Articulated arm measuring device

Abstract

The utility model discloses a joint arm measuring device, including: joint arm measuring machine, including: organism, a plurality of joint arms, the joint arm on the end position position is connected with the measuring part, the rotary table device has the measurement position and the position of being measured at the position below the measuring part, including: fixed platform, the fixed platform is with the measurement position, the position of being measured respectively is provided with first positioning part, second positioning part at the position corresponding department, and the rotary table is rotatable and is connected on the fixed platform, is provided with first placement position and the third positioning part of cooperation with first positioning part or second positioning part on the rotary table, the pressing mechanism is provided with 2, is arranged respectively at the measurement position and the position of being measured, is respectively used for with first positioning part, second positioning part cooperation, to third positioning part is positioned to the measurement position or the position of being measured. The joint arm measuring device proposed by the utility model can solve the problem of limited measurement range of the existing joint arm measuring machine due to the length limitation of the joint arm.

Description

Technical Field

[0001] This utility model belongs to the field of measurement technology, specifically, it relates to an improvement of an articulated arm measuring device. Background Technology

[0002] An articulated arm coordinate measuring machine (ACM) is a portable coordinate measuring instrument based on a multi-joint rotational structure. Its core principle is based on the movement of the human arm, and unlike traditional Cartesian coordinate measuring machines that use length as the reference, it uses angle as the core measurement basis.

[0003] The device consists of multiple fixed-length arms connected by joints that can rotate around mutually perpendicular axes (these joints are often compared to the shoulder, elbow, and wrist joints in the human body). A specialized detection system is mounted on the rotating shaft at the far end. This biomimetic structural design enables it to achieve flexible movements similar to those of a human arm, breaking through the spatial limitations of traditional measuring devices.

[0004] The measurement logic of the articulated arm measuring machine is based on precise angle sensing and spatial coordinate conversion: when the device rotates in space, the built-in high-precision angle encoder captures and records the rotation angle data of each joint in real time. Since the arm length remains constant, the measurement software can accurately calculate the current spatial position of the probe based on the principle of trigonometric functions, and finally convert the data into XYZ three-dimensional coordinates for output.

[0005] However, while articulated arm measuring machines have significant advantages, they also have certain limitations, such as the measurement range being limited by the length of the arm, making it difficult to handle the overall measurement of ultra-large workpieces.

[0006] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0007] This invention addresses the aforementioned technical problems of existing articulated arm measuring machines by proposing an articulated arm measuring device that can solve the problem of limited measurement range due to the limitation of articulated arm length in existing articulated arm measuring machines.

[0008] To achieve the above-mentioned utility model / design objectives, the present utility model adopts the following technical solution: An articulated arm measuring device includes: Articulated arm measuring machine, including: body; and Multiple articulated arms are mounted on the machine body. The multiple articulated arms are connected in sequence and adjacent articulated arms can rotate relative to each other. A measuring component is connected to the articulated arm at the end position. A turntable device having a measuring position located below the measuring component and a measuring position located away from the measuring component, including: A fixed platform, wherein a first positioning part and a second positioning part are respectively provided on the fixed platform at positions corresponding to the measuring position and the position to be measured; and A turntable is rotatably connected to the fixed platform, and a first placement position and a third positioning part that cooperates with the first positioning part or the second positioning part are provided on the turntable. Two clamping mechanisms are provided, which are respectively arranged at the measuring position and the position to be measured, and are used to cooperate with the first positioning part and the second positioning part to position the third positioning part at the measuring position or the position to be measured.

[0009] In some embodiments of this application, the first positioning part is a first positioning block, which is arranged on the side wall of the fixed platform; The second positioning part is a second positioning block, which is arranged on the side wall of the fixed platform and symmetrically arranged on the fixed platform with the first positioning part.

[0010] In some embodiments of this application, the third positioning part is a third positioning block formed on the side wall of the turntable; When the third positioning block rotates to the position of the first positioning block, the side of the third positioning block abuts against the side of the first positioning block. When the third positioning block rotates to the position of the second positioning block, the side of the third positioning block abuts against the side of the second positioning block that is on the same side as the first positioning block.

[0011] In some embodiments of this application, the articulated arm measuring device includes: A robot having an output end connected to the measuring component for driving the measuring component to perform measurements.

