JP6856405B2 - Three-dimensional measuring device - Google Patents

Description

The present invention relates to a coordinate measuring device having an articulated arm.

Conventionally, there is known a three-dimensional measuring device in which a measuring probe is movably supported in a three-dimensional space by an articulated arm (see, for example, Patent Document 1). The measurer can measure the object to be measured by manually operating the articulated arm and bringing the measurement probe into contact with the object to be measured.

Japanese Unexamined Patent Publication No. 2000-28302

The problem of the conventional three-dimensional measuring device will be described by taking the three-dimensional measuring device 100 shown in FIG. 8 as an example. The coordinate measuring device 100 includes an articulated arm 101 and a measuring probe 102 connected to the tip of the articulated arm.
The articulated arm 101 is a first arm that is connected to a base 111, an arm support 112 that is supported by the base 111 and can rotate around the vertical axis A11, and an arm support 112 that can rotate around the horizontal axis A12. It has a 113, a second arm 114 that is connected to the first arm 113 and is rotatable around the horizontal axis A13, and a probe head 115 provided on the second arm 114. The probe head 115 is provided with a handle 116 for the operator to operate.
The three-dimensional measuring device 100 is used with the measuring probe 102 arranged on the front side with respect to the articulated arm 101. Further, the arm support 112 is provided with a first stopper 117 capable of receiving the first arm 113, and the first arm 113 is provided with a second stopper 118 capable of receiving the second arm 114.

The articulated arm 101 is configured to be switchable between a self-supporting standby posture (see the two-dot chain line in FIG. 8) and a measurable measurement posture (see the solid line in FIG. 8).
When the articulated arm 101 is in the standby posture, the first arm 113 that has fallen to the back side leans against the first stopper 117, and the second arm 114 leans against the first arm 113 via the second stopper 118. As a result, the weights of the first arm 113 and the second arm 114 are received by the first stopper 117, so that the articulated arm 101 stands on its own in the folded state.

Before starting the measurement, the measurer switches the articulated arm 101 from the standby posture to the measurement posture (see arrow M1 in FIG. 8). At this time, the measurer applies a force to the front side of the second arm 114 to pull out the second arm 114 to the front side and incline the first arm 113 to the front side with respect to the vertical direction. As a result, the entire articulated arm 101 is pulled out to the front side, and the measurement probe 102 becomes movable in the three-dimensional space.

However, when the articulated arm 101 is switched from the standby posture to the measurement posture, the measurer applies not only a force toward the front side but also an unnecessary force toward the lateral direction to the second arm 114. There is. In such a case, the force transmitted from the second arm 114 to the arm support 112 via the first arm 113 may be converted into torque for rotating the arm support 112 around the vertical axis A11. Then, the arm support 112 unintentionally rotates about 180 °, and the articulated arm 101 cannot be pulled out. As a result, it takes time and effort to pull the second arm 114 again and to correct the rotational position of the arm support 112, which deteriorates the operability of the coordinate measuring device 100.

An object of the present invention is to provide a three-dimensional measuring device having improved operability when the articulated arm is switched from a standby posture to a measuring posture.

The three-dimensional measuring device of the present invention includes a base, an arm support supported by the base and rotatable about a vertical axis, a first arm connected to the arm support and rotatable about a first horizontal axis, and a first arm. , An articulated arm having a second arm connected to the first arm and rotatable about a second horizontal axis, a measuring probe connected to the second arm, and the rotation of the arm support can be braked. The articulated arm includes a braking mechanism, and the articulated arm has a standby posture in which the first arm is tilted to one side with respect to the vertical direction and a standby posture in which the first arm is tilted to the opposite side to the standby posture. It is possible to switch between the measuring posture and the braking mechanism, and the braking mechanism brakes the rotation of the arm support at least while the first arm is tilted to one side of the vertical direction by a certain angle or more. It is a feature.

