CN101907440B - CMM arm with exoskeleton - Google Patents
CMM arm with exoskeleton Download PDFInfo
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- CN101907440B CN101907440B CN 201010225081 CN201010225081A CN101907440B CN 101907440 B CN101907440 B CN 101907440B CN 201010225081 CN201010225081 CN 201010225081 CN 201010225081 A CN201010225081 A CN 201010225081A CN 101907440 B CN101907440 B CN 101907440B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
- G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37274—Strain gauge
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40305—Exoskeleton, human robot interaction, extenders
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.
Description
Technical field
The present invention relates to accurately measure the Apparatus and method for used with the CMM arm with exoskeleton (exoskeleton) of operation for carrying out.
Background technology
Automatically the existing method of measuring
Centering to large-sized object carry out automatically measuring the measuring machine precision that needs be 0.05mm (+/-2Sigma), be generally 0.025mm (+/-high precision 2Sigma) or more.' Sigma ' refers to a standard deviation.It carries out according to two kinds of major ways at present: (i) very large, the expensive conventional type computer numerical control coordinate measuring machine (CNC CMM) with 3 or more axles of volume; (ii) be usually located at the rigid structure of the static optical probe in the special cell of auto production line end.For conventional type CMM, optic probe moves in order to produce precise information according to the mode of high degree of controlled around stationary object.In the second situation, optic probe and object are all static and according to allowing the calibrated calibrating mode of precise information location.Most conventional type CMM is bracket or horizontal arm structure; Comprise Zeiss (Germany), Hexagon Brown ﹠amp; Sharpe (Sweden) and LK (Britain) produce them in interior many companies.The mechanical sense of touch probe that is used for being arranged on conventional type CMM is supplied by the company that comprises Renishaw (Britain).The optic probe that is used for being arranged on conventional type CMM is supplied by the company that comprises Metris (Belgium).Automatically probe fabricated section such as Renishaw Autojoint can repeat according to high precision, and band is useful on the probe holder of automatic change probe.The rigid structure of static optical probe is supplied by Perceptron (U.S.).The rigid structure of conventional type CMM and static optical probe all has following shortcoming: they are finished the unitary space on production line, it mostly just is used for measuring and nonproductive operation, they are usually located at the end of production line, can not carry out the data feedforward to downstream process, and expensive, be difficult to guarantee on return on investment.In addition, the rigid structure inflexibility of optic probe, thereby be difficult to use in the model that changes rapidly on production line.Today, because there are these shortcomings in existing pinpoint accuracy measuring system, so but use faster than conventional type technique, better or the more cheap effective production technology of pinpoint accuracy location that needs just can not be deployed on this production line.
Robot is measured automatically
Since 1860s rises, many companies have developed heavy robot's arm needing to be used for the application of time in fast period and reproducibility.Yet mainly due to temperature, wearing and tearing and vibration problem, their degree of accuracy are low.Robot has been used for carrying and has automatically measured probe used.These robots arms are accurate not thereby can not satisfy the demands that great majority are measured automatically, particularly in auto industry.Robots arm's high reproducibility makes " quasistatic " measure becomes the solution of being drawn by auto industry.In " quasistatic " measured, probe moved to next position from a position, and only had when static or just extract data when slowly moving.Measurement can be undertaken by contact or non-contact probe.When with the typical rate motion of 10mm/sec-200mm/sec (but can more or less), extract measuring sonde and out of true on the robots arm of three-dimensional data from body surface.The company that produces the robots arm comprises Fanuc (Japan) and Kuka (Germany).Perceptron and LMI-Diffracto (U.S.) provides the solution of using robots arm and optic probe.The Euromold 2001 that 3D Scanners and Kuka hold in Frankfort puts on display and has put on display the solution of utilizing the real-time optical check; Its degree of accuracy is the magnitude of 0.5-1mm.One degree centigrade of the every rising of temperature, the standard industry robot stretches out about 10 microns of every meter heat growth; The error that surpasses 500 microns can be recorded in the production line condition.LMI-Diffracto has and comprises four by the auto production line equipment of the standard industry robot of Kuka supply, each industrial robot is carrying optic probe, wherein the thermal expansion of robot is compensated and the hot error in the production line condition can be reduced to below 100 microns.Give at transfer in United States Patent (USP) 6,078,846 Greer of Perceptron, artifact carries out by utilizing optic probe to measure fixedly to the compensation of robot thermal expansion.When being in stationary state between moving period in robot, measures optic probe.The error map has improved the degree of accuracy of robot.Some methods are arranged, be included in and utilize as by the plane motion program, robot is beated when by the Digital Photogrammetric System that Krypton (Holland) or Northern Digital (Canada) produce, it being measured.So measure just for generation of the error map.The power that the error compensation of load is used by the measurement servo-drive system carries out in order to automatically calculate the load that acts on arm.Even utilize polytype error compensation, such robot reached and only had 0.2mm (+/-2Sigma) degree of accuracy and be used in a large number auto production line.Be system not accurately thereby can not be useful with the robots arm's of the scanning head that has relative motion between scan period probe and object problem.