[0012] In some embodiments of this application, a first measuring platform is included, and the turntable device and the robot are both mounted on the first measuring platform.

[0013] Some embodiments of this application include: The second measuring platform is equipped with the articulated arm measuring machine and a second placement position for placing the workpiece.

[0014] In some embodiments of this application, a connecting member is included, the connecting member connecting the output terminal and the measuring component; The connecting member includes: a member body, with a connecting portion formed at one end of the member body for connecting to the output end; An insertion portion is formed within the component body, and an insertion protrusion that mates with the insertion portion is provided on the measuring component; A locking assembly for locking the measuring component and the component body that are inserted into the component body.

[0015] In some embodiments of this application, a locking threaded hole group is provided on the connecting member, and multiple groups are provided. The multiple groups of locking threaded holes are arranged along the axial direction of the member body, and each group of locking screw holes includes multiple locking threaded holes arranged along the circumference of the member body. The locking assembly is provided in multiple sets, which respectively cooperate with multiple sets of locking screw hole groups. Each locking assembly includes multiple locking screws that cooperate with locking thread holes. The multiple locking screws are screwed into the inner ends of the multiple locking screw holes and abut against the outer wall of the insert protrusion.

[0016] In some embodiments of this application, the connecting member includes a first connecting segment and a second connecting segment. The axis of the first connecting segment is parallel to or coincides with the axis of the output end. The second connecting segment is arranged perpendicular to the first connecting segment. An interface portion is formed on the measuring component. The insertion protrusion is formed at the interface portion. The end face of the interface portion is an inclined surface. The end face of the second connecting segment and the end face of the interface portion are adapted to the inclined surface.

[0017] In some embodiments of this application, the articulated arm measuring machine includes a D-joint arm; The suspension mechanism includes: The base is magnetically attached to the second measuring platform; A support frame, connected to the base, has a cantilever section; The elastic connector has one end connected to the end of the cantilever and the other end having an elastic connection portion that connects to the D-joint arm.

[0018] Compared with the prior art, the advantages and positive effects of this utility model are: The articulated arm measuring device of this utility model is equipped with a turntable device. When measuring large-sized workpieces, the turntable can be positioned by the cooperation of the third positioning part, the first positioning part, and the clamping mechanism at the measuring position to achieve scanning of a part of the workpiece. After scanning a part of the workpiece, the position of the workpiece is changed by rotating the turntable, and the remaining unscanned part is rotated to the measuring position. Then, the turntable is positioned by the cooperation of the second positioning part and the clamping mechanism at the measuring position to continue scanning the other part of the workpiece. Based on the limitation of the measurement range of the measuring component due to the articulated arm length, the device achieves complete scanning of large-sized workpieces, solving the problem that existing articulated arm measuring components cannot scan and measure large-sized workpieces.

[0019] Other features and advantages of this utility model will become clearer after reading the detailed embodiments of this utility model in conjunction with the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structure of one embodiment of the articulated arm measuring device proposed in this utility model. Figure 1 ; Figure 2 yes Figure 1 A magnified view of part A; Figure 3 This is a schematic diagram of the turntable device structure of the articulated arm measuring device proposed in this utility model. Figure 1 ; Figure 4 This is a schematic diagram of the turntable device structure of the articulated arm measuring device proposed in this utility model. Figure 2 ; Figure 5 This is a three-dimensional structure of one embodiment of the articulated arm measuring device proposed in this utility model. Figure 2 ; Figure 6 yes Figure 5 BB-direction sectional view; Figure 7 This is a three-dimensional structure of one embodiment of the articulated arm measuring device proposed in this utility model. Figure 3 ; Figure 8 yes Figure 7 A magnified view of a portion at point C; Figure 9 This is a schematic diagram of the suspension mechanism of the articulated arm measuring device proposed in this utility model; Figure 10 This is a schematic diagram of the connecting component of the articulated arm measuring device proposed in this utility model. Figure 1 ; Figure 11 This is a schematic diagram of the connecting component of the articulated arm measuring device proposed in this utility model. Figure 2 .

