366, but output gear 75, driven wheel 76 of output gear 75 engagements, driven wheel 76 connects IV axle 77, but harmonic gear reducer 74 is identical with harmonic speed reducer 36 transmission principles.Be that example illustrates its main passive operation process still below with harmonic speed reducer 36.
When active movement, as shown in Figure 9,, will lead passive switch knob and insert the gear teeth 369 with the tight main passive switch knob 370 of hand-screw, because end cap 365 is fixedlyed connected with firm wheel 365, therefore limited the motion of firm wheel 363; At this moment, if motor 34 drives wave producer 361 rotations by power shaft 368, can drive another wheel 364 rotations just by flexbile gear 362, because output flange 366 fixedly connected firm wheel 364 and II axles 37, therefore the rotation of wheel 364 just can drive 37 rotations of II axle.In this process, end cap 365 is locked by main passive knob 369, makes coupled firm wheel become a structure that is similar to the general axis bolster.
When passive movement, the main passive switch knob 370 of rotation makes it break away from the gear teeth 369.Because passive movement is to move with pulling the moving gage outfit that is installed in system's forefront, so the power shaft 368 of harmonic speed reducer 36 is inoperative, wave producer 361 does not move yet, and the firm wheel 363 that is connected with end cap 365 can opposite shell be done self-movement.For the decelerator assembly, output shaft flange 366 under active movement becomes the input of decelerator, promptly under manual drives, II axle 37 drives output flange 366 and wheel 364 rotations just, since wave producer 361 can and flexbile gear 362 between relative motion, therefore, when firm wheel 364 drives flexbile gears 362 and rotates, therefore the but state of interference wave generator 361 not can not damage the output shaft of motor 34.
The switching of above-mentioned main passive movement mode can also be adopted alternate manner except using the active switch knob.For example: can be with each harmonic speed reducer or the harmonic gear reducer that adopts now, be replaced by common decelerator, and electromagnetic clutch is set (for example: the electromagnetic clutch 19 among Fig. 3), be about between each motor 15,34,53,73,93 output and each decelerator 36,54,74,94 electromagnetic clutch is set at the input or the output of decelerator; Perhaps be connected electromagnetic clutch with each between 37,55,77,95 at each decelerator 36,54,74,94.The employing attracting mode that powers on, when passive measurement, system is in power failure state, and each electromagnetic clutch of 20,37,55,77,95 separates, and the central gear ring part of electromagnetic clutch can not mesh, and can carry out passive measurement; When initiatively measuring, system is in power-up state, and each electromagnetic clutch of 37,55,77,95 is by the galvanomagnetic-effect adhesive, and central gear ring partly intermeshes, and each motor 34,53,73,93 drives each 37,55,77,95 rotation.Adopt this scheme, system's operation is more flexible, does not need the manual switching metering system, but passes through the duty of programming Control electromagnetic clutch.
Claims (10)
1, a kind of active-passive joint-arm type measuring robot, it comprises I shaft assembly, II shaft assembly, III shaft assembly, IV shaft assembly and the V shaft assembly that connects successively; It is characterized in that:
Described I shaft assembly comprises that one is connected with the support of a beam barrel, described beam barrel bottom connects one speed reducer, described input shaft of speed reducer connects an I spindle motor, the output shaft of described decelerator connects an I axle by an electromagnetic clutch, described I axle bottom connects the power shaft of an I shaft encoder, the fixedly connected described decelerator outer casing bottom of described I shaft encoder;
Described II shaft assembly comprises that one connects the pedestal of I axle, one side of described pedestal connects an II spindle motor, described II spindle motor connects an II axle by one speed reducer, described II axle connects an II axle carbon fiber pipe by an II axle bed, one II shaft encoder is connected on the described pedestal by a fixed mount, and the power shaft of described II shaft encoder is connected with described II axle;
Described III shaft assembly comprises that one is connected the III spindle motor of described pedestal opposite side, and described III spindle motor connects an III axle by one speed reducer, and described III axle connects an III axle carbon fiber pipe by a connecting rod;
Described IV shaft assembly comprises that one is connected with the housing of IV spindle motor, described IV spindle motor connects a driven wheel by one speed reducer, described driven wheel center connects an IV axle, one IV shaft encoder is connected on the housing of described IV spindle motor below, the power shaft of described encoder is connected with described IV axle, the sheathed IV axle carbon fiber pipe in the outside of described IV axle, described IV axle and the output of IV axle carbon fiber pipe are connected the Internal and external cycle of a bearing block upper bearing (metal) respectively;
Described V shaft assembly comprises an axle bed that is connected with the bearing block of described IV shaft assembly, on described axle bed with the vertical corresponding connection one V spindle motor of bearing of trend and a V shaft encoder of described IV axle, described V spindle motor connects a V axle by one speed reducer, connect a gage outfit mount pad on the described V axle, the power shaft of described V shaft encoder connects the other end of described V axle;
Described II axle fibre pipe and III axle carbon fiber pipe top are provided with a sleeve pipe respectively, each described sleeve pipe crosswise fixed one minor axis, each described minor axis is supported in the holder rotationally, the top of two described holders is socketed in respectively on the described IV axle carbon fiber pipe, the minor axis at described II axle top is as the power shaft of III shaft encoder, and described III shaft encoder is fixed on described holder one side;
Being provided with one on the decelerator of described II shaft assembly, III shaft assembly, IV shaft assembly and V shaft assembly respectively can make described II axle, III axle, IV axle and V axle break away from the passive switching device shifter of each corresponding described motor-driven master.