Recording track
In the people's such as Long United States Patent (USP) 6,166,811, the Digital Photogrammetric System that is used for improving the scanning object degree of accuracy is disclosed, the photogrammetry targets that wherein is fixed on probe is passed through Digital Photogrammetric System real time record track.There are many shortcomings in this method.At first, need to keep a plurality of clearly sight lines between probe and photogrammetric camera.The sight line of the photogrammetry targets in fact, from photogrammetric camera to probe usually can be scanned the required programmable robot's motion of object and/or program control probe orientation variation stops.This has just limited the scope of application of this system thereby has made it can't be used for many application.Secondly, ambient lighting conditions must remain near perfect condition, otherwise the degree of accuracy of Digital Photogrammetric System will reduce or system will stop functionating.In fact, this point is difficult to set up and usually with to other lighting requirement of locating contradict.The 3rd, in this application, Digital Photogrammetric System does not have concurrently usually provides the required resolution of sufficient accuracy and speed for this applicable cases.The 4th, this photogrammetric camera and robot must relative to each other install rigidly.Usually like this, require large-sized rigid structure to reach required degree of accuracy.The subject matter that photogrammetric technology is introduced in the robot measuring system is that the system that produces is compact and solid not for using.
Leica Geosystems supply 6DOF laser tracker Laser TrackerLTD800.It can utilize the wall scroll sight line in the 35m scope to measure the velocity survey position and orientation of 1000 times up to per second.For the target of slow motion, its degree of accuracy is the magnitude of 50 microns.Its cost is over 130000 dollars.Many being similar to photogrammetric limitation of limitation that it is measured robot.The subject matter that the laser tracker technology is introduced in the robot measuring system is that it is expensive, the limitation of existence to the orientation of the probe of institute's recording track, and the system that produces is compact and solid not for using.
Robot controller and program control
Be used for robots arm's fine understanding for those skilled in the art; The canonical reference document is that Richard P Paul shows " Robot Manipulators, Mathematics Programming and Control ".Adept Technologies (U.S.) supply trigger price is the 6-axle robot controller of 8500 dollars.Have many products to can be used for the program control of robot, it allows that off line produces motion sequence and is sent to robot controller subsequently in order to carry out after a while; An example is the EmWorkplace that is produced by Tecnomatix (U.S.).Give in the patented claim GB 2036376A Richter of HA Schlatter AG (Switzerland) at transfer, the program control device manual guidance robot that is arranged in robot by utilization realizes, this device is held by the user and comprised and detect the user to the strainmeter of the predetermined instruction of robot.
Manual CMM arm
Since 1870s, many companies are build can manually operated CMM arm, its recently used contact sonde realized being in 0.025mm (+/-2Sigma) and 0.005mm (+/-accuracy of measurement between 2Sigma), it mainly depends on the expanded range of manual CMM arm and decides.By further exploitation, manually the CMM arm is expected to become more accurate.These manual CMM arms now for many measurements require enough accurately and become incremental portion in measurement market.They have the dirigibility that can enter the zone that is difficult to enter.Manually the CMM arm has acceptable degree of accuracy concerning many application, but it can not automatic operation; Their running cost is expensive, particularly because need semiskilled operator; The operator is affected by personal error also can.Manually the CMM arm is produced by following company, and these companies comprise: Cimcore (U.S.), Faro Technologies (U.S.), Romer (France), Zett Mess Technik (Germany) and OGP (Britain).For example, United States Patent (USP) 3,994,798 Eaton, transfer give the United States Patent (USP) 5 of Faro Technologies, 402,582Raab, United States Patent (USP) 5,829,148Eaton and transfer the possession of the background information that the United States Patent (USP) 6,366,831 give Faro Technologies discloses about manual CMM arm.Background information about bearing in providing bearing to be well known and transfer the possession of U.S. Patent application 2002/0087233 Raab that gives Faro Technologies, manual CMM arm joint is disclosed.Manually the design of CMM arm usually the expanded range from joint center 1 to probe tip be limited to about 2 meters because longer, it needs two operating personnel use this arm.Manually the CMM arm is longer, and its degree of accuracy is just lower.In general, for other conditions identical manual CMM arm of modularization all, degree of accuracy just and length be inversely proportional to.At United States Patent (USP) 6,366, in 831Raab, disclose under the present invention in the field, manually the CMM arm is compared the absolute fix precision that usually has more than ten times or ten times with the robots arm.Cause in robot that more inaccurate factors comprise that the out-of-alignment factor of joint is referring to United States Patent (USP) 6,366,831.Generally use bimanualness by single people as those manual CMM arms of being made by Faro Technologies and Romer.Every hand of operating personnel provides different six-freedom degree effects to the section of the manual CMM arm that held by this.In some applications, some skilled operating personnel can only need a hand.Manually the CMM arm is the mechanism that is controlled according to closed-loop fashion, and wherein operating personnel are sealing this ring.Thisly be controlled to be skilled activity; Operating personnel need to only utilize two hands to control the arm degree of freedom of 6 axles or 7 axles according to various space layout under Action of Gravity Field.Situation is the manual CMM arm of operating personnel's maloperation and manual CMM arm portion or all accelerate under Action of Gravity Field until bump or operating personnel make it stable normally.To be operating personnel apply variable and excessive power and moment of torsion sometimes to manual CMM arm situation during data is obtained, and so just reduced the degree of accuracy of the measurement data of manual CMM arm output.