[0022] In the diagram, 100 is an articulated arm measuring machine; 110 is the machine body; 120 is an articulated arm assembly; 121 is a D-joint arm; 130 is a measuring component; 131 is an insert protrusion; 132 is an inclined surface; 140 is a trigger button; 210 is a first measuring stage; 211 is a first placement position; 220 is a second measuring stage; 221 is a second placement position; 300 is a robot; 310 is an output end; 400 is a connecting component; 410 is a component body; 411 is a locking threaded hole; 420 is a connecting part; 430 is an insert part; 431 is a protrusion guide groove; 440 is a first connecting section; 450 is a second connecting section. 451. Connecting section; 500. Inclined surface; 600. Trigger switch; 610. Switch mounting bracket; 611. First connecting arm; 611. First connecting elongated hole; 620. Second connecting arm; 621. Second connecting elongated hole; 710. Base; 711. Magnetic component; 720. Bearing frame; 721. Main frame; 722. Cantilever section; 730. Elastic connecting component; 731. Elastic connecting part; 810. Fixed platform; 811. First positioning part; 812. Second positioning part; 820. Turntable; 821. Third positioning part; 830. Measuring position; 840. Position to be measured; 850. Clamping mechanism. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. In the description of the embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0027] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0028] In some embodiments of this application, an articulated arm measuring device is proposed, comprising: Articulated arm measuring machine 100, including: a body 110; and Multiple articulated arms are mounted on the body 110. The multiple articulated arms are connected in sequence and adjacent articulated arms can rotate relative to each other. A measuring component 130 is connected to the articulated arm at the end position.

[0029] The body 110 is fixedly arranged and is used to support the articulated arm assembly 120 and the measuring component 130.

[0030] In some embodiments of this application, the plurality of articulated arms include an A-joint arm, a B-joint arm, a C-joint arm, a D-joint arm, an E-joint arm, an F-joint arm, and a G-joint arm that are sequentially connected to the body 110.

[0031] Among them, the C-joint arm and the D-joint arm are relatively long and are located in the middle position, and they are connected by rotation.

[0032] The measuring component 130 is a scanner, which can be used to scan the workpiece to achieve measurement. The method of measuring the workpiece by scanning is an existing method, which will not be described in detail here.

[0033] The turntable 820 device has a measuring position 830 located below the measuring component 130 and a measuring position 840 located away from the measuring component 130. Since the measuring position 830 is located below the measuring component 130, and the measuring component 130 is limited by the length of the articulated arm connected to it, it can only measure the workpiece located at the measuring position 830 below it.

[0034] The portion located at the measurement position 840, which is far from the measurement component 130, cannot be measured.

[0035] The turntable 820 device structure comprises a fixed platform 810 and a turntable 820 rotatably connected to the fixed platform 810. The turntable 820 can be connected to a drive mechanism such as a drive motor to drive its rotation. In the arrangement, the fixed platform 810 is positioned below the turntable 820.

[0036] A first positioning part 811 and a second positioning part 812 are respectively provided on the fixed platform 810 at positions corresponding to the measurement position 830 and the position to be measured 840.

[0037] A turntable 820 is rotatably connected to the fixed platform 810. A first placement position 211 and a third positioning part 821 that cooperates with the first positioning part 811 or the second positioning part 812 are provided on the turntable 820.

[0038] The turntable 820 can rotate relative to the fixed platform 810. When the turntable 820 rotates, the third positioning part 821 above it changes position along with the rotation of the turntable 820. When the turntable 820 drives the third positioning part 821 to rotate to the position of the first positioning part 811, the third positioning part 821 can cooperate with the first positioning part 811. When the turntable 820 drives the third positioning part 821 to rotate to the position of the second positioning part 812, the third positioning part 821 can cooperate with the second positioning part 812.

[0039] The first placement position 211 is formed on the top surface of the turntable 820 to place the workpiece. The workpiece used for measurement can be placed at the first placement position 211 above the turntable 820.

[0040] Two clamping mechanisms 850 are provided, which are respectively arranged at the measuring position 830 and the position to be measured 840. They are used to cooperate with the first positioning part 811 and the second positioning part 812 to position the third positioning part 821 at the measuring position 830 or the position to be measured 840.

