Measuring device

Abstract

The utility model discloses a measuring device. The measuring device comprises a base used for being installed on a measuring platform; the near end of the joint arm is connected to the base, and the far end of the joint arm is provided with a measuring device for the measuring device to move in the space so as to align to a point to be measured for measurement; the main control device is arranged on the base and comprises a power supply management unit which is provided with a battery and is powered by the battery when no external power supply exists, and a main processing unit which is electrically connected to the power supply management unit and is dormant when no external power supply exists; and the detection unit is electrically connected with the power supply management unit and the main processing unit so as to awaken the main processing unit to record an acceleration event when the acceleration event is detected. According to the measuring equipment disclosed by the invention, low-power-consumption work under the condition of no external power supply access such as transportation or carrying can be realized, acceleration events can be recorded, and the impact condition in the transportation or carrying process can be traced while energy consumption is saved.

Description

Technical Field

[0001] The present application relates to the technical field of articulated arm type measuring equipment, and in particular to a measuring equipment. Background Art

[0002] As a precision measuring tool, articulated arm measuring equipment is widely used in the fields of mold or part size measurement, quality inspection, engineering data collection, workpiece assembly, etc. It is usually composed of a base for connection and an articulated arm rotatably arranged on the base, and a measuring probe is arranged at the end of the articulated arm. Among them, the articulated arm can provide rotational freedom by imitating human joints. During the measurement operation, the measurement personnel can pull the measuring probe in space to move the measuring probe to contact or sense the object to be measured to capture the structural characteristics of the object to be measured.

[0003] Due to the high precision requirements of measuring equipment, impacts, collisions, falls and other events that occur during transportation or handling may affect the accuracy of the measuring equipment, causing the equipment to be unavailable for measurement. Therefore, special requirements are usually made for the transportation or handling of such equipment. However, existing measuring equipment requires an external power supply to operate, and there is no external power supply during transportation or handling. The measuring equipment cannot record events that may affect the accuracy of the equipment during transportation or handling, resulting in the inability to trace the source after a problem occurs with the measuring equipment, affecting the determination of responsibility. Summary of the invention

[0004] In view of the shortcomings of the related technologies mentioned above, the purpose of the present application is to provide a measuring device for solving the technical problem that the measuring device cannot record events that may affect the accuracy of the device during transportation or handling, thereby failing to perform traceability.

[0005] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a measuring device, including: a base for installation on a measuring platform; an articulated arm, a proximal end of which is connected to the base, and a distal end of which is equipped with a measuring device for allowing the measuring device to move in space to align with a point to be measured for measurement; a main control device, which is configured on the base, including a power management unit configured with a battery so as to be powered by the battery when there is no external power supply, a main processing unit electrically connected to the power management unit so as to sleep when there is no external power supply, and a detection unit electrically connected to the power management unit and the main processing unit so as to wake up the main processing unit when an acceleration event is detected and record the acceleration event.

[0006] In certain embodiments disclosed in the first aspect of the present application, the detection unit includes an acceleration sensor.

[0007] In certain embodiments disclosed in the first aspect of the present application, the measuring device includes a probe, and the probe is configured as a contact probe or a non-contact probe.

[0008] In certain embodiments disclosed in the first aspect of the present application, the main control device also includes an external power interface unit for accessing an external power supply, and the power management unit is electrically connected to the external power interface unit to supply power to the main processing unit and the detection unit based on the external power supply.

[0009] In certain embodiments disclosed in the first aspect of the present application, the external power interface unit includes a power port for accessing the external power source and a voltage regulator electrically connected to the power port.

[0010] In certain embodiments disclosed in the first aspect of the present application, the main processing unit is also electrically connected to the external power interface unit so as to go into sleep mode when it is detected that no external power is connected.

[0011] In certain embodiments disclosed in the first aspect of the present application, the power management unit further charges the battery based on the external power source.

[0012] In certain embodiments disclosed in the first aspect of the present application, the measuring device further includes an interface unit, which is disposed at the distal end of the articulated arm for accessing the measuring device.

[0013] In certain embodiments disclosed in the first aspect of the present application, the interface unit is electrically connected to the external power interface unit to cut off power when there is no external power supply.

[0014] In certain embodiments disclosed in the first aspect of the present application, the measuring device further includes at least one arm-end circuit, which is disposed on the articulated arm and is electrically connected to the power management unit to be powered by the power management unit.

[0015] In certain embodiments disclosed in the first aspect of the present application, the arm-end circuit is also electrically connected to the main processing unit to sleep based on the control of the main processing unit, and wakes up when an arm-end acceleration event is detected to record the arm-end acceleration event.

[0016] In certain embodiments disclosed in the first aspect of the present application, the arm-end circuit includes an arm-end detection module and an arm-end processing module for detecting the arm-end acceleration event, and the arm-end processing module is electrically connected to the arm-end detection module to be awakened by the arm-end detection module to record the arm-end acceleration event.

[0017] In certain embodiments disclosed in the first aspect of the present application, the articulated arm includes a first arm component and a second arm component connected by a second joint mechanism, the proximal end of the first arm component is connected to the base via a first joint mechanism, the distal end of the second arm component is connected to the measuring device via a third joint mechanism, and the arm end circuits are configured as three respectively located near each joint mechanism.

[0018] In certain embodiments disclosed in the first aspect of the present application, the arm-end circuit is further activated based on the control of the main processing unit to transmit the recorded arm-end acceleration event to the main processing unit.

[0019] In certain embodiments disclosed in the first aspect of the present application, the power management unit also includes: an energy management module, electrically connected to the battery, and electrically connected to the detection unit and the main processing unit to supply power to the detection unit and the main processing unit based on an external power supply or a battery; a switching power supply module, electrically connected between the energy management module and the arm-end circuit to supply power to the arm-end circuit, and also connected to the main processing unit to restart based on the control of the main processing unit.