Compensation and holding device
Manually the CMM arm has to be built in usually provides compensation system in the second joint of moment of torsion to upper arm, and this moment of torsion tends to provide lifting force in order to make its balance to upper arm.Manually CMM arm compensation system used is disclosed in the people's such as Raab United States Patent (USP) 6,298,569,6,253,458 and United States Patent (USP) in ask in 2003/0167647, they all are transferred gives Faro Technologies.This means that operating personnel's lifting arm is lighter, therefore use more not tiring.This also means by the more moments of torsion of manual CMM arm transmission, and it is heavier in order to obtain desired precision to require manual CMM arm must be designed to when not being with this compensation system.Compensating Robot is standard practice in order to reduce power, size and the weight of robot power consumption and motor.In 2003/0167647, when being used for hanging down the orientation, can remove, put upside down and replace mach spring compensator so that compensator arm; This program is also inconvenient for the user, because it must carry out in factory.Some manual CMM arms have at any holding device of one or more axles of dimensional orientation lock arm; This holding device is eliminated put down the needs of arm between the measurement group.In the 3000 manual CMM arms of series that provided by Cimcore (U.S.), the sliding nail fixing device on the compensation system that is installed on axle 2 (the first quadrature pivot) is arranged; When nail slipped in the hole, the compensation system that axle 2 is placed in was just locked.Disclose the pneumatic brake that is positioned on some axles in transfer gives PCT/EP01 01570 Nietz of Zett Mess Technik GmbH, they are provided on the axle 1 to 4 of the manual CMM arm of Zett Mess AMPG P product; Pneumatic brake can be decontroled by radio remote switch; Pneumatic brake acts on disc.Pneumatic brake and disc directly are installed on manual CMM arm; They increase to weight on manual CMM arm and the bearing carry-over moment by manual CMM arm, thereby have reduced its degree of accuracy and availability.
Optic probe on manual CMM arm
Manually the optic probe on the CMM arm is disclosed in the some patented claims that comprise WO9705449 by the present inventor Crampton.Manually CMM arm optic probe used is provided or is developed by wherein 3D Scanners, Romer, Faro Technologies, Perceptron, Steinbichler (Germany), Pulstec (Japan) and Kreon (France).Optic probe generally departs from a side of manual CMM arm to be installed or is installed on its sound end.The optic probe that three kinds of broad types are arranged: some type, line style and face type.So far, the measuring accuracy standard that still there is no the measuring accuracy of qualified point type, line style and face type optic probe.Market is in and can not tests in order to verify degree of accuracy and make it possible to compare between the optic probe type according to practical ways by operative norm.Optic probe has become accurately, is mainly because their measurement range is short.In general, optic probe is collected measurement data being about on the measurement range of 20-400mm.This opens partially with the end of manual CMM arm usually.The degree of accuracy of best manual CMM arm and best optic probe combination surpass already 0.050mm (+/-2Sigma) and can surpass 0.010mm (+/-2Sigma), for short measurement range even over 0.002mm (+/-2Sigma).
Synchronous and the interpolation of the optic probe on manual CMM arm
In the system that comprises manual CMM arm and optic probe, be combined in order to provide the output measurement data from each measurement result.As disclosed in W09705449 in the present inventor Crampton, comprise that the measuring accuracy of the system of manual CMM arm and optic probe synchronously is improved by making from the measurement of manual CMM arm with from the measurement of optic probe.Additionally, as further open in institute in W09705449, comprise that the measuring accuracy of system of manual CMM arm and optic probe is by to carrying out time mark and to carrying out time mark from every measurement of optic probe and providing the multiple measurement result to be improved with the interpolating method of two groups of measurement results subsequently from every measurement of manual CMM arm.Yet existence is disturbed thereby can be lost from one or more measurement results of a device or another device in system sometimes.In this case, rear a kind of interpolating method may be very complicated.
Robot and the manually calibration of CMM arm
As United States Patent (USP) 5,687, disclosed in 293Snell, robot can calibrate with reference sphere and the probe with spherical tip that is positioned in robot, and method is that the probe with spherical tip is repeatedly contacted with reference sphere; The 6-axle embodiment of robot 39-movement parameter model used is disclosed.Optic probe is disclosed in US Patent No. 6,321 with respect to the calibration of robot, in 137B1De Smet.The method of the manual CMM arm of manual calibration is disclosed in transfers the possession of the United States Patent (USP) 5,402 that gives Faro Technologies, in 582Raab.Manually the CMM arm was calibrated by this producer before shipment.Some suppliers comprise Faro Technologies, allow the user to carry out simple probe calibration when each probe changes, and manually the calibration of CMM arm keep identical.The manual CMM arm of OGP UK supply Polar, and when arm performs physical exercise by various space layouts, allow that the user calibrates Polar arm and probe by using with the benchmark artifact of some cones together fully according to simple program, wherein the spheric probe of Polar arm is put into these cones; 39-movement parameter model is used for their 6-axle Polar arm.To manual CMM arm fully, manual calibration is an arduous process accurately, wherein usually records the point of 500 separation, one time process takies several hours.Each point is subject to the impact of personal error.Different operating personnel hold manual CMM arm in different positions, apply different moments of torsion by different grip forces, arm are applied load and the bending moment of different types, thereby produce different deflection and end slope.The manual CMM arm of manual calibration will be carried out according to different modes, and this depends on that each operating personnel holds and use its mode.Needed manual CMM arm is under repeatably load pattern and bending moment, yet it is applicable to each dimensional orientation.The manual methods of the manual CMM arm of calibration that needs has identical load pattern and the bending moment that will occur when using it by different operating personnel.The automated process of calibrating manual CMM arm need to improve reproducibility and the degree of accuracy of their calibration, particularly allow record than existing manual processes in fact more or cost more effective.Optic probe is disclosed in the W09705449 of the present inventor Crampton with respect to the calibration (have another name called and aim at or identify) of manual CMM arm.