[0041] Specifically, when the third positioning part 821 is in the measuring position 830, it is positioned by the clamping mechanism 850 and the first positioning part 811 at the measuring position 830. When the third positioning part 821 is in the measuring position 840, it is positioned by the clamping mechanism 850 and the second positioning part 812 at the measuring position 840.

[0042] The clamping mechanism 850 can be the existing manual clamping mechanism 850, which will not be described in detail here.

[0043] When the workpiece is placed at the first placement position 211 on the turntable 820, the entire workpiece area is large and the size is large, completely covering the turntable 820. Due to the limitation of the articulated arm length, the measuring component 130 can only scan and measure the part of the workpiece at the measuring position 830, and cannot extend to the measuring position 840 for measurement.

[0044] In this embodiment, the turntable 820 device enables scanning of the entire workpiece.

[0045] Specifically, during measurement, the turntable 820 is controlled to rotate so that the third positioning part 821 above it reaches the measurement position 830, that is, it rotates to the first positioning part 811. At this time, the side of the third positioning part 821 abuts against the side of the first positioning part 811, and the clamping mechanism 850 at the measurement position 830 presses against the other side of the third positioning part 821 to position the third positioning part 821. After the third positioning part 821 is positioned, the turntable 820 and the workpiece above it are fixed.

[0046] At this time, the measuring component 130 can scan the part of the workpiece located at the measuring position 830 below it. After the measuring component 130 has finished scanning a part of the workpiece, the clamping mechanism 850 is opened, and then the turntable 820 is rotated counterclockwise until the third positioning part 821 above it rotates to the position to be measured 840, i.e., the second positioning part 812. At this time, the part of the workpiece scanned by the measuring component 130 also rotates to the position to be measured, while the part of the workpiece that has not been measured reaches the measuring position 830 as the turntable 820 rotates.

[0047] When the third positioning part 821 rotates to the second positioning part 812, the third positioning part 821 abuts against the side of the second positioning part 812, and the clamping mechanism 850 at the measurement position 840 presses against the third positioning part 821 to achieve clamping and fixing of the third positioning part 821.

[0048] After the third positioning part 821 is positioned on the turntable 820, the workpiece above it is positioned and rotated. At this time, the part of the workpiece that has not been measured has been moved to the measurement position 830. At this time, the remaining part of the workpiece below it can be scanned by the measuring component 130, thus realizing the complete scanning of the larger workpiece.

[0049] The articulated arm measuring device in this embodiment is equipped with a turntable 820. When measuring large-sized workpieces, the turntable 820 can be positioned by the cooperation of the third positioning part 821, the first positioning part 811, and the clamping mechanism 850 at the measuring position 830, so as to scan a part of the workpiece. After scanning a part of the workpiece, the position of the workpiece is changed by rotating the turntable 820, and the remaining unscanned part is rotated to the measuring position 830. Then, the turntable 820 is positioned by the cooperation of the second positioning part 812 and the clamping mechanism 850 at the measuring position 840, so as to continue scanning the other part of the workpiece. Based on the limitation of the measurement range of the measuring component 130 due to the articulated arm length, the complete scanning of large-sized workpieces is realized, which solves the problem that existing articulated arm measuring components cannot scan and measure large-sized workpieces.

[0050] In some embodiments of this application, the first positioning part 811 is a first positioning block, which is arranged on the side wall of the fixed platform 810. The second positioning part 812 is a second positioning block, which is arranged on the side wall of the fixed platform 810 and is symmetrically arranged on the fixed platform 810 with the first positioning part 811.

[0051] When the turntable 820 rotates from the measuring position 830 to the position to be measured 840, it can rotate 180 degrees.

[0052] In some embodiments of this application, the third positioning part 821 is a third positioning block formed on the side wall of the turntable 820; When the third positioning block rotates to the position of the first positioning block, the side of the third positioning block abuts against the side of the first positioning block. When the third positioning block rotates to the position of the second positioning block, the side of the third positioning block abuts against the side of the second positioning block that is on the same side as the first positioning block.

[0053] In some embodiments of this application, the articulated arm measuring device includes: The robot 300 has an output end 310, which is connected to the measuring component 130 and is used to drive the measuring component 130 to perform measurement.

[0054] By connecting the output end 310 of the robot 300 to the measuring component 130, the measuring component 130 can be driven by the movement of the robot 300 to perform measurements, thereby realizing the automatic measurement of the articulated arm measuring device.

