CMM arm with exoskeleton
A technology of equipment and objects, applied in the field of CMM arms, can solve the problems that manual CMM arms are vulnerable to damage, cannot feed forward downstream process data, and cannot be used.
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no. 1 example
[0196] Portable Robot CMM Arm
[0197] The first embodiment of this internal CMM arm with exoskeleton is a portable robot CMM arm. This portable robotic CMM arm embodiment includes an internal CMM arm guided by an exoskeleton. The exoskeleton supports and manipulates the internal CMM arm through a transmission device so that it can be accurately measured. The present invention can be implemented according to many layout drawings of the articulated arm of the robot CMM arm. The Robot CMM Arm according to the first embodiment of the present invention has two preferred layouts: 6-axis with 6 joints and 7-axis layout with 7 joints.
[0198] Robot CMM arm joint and segment layout diagram
[0199] Figure 1A with 1B To illustrate respectively the preferred 6-axis and 7-axis layout diagrams of the Robot CMM Arm 1 according to the first embodiment of the present invention. The articulated robot CMM arm 1 has a base end 2 and a probe end 3 and includes a set of segments and a rotary join...
no. 2 example
[0645] Industrial Robot CMM Arm
[0646] In this second embodiment, the disclosed industrial robot CMM arm is used to provide accurate robot motion. In this second embodiment, a seven-axis industrial robot CMM arm with a common base section and a common probe section 8 is provided. The common probe section can carry heavy probes or tools and is susceptible to significant forces, while providing accurate position information. Compared with existing industrial robots, the industrial robot CMM arm is not only more reproducible, but also approximately 10 times more accurate. See now Figure 53 , The industrial robot CMM arm 450 has a common base 4, and the common base 4 includes a CMM section 31, a transmission device 171, and a robot exoskeleton section 141. The industrial robot CMM arm 450 also has a common probe section 8 451, which includes a CMM section 838, a transmission device 878, and an exoskeleton section 848. In fact, it provides a rigid transmission 878. The CMM sec...
no. 3 example
[0713] In this third embodiment, a movably supported robot CMM arm is disclosed. In all the spatial layouts to which it can be moved, it significantly reduces the forces acting on the joints and segments of the internal CMM arm 5. Moment.
[0714] Forces and moments acting on the robot CMM arm of the first embodiment
[0715] In some spatial layouts of the robot CMM arm 1, there is a considerable load acting on the internal CMM arm 5, so that the seven motors that act through the seven exoskeleton joints 1-761-67 of the exoskeleton 6 are provided The setting structure of 176 cannot provide enough control output to reduce these loads. In some spatial layouts, all the weight of the following sections of the internal CMM arm 5 acts on the joint. For example, when the internal CMM arm 5 is located in a vertical space layout, the total weight of the CMM section 2-832-38 directly falls on the CMM joint 151. Similarly, the total weight of the CMM segments 3-8 33-38 directly falls on t...
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