[0020] In certain embodiments disclosed in the first aspect of the present application, the articulated arm includes at least one arm member and an axis assembly connected between the base and the arm member to provide hinged rotation, and a balancing mechanism is arranged on the articulated arm, and the balancing mechanism includes: an external support structure, arranged on the peripheral side of the arm member to support the arm member during the rotation of the arm member around the axis assembly; a balancing structure, sleeved on the axis assembly, including a balancing assembly, a bushing assembly, and a mounting assembly connected to the base; wherein the bushing assembly is sleeved on the axis assembly and fixed on the mounting assembly, and the balancing assembly is sleeved on the bushing assembly and connected to the external support structure, so that the external support structure supports the arm member during rotation and drives the balancing assembly to rotate around the bushing assembly to generate torque, so that the center of gravity of the measuring device is balanced.

[0021] In certain embodiments disclosed in the first aspect of the present application, the measuring device is a three-dimensional coordinate measuring machine.

[0022] To summarize, the measuring device provided by the present application is configured with a main control device in the base of the measuring device. The main control device is configured with a power management unit including a battery so that the measuring device can be powered by the battery when there is no external power supply. The main control device is also configured with a main processing unit and a detection unit. The main processing unit can sleep when there is no external power supply to save power, and be awakened by the detection unit to record the acceleration event when the detection unit detects an acceleration event, thereby achieving low-power operation in transportation or handling without external power supply access and recording events, thereby saving energy while ensuring that events in transportation or handling can be traced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific features of the present application are shown in the attached claims. The features and advantages of the invention involved in the present application can be better understood by referring to the exemplary embodiments and drawings described in detail below. The drawings are briefly described as follows:

[0024] Figure 1 Shown is a schematic diagram of the structure of a measuring device in one embodiment of the present application.

[0025] Figure 2 Shown is a structural schematic diagram of a balancing mechanism in one embodiment of the present application.

[0026] Figure 3 FIG. 1 is a schematic structural diagram of a balancing mechanism configured on a measuring device in one embodiment of the present application.

[0027] Figure 4 Shown is a circuit block diagram of a main control device in one embodiment of the present application.

[0028] Figure 5 Shown is a circuit block diagram of a main control device in another embodiment of the present application.

[0029] Figure 6 Shown is a circuit block diagram of an external interface unit in one embodiment of the present application.

[0030] Figure 7 and Figure 8 They are respectively shown as circuit block diagrams of a power management unit in one embodiment of the present application.

[0031] Fig. 9 Shown is a schematic diagram of the connection circuits of the main processing unit in one embodiment of the present application.

[0032] Fig.10 Shown is a schematic diagram of the connection between the interface unit and the main control device in one embodiment of the present application.

[0033] Fig.11 Shown is a connection diagram between an arm end circuit and a main control device in one embodiment of the present application.

[0034] Fig.12 Shown is a connection diagram of an arm end circuit and a power management unit in one embodiment of the present application.

[0035] Fig.13 Shown is a circuit block diagram of an arm-end circuit in one embodiment of the present application. DETAILED DESCRIPTION

[0036] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0037] In the following description, with reference to the accompanying drawings, several embodiments of the present application are described. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only to describe specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0038] Although the terms first, second, etc. are used to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first shaft assembly can be referred to as the second shaft assembly, and similarly, the second shaft assembly can be referred to as the first shaft assembly without departing from the scope of the various described embodiments. The first shaft assembly and the second shaft assembly are both describing a certain shaft assembly, but unless the context clearly indicates otherwise, they are not the same shaft assembly. Similar situations also include the first arm component and the second arm component, the first joint mechanism and the second joint mechanism, the first arm end circuit and the second arm end circuit.

[0039] In a possible embodiment, the present application proposes a measuring device, in which a main control device is configured in the base of the measuring device. The main control device is configured with a power management unit including a battery so that the measuring device can be powered by the battery when there is no external power supply. The main control device is also configured with a main processing unit and a detection unit. The main processing unit can sleep when there is no external power supply to save power, and be awakened by the detection unit to record the acceleration event when the detection unit detects an acceleration event, thereby achieving low-power operation in transportation or handling without external power supply access and recording events, thereby saving energy while ensuring that events in transportation or handling can be traced.

[0040] See also Figure 1 , which is a schematic diagram of the structure of a measuring device in one embodiment of the present application. As shown in the figure, the measuring device includes an articulated arm 1, a measuring device 2, and a base 3. The articulated arm 1 has a proximal end and a distal end opposite to each other, the proximal end of which is connected to the base 1, and the distal end of which is provided with the measuring device 2. It should be noted that Figure 1The measuring device shown is only an exemplary description. In other examples, the measuring device may also be configured to include other structures or be composed of other structures. The measuring device may also be a three-coordinate measuring arm device. In addition, in the subsequent embodiments, in order to clearly illustrate the relative positions of various parts, structures, assemblies, mechanisms, components, equipment, or devices in the measuring device, the proximal end and the distal end of the articulated arm are used as the reference for distinction. The side of each part, structure, assembly, mechanism, component, equipment, or device that is relatively close to the proximal end of the articulated arm is called the proximal end (also called the proximal side), and the side that is relatively close to the distal end of the articulated arm is called the distal end (also called the distal side).

[0041] In one embodiment, the articulated arm 1 provides the measuring device 2 with the freedom to move in space, so that the measuring device 2 can move to align with the point to be measured for measurement. The point to be measured corresponds to the position or area to be measured on the object to be measured, and aligning with the point to be measured means that the position of the measuring device 2 can measure the point to be measured.