[0055] In specific settings, the measurement path of the articulated arm measuring machine 100 can be pre-stored inside the robot 300. After the robot 300 is connected to the articulated arm measuring machine 100, the articulated arm measuring machine 100 can be driven to move and measure according to the measurement path.

[0056] In some embodiments of this application, the articulated arm measuring device includes: a first measuring platform 210, and the turntable 820 device and the robot 300 are both mounted on the first measuring platform 210.

[0057] The first measuring table 210 can be used to assemble the turntable 820 device and the robot 300.

[0058] Some embodiments of this application include: The second measuring platform 220 is provided with the articulated arm measuring machine 100 and the second placement position 221 for placing the workpiece.

[0059] During assembly, the body 110 of the articulated arm measuring machine 100 can be fixed on the second measuring table 220.

[0060] When the articulated arm measuring machine 100 is connected to the robot 300, it can measure the workpiece at the first placement position 211 by being driven by the robot 300. When it is not connected to the robot 300, it can also measure the workpiece at the second placement position 221, thus realizing multi-station measurement of the articulated arm measuring device.

[0061] In some embodiments of this application, the connecting member 400 includes: a member body 410, with a connecting portion 420 formed at one end of the member body 410 for connecting to the output terminal 310.

[0062] The connecting part 420 is a connecting flange formed at one end of the component body 410, which fits against the output end 310 and is locked and fixed to the output end 310 by screws.

[0063] An insertion portion 430 is formed within the component body 410, and an insertion protrusion 131 that mates with the insertion portion 430 is provided on the measuring component 130.

[0064] The insertion part 430 is an insertion groove formed in the component body 410, which is located at the other end of the component body 410.

[0065] The insertion protrusion 131 on the measuring component 130 is inserted into the insertion slot to achieve insertion positioning with the component body 410.

[0066] A locking assembly for locking the measuring component 130 inserted into the component body 410 and the component body 410.

[0067] In some embodiments of this application, the locking assembly is provided in multiple sets, and the multiple sets of locking assemblies are arranged along the axial direction of the component body 410. Each set of locking assemblies includes multiple locking thread holes 411 and locking screws that cooperate with the multiple locking thread holes 411. The multiple locking thread holes 411 are arranged circumferentially along the component body 410, and the multiple locking screws are respectively screwed into the inner ends of the multiple locking screw holes and abut against the outer wall of the insertion protrusion 131.

[0068] By screwing multiple locking screws into the connecting member 400 and abutting against the insert protrusion 131, the axial and circumferential directions of both are limited.

[0069] In some embodiments of this application, a protruding guide portion is formed on the insert protrusion 131, which extends along the axial direction of the insert protrusion 131, and a protruding guide groove 431 that mates with the protruding guide portion is formed on the inner wall of the insert portion 430.

[0070] The raised guide portion is a guide protrusion formed on the outer side wall of the insertion protrusion 131. The protrusion guide groove 431 and the protrusion guide portion are adapted to each other. During assembly, the protrusion guide portion of the insertion protrusion 131 can be inserted along the protrusion guide groove 431. The cooperation between the protrusion guide portion and the protrusion guide groove 431 can guide the connection between the measuring component 130 and the connecting component 400, so that the two can be quickly assembled into place.

[0071] Furthermore, the cooperation between the raised guide groove 431 and the raised guide part also enables the rotation limit of the connecting member 400 and the measuring member 130, ensuring the firmness of the connection between the two.

[0072] In some embodiments of this application, the connecting member 400 includes a first connecting segment 440 and a second connecting segment 450, wherein the axis of the first connecting segment 440 is parallel to or coincides with the axis of the output terminal 310, and the second connecting segment 450 is disposed perpendicular to the first connecting segment 440.

[0073] Since the output end 310 is arranged vertically, the first connecting section 440 is set to be parallel to or coincide with its axis to ensure that it can be matched and connected with the output end 310. Since the measuring component 130 is set approximately horizontally, the second connecting section 450 is arranged perpendicular to the first connecting section 440, i.e., horizontally, to facilitate matching and connection with the measuring component 130.

