Active-passive joint-arm type measuring robot

Abstract

The invention relates to an active and passive articulated arm type measuring robot, which comprises sequentially connected I-axis assemblies, II-axis assemblies, III-axis assemblies, IV-axis assemblies and V-axis assemblies; The transmission device and active-passive switching device, the encoders for measuring the output rotation angle of each shaft are directly connected to the output shafts of each shaft assembly, or indirectly connected to the output shafts of each shaft assembly through corresponding geometric relationships. The invention combines the advantages of the traditional three-coordinate measuring machine and the existing passive articulated arm measuring machine, and at the same time makes up for the accuracy problem of the traditional industrial robot and the deficiency that the passive articulated arm measuring arm can only passively collect data. The measurement accuracy is high, and at the same time, it can also actively carry out trajectory planning. The encoder can collect the final motion angle of each joint axis, thereby avoiding the step loss of the stepping motor and the mechanical error between the components of the harmonic reducer. The invention can be widely used in the measurement or inspection process of various products.

Description

technical field [0001] The invention relates to a robot, in particular to an active and passive articulated arm type measuring robot. Background technique [0002] The traditional three-coordinate measuring machine can actually be regarded as a CNC machine tool, except that the former is used to measure dimensions, tolerances, error comparison, etc., and the latter is used for processing. The measurement range of the three-coordinate measuring machine is large or small. The small one is only about 1 meter or more. The large one can directly measure the shape of the whole vehicle, and the measurement accuracy will also be affected by the structure, material, drive system, grating ruler and other links. influences. The resolution of the grating scale of the three-coordinate measuring machine is generally 0.0005mm, and the measurement accuracy is affected by many environmental factors such as temperature, humidity, and vibration at that time. Compared with traditional measuri...

AI Technical Summary

Problems solved by technology

However, for the deceleration mechanism connected to the front end of the motor, such as the reducer, the inherent mechanical error of the harmonic component cannot be compensated and eliminated. That is to say, for the mechanical error of the robot itself, the data collected by the encoder cannot truly reflect Even if there is no contour error in the trajectory planning of the robot, and there is no tracking error in each single-axis control level, the measurement accuracy will still be affected by the existence of inherent mechanical errors.

On the other hand, the encoder only collects the rotation angle of the motor itself, not the actual rotation angle of each joint end, so the obtained data only calculates the position of the end gripper of the robot itself relative to the origin coordinate system, but cannot get The position of the measured point of the measured object relative to the origin coordinate system cannot meet the measurement accuracy requirements

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