[0042] In one embodiment, if Figure 1 As shown, the articulated arm 1 includes a first arm component 10, a second arm component 11, and six shaft assemblies, each of which can provide rotary rotation or hinge rotation. Figure 1 The six axis components are respectively the first axis component 12, the second axis component 13, the third axis component 14, the fourth axis component 15, the fifth axis component 16, and the sixth axis component 17. The first axis component 12 is connected to the base 3, and provides a rotary rotation around the axis of the base 3 as the center. The second axis component 13 is connected to the proximal end of the first arm component 10 and connected to the first axis component 12. The second axis component 13 provides a hinge rotation around an axis perpendicular to the first arm component 10 (which may correspond to the axis of the second axis component). The third axis component 14 is connected to the distal end of the first arm component 10, and provides a rotary rotation around the axis of the first arm component 10 as the center. The fourth axis component 15 is connected to the proximal end of the second arm component 11 and connected to the third axis component 14. The fourth axis component 15 provides a hinge rotation around an axis perpendicular to the second arm component 11 (which may correspond to the axis of the fourth axis component 15). The fifth axis assembly 16 is connected to the distal end of the second arm component 11, and provides a rotational rotation centered on the axis of the second arm component 11. The sixth axis assembly 17 is connected to the proximal end of the second arm component 11 and is connected to the fifth axis assembly 16. The sixth axis assembly 17 provides a hinged rotation around an axis perpendicular to the second arm component 11 (which may correspond to the axis of the sixth axis assembly 17).

[0043] In some embodiments, the axis assemblies (e.g., the first axis assembly 12 and the second axis assembly 13) that are combined together to connect the first arm member 10 to the base 3 are collectively referred to as the first joint mechanism. Similarly, the axis assemblies (e.g., the third axis assembly 14 and the fourth axis assembly 15) that are combined together to connect the first arm member 10 to the second arm member 11 are collectively referred to as the second joint mechanism. The axis assemblies (e.g., the fifth axis assembly 16 and the sixth axis assembly 17) that are combined together to connect the measuring device 2 to the second arm member 11 are collectively referred to as the third joint mechanism. In some embodiments, the positions of the axis assemblies and the number of axis assemblies included in each joint mechanism may also be different from those in FIG. Figure 1 Different from what is shown in the figure, for example, the third axis assembly 14 can be moved to the proximal end of the first arm member 10, and together with the first axis assembly 12 and the second axis assembly 13, serve as the first joint mechanism, and the fourth axis assembly 15 serves as the second joint mechanism. Of course, other methods of combining the axis assemblies can also be used, which will not be described in detail here.

[0044] like Figure 1 In the embodiment shown, the articulated arm 1 is provided with six shaft assemblies to provide six axis rotations. Figure 1 The measuring device in the illustrated embodiment is called a six-axis coordinate measuring machine. In some embodiments, it may further include a seventh axis assembly, which can provide a rotary rotation of the measuring device, and a measuring device provided with seven axis assemblies to provide a seven-axis rotation is also called a seven-axis coordinate measuring machine.

[0045] It should be understood that Figure 1 The configuration of two arm components and six axis assemblies in the middle articulated arm is only an exemplary description, and the present application is not limited to this. The articulated arm can be configured with any number of arm components. The axis assemblies connected between adjacent arm components, the axis assemblies connected between the arm components and the base, or the axis assemblies connected between the arm components and the measuring device respectively form a joint mechanism and can be configured with any number respectively. The articulated arm can provide more or less than six-axis or seven-axis rotation, as long as the articulated arm includes at least one arm component connected to the base and an axis assembly connected between the base and the arm component to provide hinged rotation.

[0046] In one embodiment, the arm component in the articulated arm may be configured as an elongated cylindrical shape and may be made of a suitable rigid material, for example, a lightweight and high-strength metal alloy such as an aluminum alloy, a magnesium alloy, or a carbon composite material.

[0047] In one embodiment, each axis assembly includes an encoder, which can be configured as an angle encoder, which can provide rotation information of the corresponding axis assembly, so that the rotation information provided by the encoders of all axis assemblies can determine the position of the measuring device relative to the base. Further, the main control device configured in the base can determine the three-dimensional coordinates of the point to be measured based on the position of the measuring device relative to the base.

[0048] In one embodiment, if Figure 1 As shown, the measuring device 2 includes a base 20 and a probe 21. The base 20 is connected to the distal end of the articulated arm 1. Figure 1 The probe 21 is removably mounted on the base 20. In some examples, the probe 21 is configured as a contact probe having different ends that can physically contact the object to be measured, including but not limited to a ball, touch-sensitive, curved, or extended probe. In some examples, the probe 21 is configured as a non-contact probe that can measure the object to be measured in a non-contact manner, so as not to cause contact damage to the object to be measured. The non-contact probe is, for example, a laser scanner, an optical sensor, an electrostatic sensor, etc.

[0049] Furthermore, an interface unit is configured on the base 20. The interface unit can be configured to include a probe interface module and a trigger component interface module. The probe interface module is configured to be at least one, and the probe 21 described in the above embodiment can be installed on the base 20 through a probe interface module. More probe interface modules can be used to connect other probes, including but not limited to laser scanning heads, fork-shaped probes, etc. The trigger component interface module is used to connect a trigger component, which can be, for example, a handle or a keypad.

[0050] During the measurement operation, the center of gravity of the articulated arm and the measuring device will change with the position of the measured point, thereby making the center of gravity of the measuring device unbalanced, and the articulated arm may fall. In view of this, in one embodiment, the measuring device may further include a balancing mechanism, which is used to balance the change of the center of gravity torque of the articulated arm.

[0051] See also Figure 2 , which is a schematic diagram of the structure of a balancing mechanism in an embodiment of the present application, as shown in the figure, the balancing mechanism 4 is configured to include an outer support structure 41 and a balancing structure 42. The outer support structure 41 is configured on the peripheral side of an arm member connected to a base through at least one shaft assembly providing hinged rotation, so as to support the arm member during the rotation of the arm member around the shaft assembly, and the balancing structure 42 is sleeved on the shaft assembly and connected to the outer support structure, so that the outer support structure can drive the balancing structure to rotate during the rotation of the arm member to generate a torque force that balances the change of the center of gravity moment of the measuring device, so as to balance the center of gravity of the measuring device.

[0052] The structural design of the balancing mechanism shown in this embodiment enables the external support structure to bear the force of the balancing structure and further transfer it to the base, thereby avoiding the deflection deformation of the arm member of the measuring device. In addition, the balancing structure is sleeved on the shaft assembly corresponding to the arm member through its shaft sleeve assembly, and the balancing assembly of the balancing structure is sleeved on the shaft sleeve assembly and connected to the external support structure, so that the balancing structure is arranged around the shaft assembly and is convenient for disassembly and assembly. In this way, the balancing structure does not occupy the working space of the measuring device and is easy to be detached from the measuring device.