[0074] The measuring component 130 has an interface portion, and the insertion protrusion 131 is formed at the interface portion. The end face of the interface portion is an inclined surface 132, and the end face of the second connecting section 450 is adapted to the inclined surface 451 at the end face of the interface portion.

[0075] The end face of the second connecting section 450 is a bevel 451. When the insertion protrusion 131 is inserted into the connecting member 400, the bevel 451 of the second connecting section 450 fits with the inclined surface 132 at the interface, resulting in a good aesthetic appearance after connection.

[0076] In some embodiments of this application, a trigger button 140 is formed on the measuring component 130; A trigger switch 500 for triggering the trigger button 140 is provided on the connecting member 400.

[0077] The trigger switch 500 is an electromagnetic switch that can trigger the extended state of the trigger button 140 and the retracted state of not triggering the trigger button 140.

[0078] The articulated arm measurement system includes a controller that controls the on / off state of the electromagnetic switch, enabling the trigger switch 500 to be triggered or de-triggered.

[0079] When the electromagnetic switch is energized, it extends and presses against the trigger button 140 to maintain its activation. When the power is off, the circuit retracts, releasing the trigger button 140 from being triggered.

[0080] In some embodiments of this application, a switch mounting bracket 600 is included, which is locked and fixed to the component body 410. It has a first connecting arm 610 connected to the component body 410 and its position relative to the component body 410 is adjustable in the horizontal direction. The second connecting arm 620 is connected to the trigger switch 500, and its position relative to the trigger switch 500 in the vertical direction is adjustable.

[0081] A first locking hole is provided on the component body 410, and a first connecting elongated hole 611 is provided on the first connecting arm 610. The first locking screw passes through the first connecting elongated hole 611 and is screwed and fixed in the first locking hole to press and fix the first connecting arm 610. The first locking screw does not protrude from the first locking hole to avoid interfering with the installation of the insertion protrusion 131.

[0082] When adjusting the position, loosen the first locking screw, then move the first connecting arm 610 horizontally until it is in place, and then tighten the first locking screw.

[0083] A second locking hole is provided on the trigger switch 500, and a second connecting elongated hole 621 is provided on the second connecting arm 620. The second locking screw passes through the second connecting elongated hole 621 and is screwed and fixed in the second locking hole to press and fix the second connecting arm 620.

[0084] When adjusting the position, loosen the second locking screw, and then move the trigger switch 500 up and down relative to the second locking screw through the second connecting elongated hole 621 to adjust and change the vertical position.

[0085] In some embodiments of this application, the articulated arm measuring machine 100 includes a D-articulated arm 121; The base 710 is attached to the second measuring stage 220; The support frame 720 is connected to the base 710 and has a cantilever portion 722; The elastic connector 730 has one end connected to the end of the cantilever 722 and the other end having an elastic connection portion 731 that connects to the D-joint arm 121.

[0086] In some embodiments of this application, the articulated arm measuring machine 100 includes a D-articulated arm 121; The articulated arm measurement system includes a suspension mechanism, which includes: The base 710 is attached to the second measuring stage 220; The support frame 720 is connected to the base 710 and has a cantilever portion 722; The elastic connector 730 has one end connected to the end of the cantilever 722 and the other end having an elastic connection portion 731 that connects to the D-joint arm 121.

[0087] The base 710 includes a base 710 body and a magnetic component 711 disposed at the bottom of the base 710 body. The base 710 is attracted and fixed on the second measuring stage 220 by the magnetic component 711 at the bottom.

[0088] The support frame 720 serves to support and bear loads. It includes a main frame 721 and a cantilever 722 connected to the main frame 721. The cantilever 722 is a cantilever rod. A reinforcing rod is connected between the main frame 721 and the cantilever 722 to enhance the support strength of the entire support frame 720.

[0089] The elastic connector 730 can be either a spring or an elastic rope.

[0090] The elastic connection part 731 is a threaded interface part with an external thread on its upper part and an internal threaded hole at the end of the D joint arm 121. The elastic connection part 731 is fixed to the end of the D joint arm 121 by screwing on the external thread.

[0091] The base 710, the support frame 720, and the elastic connector 730 constitute the suspension support frame of the articulated arm measuring machine 100. It is connected to the articulated arm through the elastic connector 730 to form a flexible connection, ensuring that the articulated arm can move freely to perform measurements.