In the three-dimensional measuring device of the present invention, when the articulated arm is in the standby posture, the measurer pulls out the second arm toward the side opposite to the one on which the first arm is tilted. One arm can be tilted to the side opposite to the measurement posture, and the articulated arm can be switched to the measurement posture. Here, when the direction of the force of the measurer deviates slightly from the intended direction, the arm from the second arm via the first arm while the first arm is tilted to one side by a certain angle or more with respect to the vertical direction. The force transmitted to the support attempts to rotate the arm support around the vertical axis. However, at least during this period, the brake mechanism brakes the rotation of the arm support, so that the arm support is suppressed from unintentionally rotating. Therefore, the articulated arm can be easily pulled out in the intended direction without the trouble of repeating the operation of pulling the second arm and correcting the rotation position of the arm support.
Therefore, according to the three-dimensional measuring device of the present invention, it is possible to improve the operability when switching the articulated arm from the standby posture to the measuring posture.

In the three-dimensional measuring device of the present invention, the brake mechanism is connected to a lever rotatably connected to the arm support around a third horizontal axis and to one end of the lever to the first arm. An arm contact portion that can be contacted, a base contact portion that is connected to the other end of the lever and can contact the base, and at least one of the arm contact portion and the base contact portion and the above. It is preferable to include an elastic member provided between the lever and the lever.
In such a configuration, the first arm abuts so as to lean against the arm abutting portion while at least the first arm is inclined to one side with respect to the vertical direction by a certain angle or more. Further, since a force is applied in the rotation direction of the lever by the load applied from the first arm to the arm contact portion, the base contact portion abuts on the base in a state of being urged by the elastic member. As a result, the braking mechanism can brake the rotation of the arm support by the frictional force acting between the base contact portion and the base.
Further, in such a configuration, when a force of a certain amount or more is applied to the articulated arm, the arm contact portion slips on the base, and the arm support can rotate. As a result, it is possible to prevent the articulated arm and the brake mechanism from being damaged even if an excessive force is applied to the articulated arm.

In the three-dimensional measuring device of the present invention, the brake mechanism includes a sensor capable of detecting the rotation position of the first arm, an electromagnetic brake capable of braking the rotation of the arm support, and information input from the sensor. A control unit that controls the operation of the electromagnetic brake based on the above may be provided.
With such a configuration, it is possible to prevent the arm support from unintentionally rotating when the articulated arm is switched from the standby posture to the measurement posture.

According to the three-dimensional measuring device of the present invention, it is possible to improve the operability when switching the articulated arm from the standby posture to the measuring posture.

The front view which shows the 3D measuring apparatus (standby posture) of 1st Embodiment of this invention. The front view which shows the 3D measuring apparatus (measurement posture) of the 1st Embodiment. FIG. 1 is a cross-sectional view taken along the line S1 of FIG. The figure explaining the switching from the standby posture of the articulated arm of the 1st Embodiment to a measurement posture. A partially enlarged view of FIG. A partially enlarged view of FIG. A partially enlarged view showing a three-dimensional measuring apparatus according to a second embodiment of the present invention. The figure explaining the 3D measuring apparatus of an existing structure.

[First Embodiment]
The first embodiment of the present invention will be described with reference to FIGS. 1 to 6.
As shown in FIGS. 1 and 2, the three-dimensional measuring device 1 includes an articulated arm 2, a measuring probe 3 provided at the tip of the articulated arm 2, a control device (not shown), and a brake mechanism 4. .. The three-dimensional measuring device 1 measures the three-dimensional shape, surface texture, etc. of the object to be measured by the measuring probe 3.

The articulated arm 2 supports the measurement probe 3 and is configured to be able to move the measurement probe 3 in a three-dimensional space in response to an external force (operation by the measurer). Further, the articulated arm 2 is configured to be switchable between a self-supporting standby posture P1 (see FIG. 1) and a measurement posture P2 (see FIG. 2) in which an operation is performed by a measurer.

Specifically, the articulated arm 2 includes a base 21, an arm support 22, a first arm 23, a second arm 24, a probe head 25, and a first joint portion 26A to a seventh joint portion 26G. To be equipped.
The base 21 has, for example, a cylindrical shape and is fixed to a workbench or the like.
The arm support 22 is connected to the base 21 via the first joint portion 26A. The first joint portion 26A makes the arm support 22 rotatable with respect to the base 21 around the vertical axis Ar1 which is the axis of the base 21.