Connection is connected in robot with measurement mechanism
As United States Patent (USP) 5,392, disclosed in the people such as 384Tounai, the tip of the measurement mechanism that 6 axles are hinged is connected on the tip of robot so that the calibration machine people.Give the United States Patent (USP) 6,535 of Faro Technologies as transfer, disclosed in 794Raab, the tip of the measurement mechanism that 6 axles are hinged is connected on the tip of robot in order to produce the error map.As United States Patent (USP) 6,519, disclosed in the people such as 860Bieg, the tip of the measurement mechanism that 3 axles are hinged is connected on the tip of robot or machine so that the space performance of robot measurement or machine.All be not used for measuring object in these disclosures.As disclosed in WO98/27887Wahrburg, surgical operation robot and branch joint sensor arm are connected at the pedestal place; Manually use the branch joint sensor arm in order to measure the patient, produce the robot program according to those measurement results, and robot carries out operation.In the disclosure content, measuring is not automatically to carry out.Two prior aries disclose to be used for measuring and have been subjected to due to crooked and or the position of the robots arm's that affects of the deflection that causes of thermal expansion end points and or the device in orientation.As United States Patent (USP) 4,119, disclosed in 212 Flemming, connect with the simple ancon of the plane goniometer that connects rigidly at two ends places and be used for the position of monitoring moving section end.This device is limited in the plane and operates, thereby the bending outside can not measurement plane.Therefore it can measure position and orientation in three dimensions.As United States Patent (USP) 4,606, disclosed in 696 Slocum, the device that is used for the position and orientation of robot measurement arm end comprises numerous measurement connecting rod and measurement mechanisms that rotation is connected with linear bearing that pass through for measuring rotation angle and linear movement.Except at two end points of robots arm all pinning, measure connecting rod at least in the middle of one articulated joint place rigidly pinning on the robots arm.This method need to have 12 rotation and linear measuring assemblies accurately in a 6-axle robot.The error accumulation of these 12 measurement mechanisms just causes query to the accurate three-dimensional measurement mechanism whether it can be developed into for 6-axle robot.This just needs simpler, more solid system, and it does not need other rotation and linear measuring assembly and correlated error accumulation thereof.Patent 4,119,212 and 4,606,696 measurement mechanisms that both need to be rigidly connected at the every end of robots arm place.Being rigidly connected of probe end is essential for the position of accurate robot measurement arm end.When the robots arm was used for locating the CMM arm, being rigidly connected of end of popping one's head in neither needed also to be unworthy to want.Patent 4,119,212 and 4,606,696 both are not provided for the mechanism of the calibration information in operative installations.They both do not propose will install as coordinate measuring machine.In the situation that do not use calibration information, whether device can be arranged near the application needed such accurate optional position just being a problem very much.
Other background
As disclosed in PCT/GB01/01590 Gooch, the robot that illustrates is all with optic probe and the instrument that is arranged on robot probe end; Robot can alternately be used for utilizing optic probe to measure and utilize the instrument executable operations; Yet, for reaching accuracy of measurement, use be the optical tracking system with previous described these whole shortcomings.As further open in institute in PCT/GB01/01590 Gooch, it is motor-driven that robot can be, and for example is installed on track, in order to arrive near measured larger object; This further disclosure also has optically tracked shortcoming.In the patent PCT/GBO1/03865 Gooch, disclose the hand labeled system that uses the Faro arm and used robot Mk system from the industrial robot of Kuka; These two kinds of systems are accurate or automatic, but do not have this 2 point concurrently.The present inventor Crampton discloses in patented claim W09705449 and has utilized the non-contact sensor that is installed on manual CMM arm to carry out manual scanning to the object on rotating disk.Milling of larger object undertaken by standard 5 or 6 shaft industrial robots; Due to the limitation of the precision of standard industry robot, the object that produces and out of true, and usually need to carry out hand finish producing form of cut or cuts different azimuth place.Miller to larger object does carrying out regularly on the large-scale 5-axle Mechanical Processing Center of for example being made by Mecof spa (Italy) and on as the large-scale 5-axle horizontal arm CMM by Zeiss and LK Tool supply exactly; Kind that can the machine work object is by flute card machine work class limitations, and for example horizontal arm can not be around angular distortion.Delcam (Britain) provides the software that is called PowerShape, and it can be 5 axles and 6 shaft industrial robots generation mill procedure.
Needs to degree of accuracy
Their manual CMM arm of customer requirements has than higher in the past degree of accuracy.Manually the large margin of error of CMM arm derives from operating personnel to the excessive stress application of manual CMM arm, act on the changeability of the moment on arm and stride across the built-in counterbalance weight that bearing provides moment by different handle positions.This just needs repeatable higher manual CMM arm, wherein act on the mode that the load on the CMM arm held with its and have nothing to do, and its accuracy is much higher.Also need automatically to remove the more accurate calibration process of personal error.
Needs to robotization
Manual CMM arm with optic probe once used many hours usually.In most of the time in the meantime, operating personnel are usually located at awkward position holding manual CMM arm in a segment distance place from him.For long manual CMM arm, the weight of supporting may have some kilograms from a distance.For the particularly less personnel of many operating personnel, this is difficult work and tiring; Operating personnel's fatigue is that common problem and this may cause disease, incapacitation or wound.The work major part of utilizing manual CMM arm to do belongs to the unique components that need only visually check once.Usually, the surface of checking is not directly to approach, and need to set up interim stand so that can control arm for operating personnel climb up.The problem that the manual CMM arm of the scanning head that wherein has relative motion in scan period between probe and object is being carried in utilization is, although they are enough accurate, but system uses and allows people's fatigue and may or export inaccurate data to the excessive stress application of manual CMM arm because of personal error, because it can not automatic operation.