[0092] When the articulated arm moves in space under the automated drive of the robot 300, the elastic connector 730 can effectively limit the unexpected swing amplitude of the arm and reduce the positional drift caused by multi-joint linkage, thereby minimizing the positional uncertainty of the articulated arm in automated operation, providing stable support for the automated measurement process, and significantly improving the safety factor of the system operation.

[0093] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by this utility model.

Claims

1. A joint arm measuring device, characterized in that, Including: Articulated arm measuring machine, including: a body; and Multiple articulated arms are mounted on the machine body. The multiple articulated arms are connected in sequence and adjacent articulated arms can rotate relative to each other. A measuring component is connected to the articulated arm at the end position. A turntable device having a measuring position located below the measuring component and a measuring position located away from the measuring component, including: A fixed platform, wherein a first positioning part and a second positioning part are respectively provided on the fixed platform at positions corresponding to the measuring position and the position to be measured; and A turntable is rotatably connected to the fixed platform, and a first placement position and a third positioning part that cooperates with the first positioning part or the second positioning part are provided on the turntable. Two clamping mechanisms are provided, which are respectively arranged at the measuring position and the position to be measured, and are used to cooperate with the first positioning part and the second positioning part to position the third positioning part at the measuring position or the position to be measured.

2. The articulated arm measuring device according to claim 1, characterized in that, The first positioning part is a first positioning block, which is arranged on the side wall of the fixed platform; The second positioning part is a second positioning block, which is arranged on the side wall of the fixed platform and symmetrically arranged on the fixed platform with the first positioning part.

3. The articulated arm measuring device according to claim 2, characterized in that, The third positioning part is a third positioning block formed on the side wall of the turntable; When the third positioning block rotates to the position of the first positioning block, the side of the third positioning block abuts against the side of the first positioning block. When the third positioning block rotates to the position of the second positioning block, the side of the third positioning block abuts against the side of the second positioning block that is on the same side as the first positioning block.

4. The articulated arm measuring device according to claim 1, characterized in that, Including: A robot having an output end connected to the measuring component for driving the measuring component to perform measurements.

5. The articulated arm measuring device according to claim 4, characterized in that, It includes a first measuring platform, and the turntable device and the robot are both mounted on the first measuring platform.

6. The articulated arm measuring device according to claim 1, characterized in that, Including: The second measuring platform is equipped with the articulated arm measuring machine and a second placement position for placing the workpiece.

7. The articulated arm measuring device according to claim 4, characterized in that, It includes: a connecting member that connects the output terminal and the measuring component; The connecting member includes: a member body, with a connecting portion formed at one end of the member body for connecting to the output end; An insertion portion is formed in the other end of the component body, and an insertion protrusion that mates with the insertion portion is provided on the measuring component; A locking assembly for locking the measuring component and the component body that are inserted into the component body.

8. The articulated arm measuring device according to claim 7, characterized in that, The connecting component is provided with a set of locking threaded holes, and there are multiple sets of locking threaded holes arranged along the axis of the component body. Each set of locking screw holes includes multiple locking threaded holes arranged along the circumference of the component body. The locking assembly is provided in multiple sets, which respectively cooperate with multiple sets of locking screw hole groups. Each locking assembly includes multiple locking screws that cooperate with locking thread holes. The multiple locking screws are screwed into the inner ends of the multiple locking screw holes and abut against the outer wall of the insert protrusion.

9. The articulated arm measuring device according to claim 7, characterized in that, The connecting component includes a first connecting segment and a second connecting segment. The axis of the first connecting segment is parallel to or coincides with the axis of the output end. The second connecting segment is arranged perpendicular to the first connecting segment. An interface portion is formed on the measuring component. The insertion protrusion is formed at the interface portion. The end face of the interface portion is an inclined surface. The end face of the second connecting segment and the end face of the interface portion are adapted to the inclined surface.

10. The articulated arm measuring device according to claim 1, characterized in that, The articulated arms include the D-joint arm; The suspension mechanism includes: The base is magnetically attached to the second measuring platform; A support frame, connected to the base, has a cantilever section; The elastic connector has one end connected to the end of the cantilever and the other end having an elastic connection portion that connects to the D-joint arm.

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