[0053] See also Figures 1 to 3 , Figure 3 The diagram shows a schematic diagram of a structure in which a balancing mechanism is configured on a measuring device in one embodiment of the present application. Figures 1 to 3 As shown, the outer support structure 41 included in the balancing mechanism 4 can be arranged on the peripheral side of the first arm component 10 , and the balancing structure 42 of the balancing mechanism 4 is connected to the base 3 and sleeved on the second shaft assembly 13 .

[0054] In one embodiment, if Figure 2 As shown, the outer support structure 41 includes an outer sleeve 411, an arm support portion 412, and a connecting assembly 413. Figure 1 and Figure 3 The connecting component 413 is connected between the outer sleeve 411 and the balancing structure 42 to achieve a fixed connection between the balancing structure 42 and the outer support structure 41. The outer sleeve 411 is non-contactly sleeved on the first arm member 10, and its proximal end is connected to the connecting component 413. The arm support part 412 is configured at the distal end of the outer sleeve 411. When the first arm member 10 is placed in the outer sleeve 411, the arm support part 412 supports the first arm member 10.

[0055] The outer sleeve 411 is non-contactly sleeved on the first arm component 10, that is, the outer sleeve 411 surrounds the first arm component 10 with a certain gap therebetween, and only the arm support portion 412 provides support for the first arm component 10. In this way, the outer sleeve 411 bears the torque provided by the balancing structure, and even if the outer sleeve 411 is deformed due to long-term stress, since it is not in contact with the first arm component 10, it will not affect the accuracy of the first arm component 10. Furthermore, the first arm component 10 can be configured to be relatively thin, and the outer sleeve 3111 can be configured to be relatively thick.

[0056] In order to avoid the axis of the first arm member 10 and the axis of the outer sleeve 411 being offset and affecting the measurement accuracy, in one embodiment, the arm support portion 412 supports the first arm member in a point support or line support manner. In some examples, the arm support portion 412 may include a coupling and a support member. The coupling member is adapted to the outer sleeve to be connected to the distal end of the outer sleeve, and the support member is configured on the side wall of the coupling member to support the first arm member 10 in a point support or line support manner. In some other examples, the coupling member and the outer sleeve may not be distinguished, that is, the arm support portion 412 may only include a support member, and the support member is arranged on the outer sleeve to support the first arm member.

[0057] For example, the support member may be configured as a roller, so that when the axis of the first arm member 10 deviates from the axis of the outer sleeve 411, it can slide relative to the roller to adjust the axis. The support member may also be configured as a long strip support. In this way, the axis of the first arm member can also be adjusted. Further, the support member may be configured as two, and the two support members may be distributed at 120 degrees, for example. Of course, the support member may also be configured as a plurality greater than two, such as three, four, five, etc.

[0058] In one embodiment, when the balancing structure 42 is sleeved on the second shaft assembly 13, there is a circumferential gap between the balancing structure 42 and the second shaft assembly 13. That is to say, the second shaft assembly 13 and the balancing structure 42 are not in contact with each other in the circumferential direction and are separable from each other. In this way, when the second shaft assembly 13 or the balancing structure 42 fails and needs to be replaced, the two can be separated more conveniently for separate replacement.

[0059] In one embodiment, if Figure 2 As shown, the balancing structure 42 includes a balancing component 421, a sleeve component 422 and a mounting component 423. The sleeve component 422 is sleeved on the second shaft component and fixed on the mounting component 423, and the balancing component 421 is sleeved on the sleeve component 422 and fixedly connected to the outer support structure 41, so that the outer support structure 41 supports the first arm component to rotate and drives the balancing component 421 to rotate around the sleeve component 422 to generate torque force, so that the center of gravity of the measuring device is balanced. In other words, the rotation of the balancing component 421 around the second shaft component will generate a torque force that balances the change in the center of gravity moment of the measuring device. Further, during the measurement work, the position of the articulated arm and the measuring device will change in space, thereby causing the center of gravity moment of the measuring device to change. Therefore, balancing the change in the center of gravity moment of the measuring device is to balance the change in the center of gravity moment caused by the change in the position of the articulated arm and the measuring device in space, so that the articulated arm and the measuring device can be balanced and will not fall.

[0060] In one embodiment, the sleeve assembly 422 includes a mandrel, which is configured as a ring-shaped structure that penetrates front and back to be sleeved on the second shaft assembly. The sleeve assembly 422 may further include a mandrel fixing ring, which is connected to the mounting assembly 423, and a fixing member is provided to pass through the mandrel fixing ring and be connected to the end surface of the mandrel, thereby fixing the mandrel.

[0061] In one embodiment, the balancing assembly 421 includes a torsion spring and a rotating connection part, wherein the torsion spring is sleeved with a shaft sleeve assembly 422 and has a fixed end and a follower end. The rotating connection part is fixedly connected to the follower end of the torsion spring and is fixedly connected to the outer support structure 41 to adjust the torque of the torsion spring during the rotation of the outer support structure 41 so that the center of gravity of the measuring device is balanced.

[0062] In one embodiment, the mounting assembly 423 includes a bearing structure and a connecting bracket. The bearing structure is connected to the base, and the connecting bracket is arranged on the bearing structure and supports or connects the sleeve assembly 422 and the balancing assembly 421, thereby ensuring that the sleeve assembly 422 and the balancing assembly 421 can rotate around the axis of the base without hindering the rotation generated by the first shaft assembly.

[0063] like Figure 2 and Figure 3 The balancing mechanism described in any embodiment is only an example. In other embodiments, the balancing mechanism may also be configured to include a self-balancing structure. The self-balancing structure may be configured as follows: Figure 1 The second axis assembly 13 of the measuring device shown is connected to the first arm member 10 to balance the gravity torque change of the joint arm. The present application does not limit whether the measuring device has a balancing mechanism, and the configuration or structure of the balancing mechanism.

