Calibration system for three-dimensional space coordinate measuring equipment

Abstract

The utility model provides a calibration system for three-dimensional space coordinate measuring equipment. The calibration system comprises a mechanical arm, a clamping part, a standard device and an upper computer. The mechanical arm is constructed to perform three-dimensional motion according to a programmed program, and the clamping part is detachably mounted at the free end of the mechanical arm; the standard device is configured to be reliably clamped by the clamping part; and the upper computer is electrically connected with the mechanical arm and is configured to control the action of the mechanical arm through a programmed program so as to move the etalon to different predetermined spatial positions relative to the coordinate measuring equipment. According to the scheme, the mechanical arm can automatically and sequentially move the standard devices to the specified spatial positions according to the programmed program and the requirements, so that the manpower can be saved, the efficiency can be improved, different standard devices or clamping parts can be replaced according to different tested devices, and the application range of the whole calibration system can be expanded.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of calibration systems for measuring equipment, more particularly to a kind of calibration systems for three-dimensional space coordinate measuring equipment. BACKGROUND

[0002] For example, photogrammetry system, laser tracker, three-dimensional scanner, laser radar and other three-dimensional space coordinate measuring equipment have wide application in aerospace, ship, equipment manufacturing and other industries, and the number of enterprises developing related measuring equipment is increasing, so it is necessary to continuously test the stability of newly developed equipment of each enterprise for a long time. At present, standard ball, scale and other physical standard are mainly used as the calibration system of the above measuring equipment at home and abroad. In actual calibration process, all standardizers need to be installed and fixed by fixed metal frame, which is relatively cumbersome in use. If 1 standardizer is placed in multiple positions, manual disassembly and assembly are required multiple times, and the calibration efficiency is low. If 7 standardizers are installed at one time, 7 standardizers (as shown in Figure 1 ) need to be equipped simultaneously and maintained for a long time, and the fixed expenditure is high. At the same time, there is mutual shielding between each position, so the above scheme is inefficient and inconvenient for 24-hour continuous testing.

[0003] It is also known that a laser guide rail is used as the calibration method of the above measuring equipment. The laser guide rail obtains the standard length by integrating the laser interferometer on the metal guide rail, but is limited by the volume and other factors. Although the standard distance generated by the laser guide rail has high precision, it can only automatically generate standard distance in one two-dimensional plane, and cannot meet the requirement of testing the measured equipment in three-dimensional space by existing programs.

[0004] Therefore, it is necessary to provide a calibration system for three-dimensional space coordinate measuring equipment to at least partially solve the above problems. SUMMARY

[0005] The calibration system for three-dimensional space coordinate measuring equipment provided by the utility model comprises:

[0006] A mechanical arm configured to perform three-dimensional movement according to a prepared program;

[0007] A clamping part detachably mounted to the free end of the mechanical arm;

[0008] A standardizer configured to be reliably clamped by the clamping part; and

[0009] An upper computer, which is electrically connected with the robot arm and is configured to control the movement of the robot arm through a programmed procedure to move the standard gauge to different predetermined spatial positions relative to the coordinate measuring device.

[0010] Preferably, the robot arm comprises a base and a plurality of links connected in series with each other, a first end link of the plurality of links being connected with the base, and an end link at the free end of the plurality of links being connected with the clamping part.

[0011] Preferably, the robot arm further comprises a plurality of rotary joints, each of which is arranged between two adjacent links of the plurality of links or between the base and the first end link.

[0012] Preferably, the plurality of rotary joints are configured to enable the plurality of links of the robot arm to perform rotary motion, linear motion, or a combination of rotary motion and linear motion in a three-dimensional space.

[0013] Preferably, the maximum load of the robot arm is greater than the weight of the clamping part and the standard gauge.

[0014] Preferably, the clamping part is configured as an electric clamp or a pneumatic clamp.

[0015] Preferably, the clamping part has a clamping part shape matching a clamped part shape of the standard gauge.

[0016] Preferably, the standard gauge is detachably mounted to the clamping part.

[0017] Preferably, the upper computer is wired or wirelessly connected with the robot arm.

[0018] Preferably, the clamping part is configured to be mounted to the free end of the robot arm through a quick-release device, which is any one of the following structures: a quick-release pin, a threaded quick-release structure, a magnetic quick-release structure, a spring locking quick-release structure, a lever locking quick-release structure, a hydraulic or pneumatic quick-release structure.

[0019] Preferably, the calibration system comprises a plurality of clamping parts, and the calibration system is configured to select a corresponding clamping part to be mounted to the free end of the robot arm according to the type of the coordinate measuring device.

[0020] Preferably, the calibration system comprises a plurality of standard gauges, and the calibration system is configured to select a corresponding standard gauge to be mounted to the clamping part according to the type of the coordinate measuring device.

[0021] The calibration system according to the above scheme has the following beneficial effects:

[0022] (1) The calibration system of the present application can realize automatic performance test by combining the mechanical arm and the standard device. The mechanical arm can automatically move the standard device to the specified spatial position according to the programmed procedure. Compared with the physical standard device, the present application does not need manual assistance and does not need to prepare multiple standard devices. Only one lightweight standard device can realize installation at different measurement positions.