The first arm 23 is formed in a cylindrical shape as a whole, and one end portion 231 thereof is connected to the arm support 22 via a second joint portion 26B. The second joint portion 26B makes the first arm 23 rotatable about the horizontal axis As1 (first horizontal axis) with respect to the arm support 22.
Here, the horizontal axis As1 which is the rotation axis of the first arm 23 is separated from the vertical axis Ar1 which is the rotation axis of the arm support 22 by a predetermined distance on one side (front side) and intersects with the vertical axis Ar1. It is placed in a position where there is no. Further, the horizontal axis As1 is a shaft provided so as to horizontally penetrate the one end portion 231 of the first arm 23 and the arm support 22.

Further, the first arm 23 has two links 233 and 234 connected by the third joint portion 26C. One end 231 of the first arm 23 is composed of a link 233, and the other end 232 is composed of a link 234. The third joint portion 26C makes the two links 233 and 234 relatively rotatable about the central axis Ar2. The central axis Ar2 is a cylindrical central axis of the first arm 23, and is orthogonal to the horizontal axis As1 of the second joint portion 26B and the horizontal axis As2 of the fourth joint portion 26D, which will be described later.
Further, a convex stopper 235 capable of supporting the second arm 24 is provided on the side surface of the first arm 23.

The second arm 24 has a cylindrical shape as a whole, and one end portion 241 thereof is connected to the other end portion 232 of the first arm 23 via a fourth joint portion 26D. The fourth joint portion 26D makes the second arm 24 rotatable about the horizontal axis As2 (second horizontal axis) with respect to the first arm 23. In the present embodiment, the second arm 24 rotates within a range arranged on the front side of the first arm 23. The horizontal axis As2, which is the second horizontal axis, horizontally connects the link 234 forming the other end 232 of the first arm 23 and the fourth joint 26D provided at the one end 231 of the second arm 24. It is a shaft provided so as to penetrate through.
Further, the second arm 24 has two links 243 and 244 connected by the fifth joint portion 26E. One end 241 of the second arm 24 is made up of links 243, and the other end 242 is made up of links 244. The fifth joint portion 26E makes the two links 243 and 244 relatively rotatable about the central axis Ar3, which is the axis of the second arm 24. The central axis Ar3 is a cylindrical central axis of the second arm 24, and is not orthogonal to the horizontal axis As2 of the fourth joint portion 26D, but is orthogonal to the horizontal axis As3 of the sixth joint portion 26F, which will be described later.

The probe head 25 is connected to the other end 242 of the second arm 24 via the sixth joint 26F. The sixth joint portion 26F makes the probe head 25 rotatable about the horizontal axis As3 with respect to the second arm 24. The horizontal axis As3 is a shaft provided so as to horizontally penetrate the sixth joint portion 26F connecting the second arm 24 and the probe head 25.
Further, the probe head 25 has two links 251,252 connected by the seventh joint portion 26G. The seventh joint portion 26G makes the two links 251,252 relatively rotatable about the central axis Ar4. The central axis Ar4 is a central axis that is substantially the center of the probe head 25, and is orthogonal to the horizontal axis As3 of the sixth joint portion 26F.
Further, the link 252 on the tip end side of the probe head 25 is provided with a handle 253 that can be grasped by a measurer by hand.
The articulated arm 2 configured as described above can be rotated by the first joint portion 26A to the seventh joint portion 26G in a total of seven axes.

The measurement probe 3 is detachably attached to the link 252 on the tip end side of the probe head 25. Further, the measurement probe 3 of the present embodiment is a contact-type ball probe having a spherical stylus 31 at the tip. The stylus 31 is arranged on the central axis Ar4 of the seventh joint portion 26G. When the stylus 31 comes into contact with the object to be measured, the measuring probe 3 outputs a touch signal to a control device (not shown).

The control device includes, for example, a CPU (Central Processing Unit) and a hard disk, and is arranged outside the articulated arm 2. The control device can receive signals sent from angle sensors and the like provided in the first joint portions 26A to 7 joint portions 26G of the articulated arm 2, touch signals sent from the measurement probe 3, and the like. Calculates and stores the three-dimensional coordinate values of any point on the object to be measured based on the signal.