[0064] like Figure 1 and Figure 3 As shown, the base 3 is used to be installed on a measuring platform. In this way, the base 3 can be used as a connecting part so that the articulated arm 1 can rotate in space with the measuring platform as the base point, so that the measuring device 2 can be freely oriented in space and positioned near the object to be measured or positioned in contact with the object to be measured for measurement. In one example, the base 3 may include a mounting device 30, and the mounting device 30 allows the measuring device to be removably arranged on the measuring platform, and the measuring platform is, for example, an inspection table, a processing platform, a wall, a ground, or a tripod. For example, the mounting device 30 can be configured as a threaded ring structure, and the measuring device is placed on the measuring platform for measurement by tightening the threaded ring structure on the measuring platform, and the measuring device can be removed from the measuring platform or the direction of the measuring device can be adjusted by loosening the threaded ring structure on the measuring platform. Further, an operating part can be configured on the threaded ring structure to facilitate tightening or loosening operations.

[0065] In one embodiment, the base 3 may include a handle structure, which provides an operating space for the operator. For example, when the measuring device needs to be moved or adjusted, the operator may hold it through the handle structure.

[0066] In one embodiment, the base 3 includes or is configured with a main control device. In some examples, during the working stage of the measuring device, the main control device can calculate the three-dimensional coordinates based on the rotation signals from the angle encoders in the articulated arm 1 and the position information of the measured point obtained by the measuring device 2.

[0067] See also Figure 4 , which is a circuit block diagram of a main control device in one embodiment of the present application, as shown in the figure, the main control device 5 includes a power management unit 51, a main processing unit 52, and a detection unit 53. The power management unit 51 is electrically connected to the main processing unit 52 and the detection unit 53 to supply power to the main processing unit 52 and the detection unit 53.

[0068] In one embodiment, the power management unit 51 may be electrically connected to an external power source, so that the power management unit 51 may supply power to the main processing unit 52 and the detection unit 53 based on the external power source. For example, during the working stage of the measuring device, it needs to be connected to the external power source, and the electrical connection between the power management unit 51 and the external power source can be realized when the external power source is connected. Wherein, the external power source is a power source that is electrically connected to the measuring device outside the measuring device to provide electrical energy to the measuring device, and the external power source may be electrically connected to the measuring device through a power adapter, and the power adapter may exist as an independent device, or may be configured in the external power source or the measuring device, and this application does not limit this. For example, the external power source may be, for example, the mains power, and the mains power is converted into electrical energy through the power adapter to provide it to the measuring device, and the external power source may also be, for example, a power generation device, and the power generation device is electrically connected to the measuring device to supply power to the measuring device.

[0069] See also Figure 5 , shown is a circuit block diagram of a main control device in another embodiment of the present application. As shown in the figure, the main control device 5 also includes an external power interface unit 50, and the external power interface unit 50 is used to connect to an external power supply. The power management unit 51 is electrically connected to the external interface unit 50 to supply power to the main processing unit 52 and the detection unit 53 based on the external power supply when the external power supply is connected.

[0070] See also Figure 6 Combined with Figure 3 , Figure 6Shown is a circuit block diagram of an external interface unit in an embodiment of the present application. As shown in the figure, the external interface unit 50 includes a power port 501, which is connected to an external power source. The power port 501 is configured on the base 3. The two ends of the power adapter are respectively inserted into the external power source and the power port 501 so that the external power source can be powered through the power port 501. When the power port 501 is not connected, there is no external power supply. For example, the measuring device is placed in a transport box during transportation or handling and remains in a state where there is no external power supply. It should be noted that in some embodiments of the present application, in order to distinguish it from the battery power included in the power management unit, the example of the measuring device being powered by an external power source is also referred to as external power supply.

[0071] In one embodiment, if Figure 6 As shown, the external interface unit 50 further includes a voltage regulator 502, which is electrically connected to the power port 501. For example, the voltage regulator 502 can stabilize, boost, or reduce the voltage of the electrical signal received by the power port 501 to output it to its subsequent circuit for use. Figure 5 In the example shown in which the power management unit 51 is electrically connected to the external interface unit 50, the post-stage circuit of the external interface unit 50 includes the power management unit 51, and the voltage regulator 502 can provide electrical energy adapted to the power management unit 51. For example, the power port 501 receives a 24V electrical signal, and the voltage regulator 502 can provide a 5V electrical signal based on the 24V electrical signal to the power management unit 51 for use.

[0072] In order to avoid the problem that the power management unit 51 cannot supply power to the main processing unit 52 and the detection unit 53 when the measuring device is not connected to an external power source, and thus cannot record the events occurring during this period, in one embodiment, the power management unit 51 is configured with a battery to supply power based on the battery when there is no external power source, the main processing unit 52 can be dormant when there is no external power source, and the detection unit 53 is also electrically connected to the main processing unit 52 to wake up the main processing unit 52 when an acceleration event is detected to record the acceleration event.

[0073] See also Figure 7 and Figure 8 , respectively, are circuit block diagrams of a power management unit in one embodiment of the present application, wherein Figure 7 The power management unit is powered by a battery. Figure 8 It shows the way the power management unit is powered by an external power supply. Figure 7 and Figure 8 The detection unit 53, the main processing unit 52, and the external power supply 9 are shown to illustrate the flow of power supply lines, and do not mean that these units or power supplies are part of the power management unit.