Needs to accessibility
The shape of the object of measuring and the probe that is positioned on movable link change with application its accessibility.Have enough dirigibilities and have larger practicality in order to approach the CMM of larger body form scope.In fact, it is generally acknowledged that the articulated jib CMM that comprises one group of preferred 6 or 7 joint that separated by rigid section has greater flexibility than orthogonal axes configuration CMM.Generally also think, in the state of the art, automatically the degree of accuracy of orthogonal axes configuration CMM than auto hinge robots arm higher what.Generally also think, automatically orthogonal axes configuration CMM more is not suitable for being positioned for example to be arranged in manufacturing environment on assembly line than auto hinge arm robot.That this problem is not have is hinged, enough available automatic CMM machines accurately.
Needs to portability
As about 5,000 portable manual CMM arms of buying are shown, the remarkable demand of existence to portable manual CMM arm because it becomes enough accurately in middle 1890s.Still exist today to Portable Automatic CMM arm in requisition for, but today is not.
Needs to soundness
Manually the CMM arm is just becoming more accurate and more not firm.Manually the existing design of CMM arm have use and transportation in subject to impact, precision measurement system that moment and abuse affect.The existing design comparison of cask is simple and make manual CMM arm subject to damage, particularly because impact suffers damage.This just needs firm portable manual CMM arm and cask, and it makes the force and moment that acts on manual CMM arm due to impact in transportation minimize.
Summary of the invention
In the prior art, Flemming discloses the robots arm of gage beam with the connection, and it is used for only in the plane and does not consider out-of plane bending.Slocum discloses for the robots arm's measuring equipment used that operates in three dimensions.It need to be used for 12 rotations of 6-axle robot and linear measuring assembly with, its complex structure, manufacturing cost expensive and due to error accumulation precision limited.
Correspondingly, the purpose of this invention is to provide the CMM arm with exoskeleton and gearing, it operates in three dimensions and every axle only needs a measurement mechanism, namely needs 6 angular encoders on 6 axle CMM arms, and needs 7 angular encoders on 7 axle CMM arms.Produce like this just the device than Slocum is firmer and more accurate with ectoskeletal CMM arm, and can operate in three dimensions, and the defective that this point is the device of Flemming.Another object of the present invention be to provide have concurrently manual operation and automatically embodiment with ectoskeletal CMM arm.Another purpose be to provide can collect data with ectoskeletal CMM arm.But another purpose be to provide executable operations with ectoskeletal CMM arm.
In the first embodiment of the present invention, portable robot CMM arm comprises automatic exoskeleton, and this automatic exoskeleton supports and handling inner CMM arm in order to make it to measure object by gearing.Robot C MM arm and inner CMM arm are connected rigidly at the pedestal place.Exoskeleton and inner CMM arm have the axis of equal number and roughly the same joint axis direction and crosshead.Robot C MM arm preferably has 6 or 7 axis.There is gearing in order to make exoskeleton not only drive but also support inner CMM arm at exoskeleton and inner CMM arm.Gearing is that the probe end of non-rigid and inner CMM arm can move on a small quantity with respect to ectoskeletal probe end.This first embodiment fundamentally is different from the device of Slocum and Flemming, and they need to have between the probe end of robots arm's probe end and measurement mechanism and are rigidly connected.At least one probe is installed on the probe end of inner CMM arm.The location of CMM arm and combining from the measurement of probe internally, and calibration marker that novel system ground changes and method have been proposed to avoid due to fuzzy cause inaccurate in making up.Control enclosure is integrated in the pedestal of robot C MM arm.Slip ring allows to carry out unlimited rotation on axial axis.Robot C MM arm usually weighs 20-30kg and is portable, thereby allows it to be taken to measured object place.Another purpose of this first embodiment is to be provided for positioning robot CMM arm in order to measure the method for the data of object.This robot C MM arm invention has new structure, and the novel ability that does not all have in robot, manual CMM arm or conventional type CMM.
In the second embodiment of the present invention, industrial robot CMM arm comprises the exoskeleton that is encapsulating inner CMM arm.Instrument can be installed on industrial robot CMM arm the operation of for example milling and so on to be used for carrying out.But exoskeleton is connected in order to make the position of inner CMM arm survey instrument and guide more accurately it to pass through the space than any previous robot at the probe end rigidly with inner CMM arm.
In the 3rd embodiment, expansion bearing formula robot C MM arm comprises movable gearing, and it is supporting inner CMM arm and inner CMM arm is moved in order to carry out precision measurement from exoskeleton.The exoskeleton rest inner CMM arm in order to make its loss of weight and reduce significantly the force and moment that is applied to it.Gearing is that the probe end of non-rigid and inner CMM arm can move on a small quantity with respect to ectoskeletal probe end.This means that expansion bearing formula robot C MM arm is more accurate than the robot C MM arm of other type.In another kind remodeling, provide air bearing between inner CMM arm and exoskeleton.
In the 4th embodiment, disclose and be used for measuring quantity, simulate quantity, analyze quantity, make quantity imagery and feedback result to the method for manufacture process.The takeoff probe is connected in the probe end of robot C MM arm.The device that combines for the cad model with institute's quantitation and measured object is provided.