As shown in FIGS. 1 to 3, the arm support 22 is provided with a brake mechanism 4 on the side opposite to the side where the first arm 23 is provided with respect to the vertical axis Ar1. The side on which the brake mechanism 4 is provided is the back side, and the side opposite to the back side with respect to the vertical axis Ar1 is the front side.
The brake mechanism 4 includes a pair of lever support portions 41, a pair of levers 42, an arm contact portion 43, a spring locking portion 44, an elastic member 45, and a base contact portion 46.
The lever support portion 41 is formed integrally with the arm support 22 on the back surface side of the arm support 22.
The substantially central portion of the lever 42 is supported by the lever support portion 41 via the shaft portion 411. The shaft portion 411 is a shaft member provided so as to horizontally penetrate the upper end portions of the pair of lever support portions 41. The lever 42 can rotate around the horizontal axis Ax1 (third horizontal axis), which is the central axis of the shaft portion 411.

The arm contact portion 43 is arranged between one end portions 421 of the pair of levers 42, and is supported by these one end portions 421 via the shaft portion 412. The shaft portion 412 is a shaft member provided so as to penetrate one end portion 421 of the pair of levers 42, and is arranged parallel to the shaft portion 411. The arm contact portion 43 is rotatable around the horizontal axis Ax2, which is the central axis of the shaft portion 412. Further, the surface 431 on the front side of the arm contact portion 43 faces the side surface 236 of the first arm 23, and is formed in a concave shape along the side surface 236.

The spring locking portion 44 is arranged so as to be sandwiched between the other end portions 422 of the pair of lever support portions 41, and is fixed to the other end portion 422 via the shaft portion 413. One end of the elastic member 45 is locked to the front surface 441 of the spring locking portion 44. The elastic member 45 is, for example, a coil spring.
The base contact portion 46 is supported by the other end of the elastic member 45, and is urged toward the base 21 by the elastic member 45. The front surface 461 of the base contact portion 46 faces the side surface 211 of the base 21, and is formed in a concave shape along the side surface 211 of the base 21.

Next, the operation of the three-dimensional measuring device 1 will be described.
As shown in FIG. 4, in the three-dimensional measuring device 1, the standby posture P1 (see the two-dot chain line in FIG. 4) and the measuring posture P2 (see the solid line in FIG. 4) of the articulated arm 2 are manually changed by the measurer. Can be switched. The standby posture P1 is a posture in which the articulated arm 2 can stably stand on its own, and the measurement posture P2 is a posture in which an operation is performed by the measurer.

When the articulated arm 2 is located in the standby posture P1, the first arm 23 is on the back side of the first arm 23 in a state where the other end 232 is separated from the one end 231 by the vertical axis Ar1 which is the rotation axis of the arm support 22. It is arranged so as to be located at an angle (so that the other end 232 is tilted toward the back side with the one end 231 as the axis), and is supported in a state of being pressed against the brake mechanism 4. At this time, the other end 232 of the first arm 23 (and the horizontal axis As2 of the fourth joint 26D) is located on the back side of the vertical axis Ar1 which is the rotation center of the arm support 22. Further, the second arm 24 is supported in a state where the other end portion 242 is arranged close to the first arm 23 and is pressed against the stopper 235 provided on the first arm 23.
That is, when the articulated arm 2 is located in the standby posture P1, the first arm 23 leans against the brake mechanism 4, and the second arm 24 leans against the first arm 23 via the stopper 235. At this time, the weight of the second arm 24 is received by the first arm 23 via the stopper 235, and the weight of the first arm 23 to which the weight of the second arm 24 is added is received by the brake mechanism 4. As will be described in detail later, the weight applied to the brake mechanism 4 from the first arm 23 is received by the side surface 211 of the base 21. As a result, the articulated arm 2 becomes self-supporting in the folded state.

Before starting the measurement, the measurer switches the articulated arm 2 from the standby posture P1 to the measurement posture P2. At this time, the measurer applies a force to the front side of the second arm 24 to pull out the second arm 24 to the front side and incline the first arm 23 to the front side with respect to the vertical direction. Specifically, the stopper of the first arm 23 is such that the second arm 24 rotates about the horizontal axis As2 and the other end 242 is separated from the first arm 23 to the front side as compared with the case where the other end portion 242 is in the standby posture P1. Leave 235. The first arm 23 rotates about the horizontal axis As1 and is released from the brake mechanism 4 when the other end portion 232 is pulled by the second arm 24 via the fourth joint portion 26D. Then, the first arm 23 is inclined to the front side (pull-out direction) with respect to the vertical direction V so as to be located on the front side from the one end portion 231 toward the other end portion 232. In other words, the first arm 23 has one end 231 so as to be located on the front side of the first arm 23 so that the other end 232 is separated from the one end 231 by the vertical axis Ar1 which is the rotation axis of the arm support 22. The other end 232 of the shaft falls to the front side. As a result, the articulated arm 2 is pulled out to the front side, and the measurement probe 3 becomes movable in the three-dimensional space.