[0074] like Figure 7 and Figure 8 As shown, the power management unit 51 includes a battery 511 and a power management module 512 electrically connected to the battery 511. The power management module 512 is also electrically connected to the detection unit 53 and the main processing unit 52 for power supply. Figure 7 As shown, the power management module 512 switches to the battery power supply mode, and the battery 511 is discharged and provided to the detection module 53 and the main processing unit 52 through the power management module 512. The power supply circuit is as shown in FIG. Figure 7 When an external power source is connected, Figure 8 As shown, the power management module 512 switches to the external power supply mode, the external power supply 9 provides power to the power management module 512, and the power management module 512 supplies power to the detection unit 53 and the main processing unit 52 based on the power provided by the external power supply 9, as shown in FIG. Figure 8 The dashed arrows pointing to the detection unit 53 and the main processing unit 52 are shown in FIG. 5 . Further, when the external power source 9 is connected, the power management unit 51 can also charge the battery based on the external power source, such as Figure 8 As shown, the power management module 512 can charge the battery 511 based on the power provided by the external power source 9, and its charging circuit is as follows Figure 8 The dashed arrow in the figure points to the battery 511. It should be understood that Figure 8 This is only an exemplary description of the power management module 512 being connected to the external power source 9. The power management module 512 may also be connected to the external power source 9 through, for example Figure 5 The external power interface unit 50 shown in the figure is connected to the external power source 9, and this application does not limit this.

[0075] For example, if Figure 7 and Figure 8 The power management module 512 shown in the figure may include a voltage stabilizer, through which the detection unit 53 and the main processing unit 52 are electrically connected. The voltage stabilizer can stabilize, boost, or reduce the voltage of the electrical signal received by the power management module 512 to output it to the subsequent circuit of the power management module 512 for use. Figure 7 and Figure 8 In the example shown in which the power management module 512 is electrically connected to the detection unit 53 and the main processing unit 52, the subsequent circuit of the power management module 512 includes the detection unit 53 and the main processing unit 52, and the voltage regulator can provide power required by the detection unit 53 and the main processing unit 52 respectively.

[0076] In one embodiment, the main processing unit 52 may be configured to have a sleep mode, so that it can sleep when there is no external power supply and enter a low power consumption mode, which greatly reduces the power demand. For example, the main processing unit 52 may include a memory and a processor, the memory may be used to store programs, information, data, or events, etc., the processor is connected to the memory, and is used to read the content on the memory or record the content to be saved or temporarily stored on the memory. Specifically, the processor may be an integrated circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, or an NP architecture, etc.

[0077] See also Fig. 9 , which is a schematic diagram of the connection circuit of the main processing unit in one embodiment of the present application. As shown in the figure, the main processing unit 52 is Figure 5 On the basis of the electrical connection shown, the external power interface unit 50 is also electrically connected to sleep when it is detected that there is no external power supply. Figure 3 , Figure 5 ,and Figure 6 Taking the example shown, when the external power interface unit 50 has no external power access, that is, the power adapter is not inserted into the power port 501, the external power interface unit 50 has no electrical signal input. Furthermore, the main processing unit 52 can be electrically connected to the voltage regulator 502 in the external power interface unit 50. When it is detected that the voltage regulator 502 is not powered on, it can be determined that there is no external power access, and when it is detected that the voltage regulator 502 is powered on, it can be determined that there is external power access.

[0078] It should be understood that Fig. 9 The method shown in FIG. 5 is only an example of the main processing unit 52 detecting whether there is an external power supply. In other examples, the main processing unit 52 may also be as follows: Figure 4 and Figure 5 As shown, there is no direct electrical connection with the external power interface unit 50. The main processing unit 52 can determine whether there is an external power supply by detecting the power supply mode of the power management unit 51 (for example, external power supply or battery power supply), thereby entering sleep mode when powered by battery.

[0079] In one embodiment, the acceleration event detected by the detection unit 53 refers to an event in which the acceleration exceeds a first preset threshold value, which is used to indicate that the measuring device has experienced an impact phenomenon such as falling or collision. For example, the acceleration event may include any information in time information, position information, and degree information. The time information is used to indicate the time when the acceleration event occurred, the position information is used to indicate the location where the acceleration event occurred in the measuring device, and the degree information is used to indicate the impact degree corresponding to the acceleration event.

[0080] In one embodiment, the detection unit 53 can detect the acceleration of the location where it is located, and when the detected acceleration exceeds a first preset threshold, the main processing unit 52 is awakened, so that the main processing unit 52 records the acceleration event. Further, the detection unit 53 can be configured to include an acceleration sensor, and the acceleration sensor can be, for example, a three-axis accelerometer. In one example, the main processing unit 52 can use the current time as the time information of the acceleration event, and also perform degree division based on the acceleration value transmitted by the detection unit 53 to determine the degree information in the acceleration event, and determine the location information of the acceleration event based on the location of the detection unit 53, for example Figures 1 to 5 , the detection unit 53 is configured on the base 3 , in other words, the main processing unit 52 determines that the position information of the acceleration event corresponds to the base 3 .

[0081] In one embodiment, the measuring device may include an interface unit, which is configured at the distal end of the articulated arm for accessing the measuring device, wherein accessing any component or part in the measuring device can be understood as accessing the measuring device. For example, in the example where the interface unit is configured on the aforementioned base 20, the interface unit may include a probe interface module and a trigger component interface module, which are used to access the probe and the trigger component, respectively. For example, two probe interface modules may be configured, one of which is used to access the probe 21 and the other is used to access other probes. One trigger component interface module may be configured to access the trigger component. This application does not limit the type and quantity of interface modules included in the interface unit.

[0082] Since the interface unit is connected to the part that needs to be connected when the measuring device performs the measuring work, the interface unit does not need to work during transportation or handling and can be kept in a power-off state to save power. Therefore, in some embodiments of the present application, the interface unit is isolated from the battery power supply circuit so that the interface unit is powered off when there is no external power supply and powered on when there is an external power supply. Fig.10 , which is a schematic diagram of the connection between the interface unit and the main control device in one embodiment of the present application. As shown in the figure, the interface unit 6 is electrically connected to the external power interface unit 50, so that the interface unit 6 is powered by the external power supply. Once the external power interface unit 50 is not connected to the external power supply, the interface unit 6 is powered off. In other words, the interface unit 6 is isolated from the battery power supply circuit. When there is no external power supply, the power provided by the battery cannot be provided to the interface unit 6, so that the interface unit 6 is maintained in a power-off state to reduce energy consumption.