[0023] (2) By detachably installing the clamping part for the standard device at the end of the mechanical arm, different standard devices or clamping parts can be replaced for different measured devices, so that the application range of the whole calibration system can be increased. BRIEF DESCRIPTION OF DRAWINGS

[0024] For better understanding of the above and other objects, features, advantages and functions of the present application, reference can be made to the preferred embodiments shown in the drawings. The same or similar reference signs refer to the same or similar components. Those skilled in the art should understand that the drawings are intended to illustrate the preferred embodiments of the present application, and have no limiting effect on the scope of the present application. The components in the drawings are not drawn to scale.

[0025] Figure 1 A schematic diagram of the swing of the calibrator according to the prior art when calibrating the three-dimensional space coordinate measuring device.

[0026] Figure 2 A perspective view of the calibration system for the three-dimensional space coordinate measuring device according to one preferred embodiment of the present application. DETAILED DESCRIPTION

[0027] Hereinafter, the calibration system according to the preferred embodiment of the present application will be described in detail with reference to the drawings. It can be understood that the following is only according to the preferred embodiment of the present application, and those skilled in the art can think of other ways to realize the present application on the basis of the preferred embodiment, and the other ways also fall within the scope of the present application.

[0028] First of all, it should be pointed out that the direction terms and position terms in the present application should be understood as relative direction and position, not absolute direction and position.

[0029] Hereinafter, the calibration system for the three-dimensional space coordinate measuring device according to the preferred embodiment of the present application will be described in detail. Figure 2 The calibration system for the three-dimensional space coordinate measuring device according to the preferred embodiment of the present application will be described in detail. The calibration system according to the present application is mainly used for performance evaluation or calibration of three-dimensional space coordinate measuring devices such as laser tracker, three-dimensional scanner, laser radar, etc.

[0030] As Figure 2As shown, the calibration system 100 comprises a mechanical arm 110, a clamping part 120, a standard gauge 130 and a host computer 140. The mechanical arm 110 is capable of three-dimensional movement in three-dimensional space according to a programmed procedure, for example, rotational movement or linear movement, for moving the standard gauge 130 to a specified spatial position as required. The clamping part 120 is detachably mounted to the free end (i.e. the execution end) of the mechanical arm 110. In a preferred embodiment, the clamping part 120 is mounted to the free end of the mechanical arm 110 by a quick-release device. The quick-release device can be any one of the following structures: a quick-release pin, a threaded quick-release structure, a magnetic quick-release structure, a spring locking quick-release structure, a lever locking quick-release structure, a hydraulic or pneumatic quick-release structure, which can be set according to actual needs, or other structures of quick-release devices can also be selected. The standard gauge 130 can be reliably clamped by the clamping part 120, and preferably, the standard gauge 130 is detachably clamped by the clamping part 120.

[0031] In a preferred embodiment, the calibration system comprises a plurality of clamping parts 120, which can be selected according to the type of the specific coordinate measuring device to be measured, that is, the calibration system can select a corresponding clamping part to be mounted to the free end of the mechanical arm 110 according to the type of the coordinate measuring device. The clamping part 120 can be an electric clamp or a pneumatic clamp, and other structures of clamping parts can also be selected according to actual needs. The standard gauge 130 can also comprise a plurality of standard gauges 130, which can also be selected according to the specific device to be measured, for example, a carbon fiber scale can be selected as the standard gauge for the spatial coordinate measurement error of a laser tracker, and a gauge block can be selected as the standard gauge for the planar shape detection error of an optical three-dimensional measurement system based on structured light scanning.

[0032] Preferably, the chuck of the clamping part 120 has a shape matching the outer shape of the standard gauge 130, especially the outer shape of the clamped part of the standard gauge 130, which can ensure the stability of the standard gauge 130 during the movement of the mechanical arm 110. By detachably mounting the standard gauge 130 on the clamping part 120 and detachably mounting the clamping part 120 on the mechanical arm 110, the standard gauge 130 or the clamping part 120 can be replaced according to the device to be measured, thereby improving the application range of the entire calibration system.

[0033] In a preferred embodiment, as shown in FIG. 1, the calibration system 100 comprises a plurality of clamping parts 120, and the host computer 140 is connected to the plurality of clamping parts 120 through a plurality of communication interfaces 141, so that the host computer 140 can control the plurality of clamping parts 120 to move the plurality of standard gauges 130 to the specified spatial positions as required. Figure 2As shown, the mechanical arm 110 comprises a base 111 and a plurality of links 112 connected in series. The first link of the plurality of links 112 is connected to the base 111, and the last link (i.e. the link at the free end) of the plurality of links 112 is connected to the clamping part 120. Further, the mechanical arm 110 comprises a plurality of rotary joints 113, each of which is arranged between two adjacent links 112 of the plurality of links 112 or between the base 111 and the first link 112. The plurality of rotary joints 113 are configured to enable the plurality of links 112 of the mechanical arm 110 to perform rotary motion, linear motion or a combination of the two in a three-dimensional space relative to the base 111.

