Real-time active torque compensation type balance method of articulated coordinate measuring machine

Abstract

The invention discloses a real-time active torque compensation type balancing method of an articulated coordinate measuring machine. The existing balancing method of the articulated arm type coordinate measuring machine cannot realize real-time dynamic balance. According to the invention, a real-time active moment compensation type balancing device is arranged at a swing joint of the articulated arm type coordinate measuring machine; if the computer judges that the torque generated by the first swing joint is smaller than the minimum torque reaction value, the motor is controlled not to outputthe rotating torque; if the computer judges that the torque generated by the first swing joint is larger than or equal to the minimum torque response value and smaller than or equal to the theoretical torque value generated by the measuring arm assembly at the current position to the rotating center of the first swing joint, the motor is controlled to output rotating torque equal to the torque value of the torque sensor; and if the computer judges that the torque generated by the first swing joint exceeds the theoretical torque value of the current position, the motor is controlled to outputthe rotating torque equal to the theoretical torque value. According to the invention, real-time dynamic balance of the measuring arm is realized, and the operation load of an operator is reduced.

Description

Technical field [0001] The invention relates to an articulated arm type coordinate measuring machine, in particular to a real-time active torque compensation type balance method of the articulated coordinate measuring machine. Background technique [0002] The articulated arm coordinate measuring machine is a portable measuring device that mainly relies on the operator's manual traction measurement. When the operator holds the measuring arm for measurement, the weight of the probe and the measuring arm is borne by the operator, and the posture of the measuring arm is constantly changing, which causes the resulting gravity moment to change accordingly, which greatly reduces the flexibility of operation. Therefore, it is essential to design a dynamic balance method that can effectively overcome the weight of the measuring arm and improve the operating efficiency. [0003] The current common balancing methods in articulated arm coordinate measuring machines include gravitational mome...

AI Technical Summary

Problems solved by technology

However, the device of the above-mentioned balance method has disadvantages such as complicated processing, and cannot realize real-time dynamic balance of the measuring arm during the measurement process.

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