[0083] In one embodiment, the articulated arm may also be configured with at least one arm-end circuit for obtaining rotation information collected by an encoder connected thereto for transmission to the main control device. Taking a seven-axis articulated arm as an example, the articulated arm may be configured with three arm-end circuits, the first arm-end circuit being electrically connected to the encoders included in the second axis assembly and the third axis assembly, the second arm-end circuit being electrically connected to the encoders included in the fourth axis assembly and the fifth axis assembly, and the third arm-end circuit being electrically connected to the encoders included in the sixth axis assembly and the seventh axis assembly. Furthermore, the first to third arm-end circuits are electrically connected to the main control device, and the encoder included in the first axis assembly is electrically connected to the main control device, so that the main control device can obtain the rotation information of all encoders to further determine the position of the measuring device relative to the base.

[0084] See also Fig.11 , which is a schematic diagram showing the connection between the arm end circuit and the main control device in one embodiment of the present application, Fig.11 The configuration of one arm-end circuit 7 is used as an example for illustration, and should not be understood as limiting the number of arm-end circuits 7. Fig.11 As shown, the arm end circuit 7 is electrically connected to the power management unit 51 to be powered by the power management unit 51. In other words, when an external power source is connected, the power management unit 51 can power the arm end circuit 7 based on the external power source, and when no external power source is connected, the power management unit 51 can power the arm end circuit 7 based on the battery.

[0085] For further information, see Fig.12 , which is a schematic diagram showing the connection between the arm end circuit and the power management unit in one embodiment of the present application. As shown in the figure, in order to adapt to the power demand of the arm end circuit 7, the power management unit 51 is Figure 7 and Figure 8 On the basis of the illustrated embodiment, a switching power supply module 513 may be further included. The switching power supply module 513 is electrically connected between the power management module 512 and the arm end circuit 7 to perform power conversion, thereby providing power supply for the arm end circuit 7 .

[0086] In order to further reduce the energy consumption when no external power supply is connected and to trace the specific joint mechanism (or specific axis assembly) corresponding to the impact of the measuring device, at least one arm end circuit is configured near at least one joint mechanism. For example, in the above example where three arm end circuits are configured, the first arm end circuit can be configured near the first joint mechanism, and further can be configured at a position corresponding to the second axis assembly, the second arm end circuit can be configured near the second joint mechanism, and further can be configured at a position corresponding to the fourth axis assembly, and the third arm end circuit can be configured near the third joint mechanism, and further can be configured at a position corresponding to the sixth axis assembly.

[0087] like Fig.12As shown, the arm end circuit 7 is also electrically connected to the main processing unit 52 to sleep based on the control of the main processing unit 52, and wakes up when an arm end acceleration event is detected to record the arm end acceleration event. Among them, the arm end acceleration event refers to an event in which the acceleration occurring on the joint arm exceeds the second preset threshold value, which is used to indicate which joint mechanism on the joint arm of the measuring device has experienced an impact phenomenon such as falling or collision. For example, the arm end acceleration event may also include any information in time information, position information, and degree information. The time information is used to indicate the time when the arm end acceleration event occurs, the position information is used to indicate the joint mechanism corresponding to the arm end acceleration event, and the degree information is used to indicate the impact degree corresponding to the arm end acceleration event.

[0088] See also Fig.13 , which is a circuit block diagram of an arm-end circuit in an embodiment of the present application. As shown in the figure, the arm-end circuit 7 includes an arm-end processing module 71 and an arm-end detection module 72 for detecting arm-end acceleration events. The arm-end processing module 71 is electrically connected to the arm-end detection module 72 so as to be awakened by the arm-end detection module 72 to record arm-end acceleration events. Further, the arm-end detection module 72 may be configured to include an acceleration sensor, which may be, for example, a three-axis accelerometer. In one example, the arm-end processing module 71 may use the time at this moment as the time information of the arm-end acceleration event, and also perform degree division based on the acceleration value transmitted by the arm-end detection module 72 to determine the degree information in the arm-end acceleration event, and determine the position information of the arm-end acceleration event based on the joint mechanism to which the arm-end detection module 72 belongs. For example, the arm processing module 71 may include a memory and a processor. The memory may be used to store programs, information, data, or events, etc. The processor is connected to the memory and is used to read the contents on the memory or record the contents to be saved or temporarily stored on the memory. Specifically, the processor may be an integrated circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, or an NP architecture, etc.

[0089] In such Fig.12 In the embodiment shown, the arm end circuit 7 is electrically connected to the main processing unit 52 to sleep based on the control of the main processing unit 52. In one example, the main processing unit 52 controls the arm end circuit 7 to sleep when it detects that there is no external power supply connected, so as to enter sleep when it is determined that the arm end circuit 7 is sleeping. Specifically, the main processing unit 52 is electrically connected as follows Fig.13The arm-end processing module 71 in the main processing unit 52 can refer to the method described in any of the aforementioned embodiments for detecting whether an external power supply is connected. When no external power supply is connected, the main processing unit 52 sends a sleep signal to the arm-end processing module 71 to control the arm-end processing module 71 to sleep. If the main processing unit 52 does not receive an electrical signal from the arm-end processing module 71 within a preset time, it determines that the arm-end processing module 71 has gone to sleep, and it also goes to sleep. Once it detects that an external power supply is connected, the main processing unit 52 will activate the arm-end circuit 7.

[0090] In one embodiment, if Fig.12 As shown, the main processing unit 52 is also electrically connected to the switch power module 513 in the power management unit 51, so that the switch power module 513 can be restarted based on the control of the main processing unit 52 to activate the arm end circuit 7 (that is, activate the sleep mode of the arm end circuit 7). Specifically, the switch power module 513 includes an enable terminal, and the main processing unit 52 is electrically connected to the enable terminal of the switch power module 513, and controls the switch power module 513 by sending a control signal to the enable terminal. For example, when the main processing unit 52 detects that an external power supply is connected, a control signal can be sent to the switch power module 513 to restart the switch power module 513, so that the arm end circuit 7 can be activated and the arm end circuit 7 leaves the sleep mode.