[0034] In the illustrated embodiment, the mechanical arm 110 is a six-axis collaborative mechanical arm 110. It will be appreciated that other forms of mechanical arms, such as three-axis mechanical arms, seven-axis mechanical arms, etc. can also be selected as needed by those skilled in the art. The maximum load of the mechanical arm 110 is greater than the weight of the clamping part 120 and the standard device 130.

[0035] The host computer 140 is electrically connected to the mechanical arm 110 and is configured to control the mechanical arm 110 to perform actions according to a prepared program, so as to move the standard device 130 to different predetermined spatial positions relative to the coordinate measuring device. Depending on the type of the mechanical arm 110, the host computer 140 can be wired to the mechanical arm 110, in which case the communication interface of the host computer 140 is consistent with the communication interface of the mechanical arm 110, or the host computer 140 can be wirelessly connected to the mechanical arm 110 in other embodiments.

[0036] The calibration system 100 of the present scheme can realize automatic performance testing by combining the mechanical arm 110 and the standard device 130. The mechanical arm 110 can automatically move the standard device 130 to the specified spatial positions according to the prepared program. Compared with the physical standard device, the present scheme does not require manual assistance and does not need to prepare multiple standard devices. Only one lightweight standard device is needed to realize installation at different measurement positions to perform calibration at multiple positions. In addition, the clamping part 120 for the standard device 130 is detachably installed at the free end of the mechanical arm 110, so that different standard devices or clamping parts can be replaced for different measured devices, thereby increasing the application range of the entire calibration system.

[0037] The above description of various embodiments of the present application is provided to a person of ordinary skill in the relevant art for purposes of description. It is not intended to exclude or limit the present application to a single disclosed embodiment. As such, a person of ordinary skill in the art having the benefit of the above teachings will appreciate and understand other alternative and modified embodiments of the present application. Accordingly, while a few alternative embodiments have been described in particular detail, other embodiments and modifications will be readily apparent to those of ordinary skill in the art. The present application is intended to include all such alterations and modifications to the present application as fall within the spirit and scope of the above description.

Claims

1. A calibration system (100) for a three-dimensional spatial coordinate measuring apparatus, characterized in that The calibration system (100) comprises: a mechanical arm (110) configured to be capable of three-dimensional movement according to a programmed procedure; a clamping part (120) detachably mounted to a free end of the mechanical arm (110); a standard gauge (130) configured to be reliably clamped by the clamping part (120); and a host computer (140) electrically coupled with the mechanical arm (110) and configured to control actions of the mechanical arm (110) through the programmed procedure to move the standard gauge (130) to different predetermined spatial positions relative to the coordinate measuring device.

2. The calibration system (100) according to claim 1, characterized in that The mechanical arm (110) comprises a base (111) and a plurality of links (112) connected in series between each other, a first end link of the plurality of links (112) being connected with the base (111), and an end link at the free end of the plurality of links (112) being connected with the clamping part (120), wherein the mechanical arm (110) further comprises a plurality of rotary joints (113) respectively arranged between adjacent two links of the plurality of links (112) and between the base (111) and the first end link.

3. The calibration system (100) according to claim 2, characterized in that The plurality of rotary joints (113) are configured to enable the plurality of links (112) of the mechanical arm (110) to perform rotary movement, linear movement, or a combination of rotary movement and linear movement in a three-dimensional space.

4. The calibration system (100) according to claim 1, characterized in that A maximum load of the mechanical arm (110) is greater than a weight of the clamping part (120) and the standard gauge (130).

5. The calibration system (100) according to claim 1, characterized in that The clamping part (120) is configured as an electric clamp or a pneumatic clamp.

6. The calibration system (100) according to claim 1, characterized in that A clamping part site of the clamping part (120) has a shape matching a clamped part site of the standard gauge (130).

7. The calibration system (100) according to claim 1, characterized in that The standard gauge (130) is detachably mounted to the clamping part (120).

8. The calibration system (100) according to claim 1, characterized in that The host computer (140) is wiredly or wirelessly coupled with the mechanical arm (110).

9. The calibration system (100) according to claim 1, characterized in that The clamping part (120) is configured to be mounted to the free end of the mechanical arm through a quick-release device, the quick-release device being any one of the following structures: a quick-release pin, a threaded quick-release structure, a magnetic quick-release structure, a spring locking quick-release structure, a lever locking quick-release structure, a hydraulic or pneumatic quick-release structure.

10. The calibration system (100) according to claim 1, characterized in that The calibration system comprises a plurality of clamping parts (120), and the calibration system is configured to select a corresponding one of the clamping parts to be mounted to the free end of the mechanical arm (110) according to a type of the coordinate measuring device.

11. The calibration system (100) according to claim 1, characterized in that The calibration system comprises a plurality of standard gauges (130), and the calibration system is configured to select a corresponding one of the standard gauges to be mounted to the clamping part (120) according to a type of the coordinate measuring device.

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