2, a kind of active-passive joint-arm type measuring robot as claimed in claim 1, it is characterized in that: be horizontally disposed with an adjusting rod on the pedestal that connects described II axle, diagonal brace one is used for the air spring of supplemental support between described adjusting rod and II axle carbon fiber pipe top.
3, a kind of active-passive joint-arm type measuring robot as claimed in claim 1 is characterized in that: the decelerator in the described I shaft assembly is a worm type of reduction gearing.
4, a kind of active-passive joint-arm type measuring robot as claimed in claim 2 is characterized in that: the decelerator in the described I shaft assembly is a worm type of reduction gearing.
5, as claim 1 or 2 or 3 or 4 described a kind of active-passive joint-arm type measuring robots, it is characterized in that: described II shaft assembly, the III shaft assembly, decelerator in the V shaft assembly is a harmonic speed reducer, described harmonic speed reducer comprises that one is connected with the power shaft of wave producer, described wave producer connects two wheels just by a flexbile gear, described two firm wheels connect an end cap and an output flange respectively, the part outer ring of described end cap is provided with the gear teeth, the passive switching device shifter of described master is one to be arranged on the passive switch knob of master of the described gear teeth of rotatable insertion on the described decelerator shell, the power shaft that connects described wave producer connects described II spindle motor, one of III spindle motor and V spindle motor, described output flange connects described II axle, one of III shaft assembly and V axle.
6, as claim 1 or 2 or 3 or 4 described a kind of active-passive joint-arm type measuring robots, it is characterized in that: the decelerator in the IV shaft assembly is a harmonic gear reducer, described harmonic gear reducer comprises that one is connected with the power shaft of wave producer, described wave producer connects two wheels just by a flexbile gear, described two firm wheels connect an end cap and an output gear respectively, the part outer ring of described end cap is provided with the gear teeth, the passive switching device shifter of described master is one to be arranged on the passive switch knob of master of the described gear teeth of rotatable insertion on the described decelerator shell, the power shaft that connects described wave producer connects described IV spindle motor, and described output flange gear is connected described IV axle by one with the driven wheel of its engagement.
7, a kind of active-passive joint-arm type measuring robot as claimed in claim 5, it is characterized in that: the decelerator in the IV shaft assembly is a harmonic gear reducer, described harmonic gear reducer comprises that one is connected with the power shaft of wave producer, described wave producer connects two wheels just by a flexbile gear, described two firm wheels connect an end cap and an output gear respectively, the part outer ring of described end cap is provided with the gear teeth, the passive switching device shifter of described master is one to be arranged on the passive switch knob of master of the described gear teeth of rotatable insertion on the described decelerator shell, the power shaft that connects described wave producer connects described IV spindle motor, and described output flange gear is connected described IV axle by one with the driven wheel of its engagement.
8, as claim 1 or 2 or 3 or 4 or 7 described a kind of active-passive joint-arm type measuring robots, it is characterized in that: the passive switching device shifter of described master is one to be arranged on the electromagnetic clutch of described decelerator input or output.
9, a kind of active-passive joint-arm type measuring robot as claimed in claim 5 is characterized in that: the passive switching device shifter of described master is one to be arranged on the electromagnetic clutch of described decelerator input or output.
10, a kind of active-passive joint-arm type measuring robot as claimed in claim 6 is characterized in that: the passive switching device shifter of described master is one to be arranged on the electromagnetic clutch of described decelerator input or output.
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| CNB2007100649290A CN100519099C (en) | 2007-03-29 | 2007-03-29 | Active-passive joint-arm type measuring robot |
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| CNB2007100649290A CN100519099C (en) | 2007-03-29 | 2007-03-29 | Active-passive joint-arm type measuring robot |
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| CN100519099C CN100519099C (en) | 2009-07-29 |
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Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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