Next, the operation of the brake mechanism 4 will be described with reference to FIGS. 5 and 6.
As shown in FIG. 5, when the articulated arm 2 is located in the standby posture P1, the first arm 23 comes into contact with the arm contact portion 43 so as to lean against it. At this time, when the arm contact portion 43 is pushed by the first arm 23, the surface 431 of the arm contact portion 43 rotates around the horizontal axis Ax2 in the upward direction, and the surface 431 of the arm contact portion 43 Abuts on the side surface 236 of the first arm 23. Further, due to the load applied from the first arm 23 to the arm contact portion 43, a force is applied to one end portion 421 of the lever 42 around the horizontal axis Ax1 in the direction from the front side to the back side. At this time, since the other end 422 of the lever 42 moves from the back side to the front side, the spring locking portion 44 provided on the other end 422 moves to the base 21 side, and the elastic member 45 moves. Bending, the surface 461 of the base contact portion 46 is pressed against the side surface 211 of the base 21.
In FIG. 5, the direction of the force applied to the brake mechanism 4 when the articulated arm 2 is in the standby posture P1 is indicated by a white arrow. In such a state, when the arm support 22 tries to rotate around the vertical axis Ar1, a frictional force acts between the base contact portion 46 and the base 21, so that the rotation of the arm support 22 is braked.

When the articulated arm 2 is switched from the standby posture P1 to the measurement posture P2, the second arm 24 is pulled out to the front side so that the other end 232 of the first arm 23 falls toward the front side. The first arm 23 rotates about the horizontal axis As1. At this time, the lever 42 rotates around the horizontal axis Ax1 so that one end portion 421 side faces the front side due to the urging force of the elastic member 45 with the rotation of the first arm 23. The load applied from the first arm 23 to the arm contact portion 43 becomes smaller, and the bending of the elastic member 45 is gradually released. However, until just before the first arm 23 is positioned along the vertical direction V, that is, while the first arm 23 is inclined to the back side with respect to the vertical direction V, the first arm 23 is the arm contact portion 43. The base contact portion 46 comes into contact with the base 21 while the elastic member 45 is bent. Therefore, while the first arm 23 is inclined to the back side with respect to the vertical direction V, a frictional force acts between the base contact portion 46 and the base 21, so that the rotation of the arm support 22 is braked. To.

On the other hand, as shown in FIG. 6, from the time when the first arm 23 is positioned along the vertical direction V until it is inclined to the front side with respect to the vertical direction V, from the first arm 23 to the arm contact portion 43. The applied load is eliminated, and the elastic member 45 is not bent. Therefore, the arm support 22 can freely rotate without the base contact portion 46 being pressed against the base 21.

Here, reference is made to FIG. 4 again. In the present embodiment, when the measurer pulls out the articulated arm 2 to the front side, the direction of the force for pulling the second arm 24 is slightly different from the intended direction, and only the force toward the front side with respect to the second arm 24. Instead, it may apply unnecessary lateral force. In such a case, the position where the force is transmitted from the second arm 24 to the first arm 23, that is, the position of the horizontal axis As2 of the fourth joint portion 26D which is the connecting portion between the first arm 23 and the second arm 24 is set. The force pulling the first arm 23 tends to rotate the arm support 22 around the vertical axis Ar1 while it is on the back side of the vertical axis Ar1 which is the center of rotation of the arm support 22. However, in the present embodiment, as described above, while the position of the horizontal axis As2 of the fourth joint portion 26D is on the back side of the vertical axis Ar1 which is the rotation center of the arm support 22, the brake mechanism 4 is used. The rotation of the arm support 22 is braked. Therefore, the arm support 22 does not rotate.