In the 5th embodiment, the method and apparatus that is used for maneuverability robot C MM arm is disclosed.Robot C MM arm is installed on moving to next measuring position on the tripod that is built in the collapsible pin in electric vehicle and from a measuring position.It is generally used for autoscan large-sized object such as the vehicles or aircraft and provides cost lower and replacement scheme more flexibly for the large-scale level used at present or bridge-type CMM.
In the 6th embodiment, the robot C MM arm with movable exoskeleton embodiment is disclosed.Inner CMM arm is from the exoskeleton dislocation and manually for generation of the robot program.Inner CMM arm replaces in exoskeleton and robot automatically performs the robot program subsequently.Have advantages of than conventional method such as teaching of use suspension for generation of the manual control of robot program's inside CMM arm and share sooner and more.
In the 7th embodiment, the robot C MM arm that comprises joining CMM arm and robot is disclosed.The CMM arm is supported at least two positions by robot: in probe end and locating in the centre position.This embodiment has advantages of thermal source is removed near the CMM arm.
In the 8th embodiment, disclose with ectoskeletal manual CMM arm.Inner CMM arm is by exoskeleton supporting and driving, and exoskeleton is supported with mobile by operating personnel again.Existing manual CMM arm has made up measurement, self-supporting and firm so that operating personnel handle the function of same arm.The 8th embodiment is positioned over the function of measuring in inner CMM arm and will support and firm so that the function of operating personnel's manipulation is positioned in exoskeleton.The mode of being held by operating personnel regardless of exoskeleton, during calibration process, inner CMM arm always accurately is bearing in each locus according to the same manner in order to make the load that acts on inner CMM arm to repeat and identical with load.This load curve figure reproducibility refers to ectoskeletal manual CMM arm as installing more accurately than arbitrary existing manual CMM arm assembly.For operating personnel provide the flexible button device so that any suitable location place on exoskeleton couples together pushbutton unit and transmitting set; Wireless receiver is integrated in system.The buffer stopper device is provided in to avoid undesirable impact and load in order to cushion inner CMM arm in exoskeleton.Provide probe cover so that the protection probe is avoided colliding and compensating action some loads on contact sonde.Disclose many with the ectoskeletal manual CMM arm of part, its with compare compacter with ectoskeletal manual CMM arm and improved particularly at the maneuvering performance of wrist and probe area, still have significant degree of accuracy simultaneously.Provide with ectoskeletal manual CMM arm and many different contacts and measuring method that contactless probe uses.Disclose with ectoskeletal manual CMM arm autoalign unit and method used.Provide with the cask of load propagation mechanism so that the amplitude that during transportation will act on the impact load on ectoskeletal manual CMM arm reduces to minimum.
In the 9th embodiment, disclose with the manual CMM arm that keeps exoskeleton embodiment.One or more joints in exoskeleton can utilize the detent locking.This means that the operating personnel that suspend between needs in operation can be locked in arm its residing optional position, and need not it is back to its rest position.Previous brake system acts on the CMM arm and with load and puts on the CMM arm, but the present embodiment has advantages of the exoskeleton of acting on and inner CMM arm do not applied any load.
In the tenth embodiment, the embodiment of the manual CMM arm with endoskeleton (endoskeleton) of the present invention is disclosed.It is outside that the CMM arm is positioned at the supporting endoskeleton.In device formerly, the function of counterbalance weight or be parallel to arm and be positioned at the arm outside as in the device of Romer and Cimcore is perhaps inserted in arm in order to make bending moment stride across arm.It is inner that the present invention both had been hidden in compensate function the CMM arm, again in the situation that do not apply and stride across brachiocylloosis moment and compensate.
In the 11 embodiment, disclose with endoskeletal robot C MM arm.The CMM arm is positioned at supporting and drive machines people endoskeleton is outside.The first advantage is that outside CMM arm hidden whole drivers, thereby the arm in the application that is suitable for being restricted near path is provided.The second advantage is that outside CMM arm has larger sections and crooked less, thereby makes it more accurate.
