Gravity balance device and method of flexible coordinate measuring machine based on magnetic rheologic fluid
A technology of coordinate measuring machine and magnetorheological fluid, which is applied in the direction of measuring devices and instruments, can solve problems such as not existing, and achieve the effects of reducing measurement strength, simple structure, and reducing structural deformation
Inactive Publication Date: 2012-05-09
ZHEJIANG UNIV
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Problems solved by technology
[0005] There is no systematic method for the calculation of the moment of gravity of the coordinate measuring machine. The present invention proposes a method for calculating the total moment of gravity at any position of the flexible arm according to the principle of kinematics modeling
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[0018] The present invention will be further described below in conjunction with drawings and embodiments.
[0019] Such as figure 1 , figure 2 As shown, the magneto-rheological fluid damping clutch mechanism is installed in the first swing joint 22 of the measuring machine, the upper bushing 1 of the first swing joint 22 is connected with the arm body of the second swing joint 23, the first swing joint 22 The lower bushing 13 is connected with the first rotary joint 21; the upper bushing 1 and one end of the hollow rotating shaft 2 are connected by thread, and the other end of the hollow rotating shaft 2 is installed with the grating disc 6 through the grating disc mounting plate 7, and the hollow rotating shaft 2 A bearing 3 is installed between the middle part and the bearing outer sleeve 20, the end face of the bearing outer sleeve 20 is connected with the reading head mounting plate 19 by screws, the reading head 8 is installed on the reading head mounting plate 19, and...
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The invention discloses a gravity balance device and a method of a flexible coordinate measuring machine based on magnetic rheologic fluid. An outer case of a magnetic rheologic fluid variable damping clutch mechanism is connected with an outer case installing shaft of the magnetic rheologic fluid variable damping clutch mechanism, an inner case is fixedly connected with the end surface of a lower shaft sleeve, a permanent magnet and a damping disc are arranged in the inner case, the outer cylindrical surface of the permanent magnet is provided with an electromagnet, the output current of an electromagnetic coil is calculated and changed according to the pose dynamic state of the measuring machine for changing the size of an output electromagnetic filed, the iron and the permanent magnet are in combined use, the damping moment is dynamically changed, and the self-adapting dynamic regulation of the balance moment of the operation pose can be realized, so the mechanism has the advantages of reliable work and energy source saving. Through the tooth-shaped design on the friction surface of the damping disc in the magnetic rheologic fluid variable damping clutch mechanism, the invention improves the friction force between the magnetic rheologic fluid and the damping disc, and effectively prevents the slippage. The mechanism reduces the structural deformation caused by self gravity of the measuring machine, reduces the measuring intensity of measurers, and has the advantages of convenient loading and unloading, simple structure and beautiful appearance.
Description
technical field [0001] The invention relates to a device applied in the technical field of flexible coordinate measuring machines, in particular to a gravity balance device and method for a flexible coordinate measuring machine based on magneto-rheological fluid. Background technique [0002] The flexible coordinate measuring machine is a non-orthogonal coordinate measuring device that relies on the measurer to hold the measuring arm by hand. Its mechanical structure is similar to that of a robot arm. On the one hand, the weight of the measuring arm increases the operating load of the measurer and reduces the Measurement efficiency, on the other hand, the weight of the measuring arm itself will also cause structural deformation of the arm body, which affects the measurement accuracy. Therefore, the gravity balance mechanism of the flexible arm coordinate measuring machine is essential. [0003] At present, most gravity balance mechanisms in flexible coordinate measuring mac...
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IPC IPC(8): G01B21/00
Inventor 王文张选高高贯斌卢科青林铿陈子辰
Owner ZHEJIANG UNIV