According to the three-dimensional measuring device 1 of the present embodiment, the following effects can be obtained.
According to the present embodiment, when the measurer switches the articulated arm 2 from the standby posture P1 to the measurement posture P2, the rotation of the arm support 22 is suppressed by the brake mechanism 4, so that the arm support 22 is unintentionally used. Does not rotate. Therefore, the articulated arm 2 can be easily pulled out to the front side without the trouble of repeating the operation of pulling the second arm and correcting the rotation position of the arm support 22. This improves the operability of the coordinate measuring device 1.

Further, in the present embodiment, the brake mechanism 4 brakes the rotation of the arm support 22 by the frictional force acting between the base contact portion 46 and the base 21. Therefore, when a force of a certain amount or more is applied to the articulated arm 2, the arm contact portion 43 slips on the base 21 and the arm support 22 rotates. As a result, it is possible to prevent the articulated arm 2 and the brake mechanism 4 from being damaged even if an excessive force is applied to the articulated arm 2.

[Second Embodiment]
The three-dimensional measuring device 1A of the second embodiment will be described with reference to FIG. 7. In the second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The three-dimensional measuring device 1A of the second embodiment has a brake mechanism 5 that is electronically controlled in place of the brake mechanism 4 of the first embodiment whose operation is controlled by a mechanical configuration. The brake mechanism 5 includes a sensor 51, an electromagnetic brake 52, and a control unit 53.
The sensor 51 is, for example, a photo sensor, a hall sensor, or the like, and detects the rotational position of the first arm 23 and outputs it to the control unit 53. The position of the sensor 51 is not particularly limited, but is arranged in, for example, a stopper 6 provided so as to project upward from the arm support 22. The stopper 6 can support the first arm 23 in the standby posture P1.
The electromagnetic brake 52 is provided between the base 21 and the arm support 22, and can be controlled by the control unit 53 to brake the rotation of the arm support 22 with respect to the base 21.
The control unit 53 controls the operation of the electromagnetic brake 52 based on the rotation position information of the first arm 23 input from the sensor 51. The control unit 53 is provided in, for example, the arm support 22.

In the second embodiment, the control unit 53 determines whether or not the first arm 23 is tilted toward the back side with respect to the vertical direction V based on the rotation position information of the first arm 23 input from the sensor 51. to decide. Then, when it is determined that the first arm 23 is inclined to the rear side with respect to the vertical direction V, the electromagnetic brake 52 is operated so as to perform braking. As a result, the rotation of the arm support 22 is braked.
On the other hand, when the control unit 53 determines that the first arm 23 is not tilted to the rear side with respect to the vertical direction V, the control unit 53 releases the operation of the electromagnetic brake 52. As a result, the arm support 22 becomes free to rotate.

According to the second embodiment, as in the first embodiment, when the articulated arm 2 is switched from the standby posture P1 to the measurement posture P2, the arm support 22 can be prevented from unintentionally rotating, and the articulated arm can be prevented from rotating. 2 can be easily pulled out to the front side. As a result, the operability of the coordinate measuring device 1A is improved.

[Modification example]
The present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.
For example, in the first embodiment, the elastic member 45 is a coil spring, but the present invention is not limited to this. For example, the elastic member of the present invention may be made of an elastically deformable resin or the like. In this case, the base contact portion may be configured as a part of the front side of the elastic member made of resin or the like.
Further, in the first embodiment, the elastic member 45 is arranged between the lever 42 and the base contact portion 46, but the present invention is not limited to this. For example, the elastic member of the present invention may be arranged between the lever and the arm contact portion, or may be arranged both between the lever and the base contact portion and between the lever and the arm contact portion. May be done.

In the second embodiment, the control unit 53 is arranged inside the articulated arm 2, but the present invention is not limited to this. For example, the control unit of the present invention may be configured in a control device arranged outside the articulated arm.