Description of drawings
To only give an example referring to accompanying drawing now is described embodiments of the invention, wherein:
Figure 1A is the schematic diagram according to the 6-axle robot C MM arm of the first embodiment of the present invention;
Figure 1B is the schematic diagram of 7-axle robot C MM arm;
Fig. 1 C is the layout of robot C MM arm system;
Fig. 2 is the joint of exoskeleton and inner CMM arm and the schematic diagram of section;
Fig. 3 is the schematic diagram of the expanded range of robot C MM arm;
Fig. 4 is the schematic diagram with the actual expanded range of the robot C MM arm of optic probe;
Fig. 5 A is the schematic diagram of the expanded range of long CMM section;
Fig. 5 B is the schematic diagram of the expanded range of short CMM section;
Fig. 5 C1 is the schematic diagram of CMM section 8;
Fig. 5 C2 is the schematic diagram of cantilever and series connection Orthogonal Joint option;
Fig. 5 D is the schematic diagram of pedestal;
Fig. 5 E is the layout of the separate type pedestal section of installing discretely;
Fig. 5 F is the layout that is installed on same lip-deep separate type pedestal section;
Fig. 5 G is the layout that is installed on lip-deep exoskeleton pedestal;
Fig. 5 H is the layout of common base;
Fig. 6 is the schematic diagram of stand;
Fig. 7 A is the layout that is installed on the robot C MM arm on vibration-damped table;
Fig. 7 B is the layout that is installed on ground robot C MM arm;
Fig. 7 C is the layout that is installed on the robot C MM arm on the platform that inserts in ground;
Fig. 7 D is the layout that is installed on the robot C MM arm on linear track;
Fig. 7 E is the layout that is installed on two self-control robot CMM arms on horizontal rail;
Fig. 7 F is the layout that is installed on the robot C MM arm on the vertical shaft vertical with horizontal line;
Fig. 7 G is the layout that is installed on two robot C MM arms on portable multi-arm pedestal;
Fig. 7 H is the layout that is installed on the robot C MM arm on object;
Fig. 7 I is the plan view near the robot C MM arm of processing machine installation;
Fig. 7 J is the layout that is installed on the robot C MM arm between some processing machines;
Fig. 7 K is the layout that is installed on the robot C MM arm between some perform regions;
Fig. 7 L is the layout that is positioned at the robot C MM arm on the bridge of object top;
Fig. 7 M is the close layout that is installed on the robot C MM arm of the object on rotating disk;
Fig. 7 N is the close layout that is installed on the robot C MM arm of the object on the linear work platform;
Fig. 8 A is the layout that is installed on the robot C MM arm on wall;
Fig. 8 B is the layout that is installed on the robot C MM arm on stand;
Fig. 8 C is the layout that is installed on the robot C MM arm on sloping platform;
Fig. 8 D is the layout that is installed on the robot C MM arm on horizontal arm CMM;
Fig. 8 E is the layout that is installed on the robot C MM arm on bracket CMM;
Fig. 8 F is the layout that is installed on the robot C MM arm on the rotation voussoir;
Fig. 9 is the layout with the robot C MM arm of photogrammetric tracker;
Figure 10 is the detailed placement figure of robot C MM arm system;
Figure 11 A is the diagram of the architecture of robot C MM arm;
Figure 11 B is the diagram of the replacement scheme architecture of robot C MM arm;
Figure 12 A is the schematic diagram of scrambler;
Figure 12 B is the schematic diagram of bimodulus scrambler;
Figure 12 C is the schematic diagram of bimodulus scrambler mapped device;
Figure 12 D is the schematic diagram of axis and mode top;
Figure 13 A is the schematic diagram of forced-air circulation;
Figure 13 B is the schematic diagram of high inertia and low inertia robot C MM arm;
Figure 14 is the schematic diagram of the position of whole gearings;
The schematic diagram of the position of Figure 15 section of being 8 gearings;
Figure 16 is the schematic diagram of swiveling limitation mechanism;
Figure 17 is two sections of gearing radially;
Figure 18 is for reversing two sections of gearing;
Figure 19 is the schematic diagram of compensation system;
Figure 20 is hard limiting in longitudinal joints and the schematic diagram of limit switch;
Figure 21 A and 21B are the schematic diagram of the hard limiting in Orthogonal Joint;
Figure 21 C is the comparison schematic diagram of the axis separation case of robot C MM arm and manual CMM arm;
Figure 22 is the schematic diagram of bearing;
Figure 23 is view and the section of the probe end of inner CMM arm;
Figure 24 is the longitudinal sectional drawing that is installed on the trigger probe on the probe end;
Figure 25 is the longitudinal sectional drawing that is installed on the optic probe on the probe end;
Figure 26 is the view of optic probe and carriage;
Figure 27 A is the diagram of the architecture of probe;
Figure 27 B is the schematic diagram that is connected in the probe on three cables and probe cassette;
Figure 27 C is the layout with the probe that is connected to a cable on the probe cassette that is positioned at robot C MM arm outside;
Figure 27 D is the layout with the probe of the probe cassette that passes the connection of robot C MM arm;
Figure 28 is two schematic diagram of principle of striped probe;
Figure 29 is the schematic diagram of striped scanning probe mode;
Figure 30 is the schematic diagram of the measurement area of striped;
Figure 31 is the schematic diagram of a fritter of striped;
Figure 32 is the schematic diagram of many overlapping fritters;
Figure 33 A is the schematic diagram of two view striped probes;
The schematic diagram that Figure 33 B pops one's head in for the two view stripeds that scan rank shape object;
Figure 34 A is the schematic diagram of two striped probes;
Figure 34 B is the schematic diagram of two stripeds probes of the vertical wall that scanning rank shape object;
Figure 35 is the platform schematic diagram of kneetop computer;
Figure 36 is the schematic diagram of suspension;
Figure 37 is the schematic diagram of operating personnel's earphone;
Figure 38 A is the layout of the button on robot C MM arm;
Figure 38 B is the layout of foot-switch;
Figure 38 C is the layout with the remote control of belt;
Figure 39 is the layout of coordinate system;
Figure 40 is the diagram of the architecture of control PCB;
Figure 41 A is the diagram of the architecture of joint PCB;
Figure 41 B is the average diagram in the position in joint PCB;
Figure 41 C is the sequential chart of encoder to count and trigger pulse;