[0091] In one embodiment, the main processing unit further obtains the arm end acceleration events recorded by each arm end circuit when detecting that the external power supply is connected. Specifically, the main processing unit activates each arm end circuit when detecting that the external power supply is connected, and after activation, each arm end circuit transmits the arm end acceleration events recorded during the period when the external power supply is not connected to the main processing unit, and the main processing unit determines whether the measuring device is impacted during the period when the external power supply is not connected based on the acceleration events and arm end acceleration events recorded by itself during the period when the external power supply is not connected, as well as the time, location, and degree of the impact, thereby providing reliable data so that the measuring device can trace the transportation or handling process.

[0092] To summarize, the measuring device provided by the present application is configured with a main control device in the base of the measuring device. The main control device is configured with a power management unit including a battery so that the measuring device can be powered by the battery when there is no external power supply. The main control device is also configured with a main processing unit and a detection unit. The main processing unit can sleep when there is no external power supply to save power, and be awakened by the detection unit to record the acceleration event when the detection unit detects an acceleration event, thereby achieving low-power operation in transportation or handling without external power supply access and recording events, thereby saving energy while ensuring that events in transportation or handling can be traced.

[0093] Furthermore, the interface unit for accessing components or parts is configured to be powered by an external power interface unit, thereby being isolated from the battery power supply line. When there is no external power access, the interface unit can be maintained in a power-off state, further reducing energy consumption in situations where there is no external power access, such as transportation or handling.

[0094] Furthermore, an arm-end circuit is configured in the articulated arm, and the arm-end circuit can detect arm-end acceleration events when there is no external power supply, so as to accurately locate the joint mechanism where the impact occurs, and can provide reliable data, making the tracing of the impact condition of the measuring equipment more accurate.

[0095] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A measuring device, characterized in that: include: A base for mounting on a measuring platform; An articulated arm, the proximal end of which is connected to the base, and the distal end of which is provided with a measuring device for allowing the measuring device to move in space to align with a point to be measured for measurement; The main control device is configured on the base, including a power management unit configured with a battery so as to be powered by the battery when there is no external power supply, a main processing unit electrically connected to the power management unit so as to be dormant when there is no external power supply, and a detection unit electrically connected to the power management unit and the main processing unit so as to wake up the main processing unit and record the acceleration event when an acceleration event is detected.

2. The measuring device according to claim 1, characterized in that The detection unit includes an acceleration sensor.

3. The measuring device according to claim 1, characterized in that The measuring device includes a probe configured as a contact probe or a non-contact probe.

4. The measuring device according to claim 1, characterized in that The main control device further comprises an external power interface unit for accessing an external power source, and the power management unit is electrically connected to the external power interface unit to supply power to the main processing unit and the detection unit based on the external power source.

5. The measuring device according to claim 4, characterized in that The external power interface unit includes a power port for accessing the external power source and a voltage regulator electrically connected to the power port.

6. The measuring device according to claim 4, characterized in that The main processing unit is also electrically connected to the external power interface unit so as to go into sleep mode when it is detected that no external power is connected.

7. The measuring device according to claim 1, characterized in that The power management unit also charges the battery based on the external power source.

8. The measuring device according to claim 4, characterized in that It also includes an interface unit, which is arranged at the distal end of the articulated arm and is used for accessing the measuring device.

9. The measuring device according to claim 8, characterized in that The interface unit is electrically connected to the external power interface unit to cut off power when there is no external power supply.

10. The measuring device according to claim 1, characterized in that It also includes at least one arm end circuit, which is disposed on the articulated arm and is electrically connected to the power management unit to be powered by the power management unit.

11. The measuring device according to claim 10, characterized in that The arm-end circuit is also electrically connected to the main processing unit to sleep based on the control of the main processing unit, and wakes up when an arm-end acceleration event is detected to record the arm-end acceleration event.

12. The measuring device according to claim 11, characterized in that The arm-end circuit includes an arm-end detection module and an arm-end processing module for detecting the arm-end acceleration event. The arm-end processing module is electrically connected to the arm-end detection module to be awakened by the arm-end detection module to record the arm-end acceleration event.

13. The measuring device according to any one of claims 10 to 12, characterized in that: The articulated arm includes a first arm component and a second arm component connected by a second joint mechanism, the proximal end of the first arm component is connected to the base through the first joint mechanism, the distal end of the second arm component is connected to the measuring device through a third joint mechanism, and the arm end circuit is configured as three circuits respectively located near each joint mechanism.

14. The measuring device according to claim 11, characterized in that The arm-end circuit is also activated based on the control of the main processing unit to transmit the recorded arm-end acceleration event to the main processing unit.

15. The measuring device according to claim 10, characterized in that The power management unit also includes: an electric energy management module, electrically connected to the battery, and electrically connected to the detection unit and the main processing unit to supply power to the detection unit and the main processing unit based on an external power supply or a battery; The switch power supply module is electrically connected between the power management module and the arm end circuit to supply power to the arm end circuit, and is also connected to the main processing unit to restart based on the control of the main processing unit.

16. The measuring device according to claim 1, characterized in that The articulated arm comprises at least one arm member and an axis assembly connected between the base and the arm member to provide hinged rotation. A balancing mechanism is arranged on the articulated arm, and the balancing mechanism comprises: an outer support structure disposed on a circumferential side of the arm member to support the arm member during rotation of the arm member around the shaft assembly; A balancing structure, sleeved on the shaft assembly, comprising a balancing assembly, a shaft sleeve assembly, and a mounting assembly connected to the base; Among them, the bushing assembly is sleeved on the shaft assembly and fixed on the mounting assembly, and the balancing assembly is sleeved on the bushing assembly and connected to the external support structure, so that the external support structure supports the arm component to rotate and drives the balancing assembly to rotate around the bushing assembly to generate torque force, so that the center of gravity of the measuring device is balanced.

17. The measuring device according to claim 1, characterized in that The measuring device is a three-coordinate measuring machine.

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