In the above-described embodiment, the brake mechanisms 4 and 5 have the arm support 22 while the position of the horizontal axis As2 of the fourth joint portion 26D is on the back side of the vertical axis Ar1 which is the rotation center of the arm support 22. The rotation is braked, but the present invention is not limited to this.
For example, the smaller the angle at which the first arm 23 tilts toward the back side with respect to the vertical direction V, the smaller the force that causes the arm support 22 to rotate unexpectedly, and the static frictional force of the arm support 22 is taken into consideration. The period during which the brake mechanisms 4 and 5 act may be set to such an extent that the brake mechanism 4 suppresses the unexpected rotation of the arm support 22.
Further, the brake mechanisms 4 and 5 are not only while the first arm 23 is tilted to the rear side with respect to the vertical direction V, but also while the first arm 23 is tilted to the front side with respect to the vertical direction V within a certain angle. Also, it may be configured to brake the rotation of the arm support 22.

The configuration of the articulated arm of the present invention is not limited to the articulated arm 2 of the embodiment.
For example, in the above-described embodiment, the horizontal axis As1 which is the rotation axis of the first arm 23 is arranged in a state of being separated from the vertical axis Ar1 which is the rotation axis of the arm support 22 on the front side. The position may be the same as that of the vertical axis Ar1 or may be arranged so as to be separated from the vertical axis Ar1 on the back surface side.
Further, in the above embodiment, the fourth joint portion 26D is configured so that its horizontal axis As2 is orthogonal to the central axis Ar2 of the first arm 23 and not orthogonal to the central axis Ar3 of the second arm 24. However, it is not limited to this. For example, the fourth joint portion 26D may be configured such that its horizontal axis As2 is orthogonal to the central axes Ar2 and Ar3 of both the first arm 23 and the second arm 24. Further, the fourth joint portion 26D may be configured such that its horizontal axis As2 is not orthogonal to the central axis Ar2 of the first arm 23 and is orthogonal to the central axis Ar3 of the second arm 24. In the latter case, the position where the force for pulling the first arm 23 is applied is not the position of the horizontal axis As2 of the fourth joint portion 26D, but the other end portion 232 of the first arm 23.
Further, the articulated arm 2 is not limited to seven axes, and at least three axes including the vertical axis Ar1 of the arm support 22, the horizontal axis As1 of the first arm 23, and the horizontal axis As2 of the second arm 24. Should be included.
Further, in the above-described embodiment, the measurement probe 3 is not limited to the contact type, and may be a non-contact type.

The present invention can be widely used in a three-dimensional measuring device having an articulated arm.

1,1A ... Three-dimensional measuring device, 2 ... Articulated arm, 3 ... Measuring probe, 4, 5 ... Brake mechanism, 21 ... Base, 22 ... Arm support, 23 ... First arm, 24 ... Second arm, 25 ... Probe head, 41 ... Lever support, 42 ... Lever, 43 ... Arm contact, 45 ... Elastic member, 46 ... Base contact, 51 ... Sensor, 52 ... Electromagnetic brake, 53 ... Control, P1 ... Standby Posture, P2 ... Measurement posture.

Claims (3)

A base, an arm support supported by the base and rotatable about a vertical axis, a first arm connected to the arm support and rotatable about a first horizontal axis, and a first arm connected to the first arm and rotatable about a first horizontal axis. 2 An articulated arm with a second arm that can rotate around a horizontal axis,
With the measuring probe connected to the second arm,
A brake mechanism capable of braking the rotation of the arm support is provided.
The articulated arm can switch between a standby posture in which the first arm is tilted to one side with respect to the vertical direction and a measurement posture in which the first arm is tilted to the opposite side to the standby posture. And
The brake mechanism is a support for the arm while the articulated arm is switching from the standby posture to the measurement posture and at least the first arm is tilted to one side of the vertical direction by a certain angle or more. A three-dimensional measuring device characterized by braking the rotation of the joint. In the three-dimensional measuring apparatus according to claim 1,
The brake mechanism
A lever rotatably connected to the arm support around a third horizontal axis,
An arm contact portion connected to one end of the lever and capable of contacting the first arm,
A base contact portion connected to the other end of the lever and capable of contacting the base,
A three-dimensional measuring device including an elastic member provided between at least one of the arm contact portion and the base contact portion and the lever. In the three-dimensional measuring apparatus according to claim 1,
The brake mechanism
A sensor capable of detecting the rotation position of the first arm and
An electromagnetic brake that can brake the rotation of the arm support,
A three-dimensional measuring device including a control unit that controls the operation of the electromagnetic brake based on information input from the sensor.

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