Figure 41 D is the process flow diagram of position averaging process;
Figure 41 E is the diagram of strain-ga(u)ge system;
Figure 42 be in the situation that probe as the process flow diagram of the calibration process of master control unit;
Figure 43 A, 43B and 43C are the sequential chart of probe measurement;
Figure 44 is the sequential chart that shows the delay that triggers probe measurement;
Figure 45 be in the situation that probe as the process flow diagram of the calibration process of slave unit;
Figure 46 is the process flow diagram of time stamp measuring process;
Figure 47 is the schematic diagram of the artifactitious probe of scanning ridged;
Figure 48 be ridged artifactitious+X and-diagram of X scanning;
Figure 49 is the layout of calibrating installation;
Figure 50 is the artifactitious diagram of calibration;
Figure 51 A is the artifactitious location of calibration, location schematic diagram;
Figure 51 B is the layout with the calibrating installation of turning axle;
Figure 52 is the process flow diagram of measuring process;
Figure 53 is the schematic diagram of industrial robot CMM arm according to a second embodiment of the present invention;
Figure 54 is for mixing the diagram of 6/7 shaft industrial robot CMM arm;
Figure 55 is the artifactitious schematic diagram of global coordinate system in multirobot CMM arm unit;
Figure 56 is the process flow diagram of flag check process;
Figure 57 is the process flow diagram of surface inspection process;
Figure 58 is the process flow diagram of tool operation process;
Figure 59 A is the process flow diagram of inspection and cutter adjustment process;
Figure 59 B is the process flow diagram of element adjustment process;
Figure 60 is the schematic diagram of the expansion bearing formula robot C MM arm of a third embodiment in accordance with the invention;
Figure 61 is the diagram with the radially movable drive device of the axially mounting of activity;
Figure 62 is the schematic diagram with the torsion movement gearing of the axial and radial support of activity;
Figure 63 is the diagram with the movable drive device of the radial support of activity;
Figure 64 is the schematic diagram of expansion bearing control system;
Figure 65 is the schematic diagram with the control loop of expansion bearing;
Figure 66 is the process flow diagram of the takeoff process of a fourth embodiment in accordance with the invention;
Figure 67 is the process flow diagram of Population number dynamic imitation process;
Figure 68 is the process flow diagram of quantitative analysis, imagery and feedback procedure;
Figure 69 is the diagram of maneuverability robot C MM arm according to a fifth embodiment of the invention;
Figure 70 is the floor plan of maneuverability robot C MM arm equipment;
Figure 71 is the diagram that reference cone is installed;
Figure 72 is reference cone position, target location and with the data structure of position;
Figure 73 is the process flow diagram of maneuverability robot C MM arm set-up procedure;
Figure 74 is the process flow diagram of maneuverability robot C MM arm measure process;
Figure 75 is the diagram with the ectoskeletal robot C MM arm of movable according to a sixth embodiment of the invention;
Figure 76 is the diagram with slot type tubular machine people section;
Figure 77 is the diagram of split bearing gearing;
Figure 78 is the process flow diagram with replaceable ectoskeletal robot C MM arm measure process;
Figure 79 is for connecting the schematic diagram of the CMM of robot arm;
Figure 80 A is the layout with the manual CMM arm of exoskeleton system;
Figure 80 B is the schematic diagram with ectoskeletal manual CMM arm that remains static;
Figure 81 is the schematic diagram of probe cover;
Figure 82 A is the schematic diagram of optic probe lid;
Figure 82 B is the schematic diagram as the optic probe lid of handle;
Figure 83 A is the ectoskeletal schematic diagram of part;
The part ectoskeletal schematic diagram of Figure 83 B for extending;
Figure 83 C is the ectoskeletal schematic diagram in protectiveness extension with the inner CMM of difference and exoskeleton joint location;
Figure 83 D is the process flow diagram of manual contact measurement process;
Figure 83 E is the process flow diagram of automatic contact measurement process;
Figure 83 F is the process flow diagram of contactless scanning process;
Figure 83 G is the process flow diagram of contact scanning process;
Figure 83 H is the schematic diagram of modularization robot calibrating installation;
Figure 83 I is the schematic diagram of external robots calibrating installation;
Figure 84 is the schematic diagram of cask;
Figure 85 is the layout with the manual CMM arm of exoskeleton system;
Figure 86 A is the diagram without the manual CMM arm of supporting that shows power;
Figure 86 B is the diagram with ectoskeletal manual CMM arm that shows power;
Figure 86 C is the diagram with endoskeletal manual CMM arm that shows power;
Figure 87 is the joint of the outside CMM arm of robot endoskeleton and the schematic diagram of section;
Embodiment
The first embodiment
Portable robot CMM arm
This first embodiment with ectoskeletal inner CMM arm is portable robot CMM arm.This portable robot CMM arm embodiment comprises the inside CMM arm by the exoskeleton guiding.Exoskeleton supports and is handling inner CMM arm in order to make it to measure exactly by gearing.The present invention can be according to many robot C MM arm articulated jib layout specific implementations.According to the robot C MM arm of first embodiment of the invention, two kinds of preferable layout figure are arranged: with the 6-axle of 6 joints with 7 axle layouts of 7 joints.
Robot C MM knee-joint head and segment layout figure
Figure 1A and 1B are for showing respectively according to the preferred 6-axle of the robot C MM arm 1 of first embodiment of the invention and the diagram of 7-axle layout.Hinged robot CMM arm 1 has pedestal end 2 and sound end 3 and comprises one group of section and swivel adapter head between these two ends.The joint of two types is arranged: axial and Orthogonal Joint.Longitudinal joints (being designated as ' A ' in Figure 1A, 1B) is around the common axis rotation of two adjacent segments.Orthogonal Joint (being designated as ' O ' in Figure 1A, 1B) is rotated as hinge between two adjacent segments.In Figure 1A, joint categories is according to 3 order is AOOAOA from pedestal end 2 to sound end, refers to respectively joint center 21,22,24,25,26 and 27.In Figure 1B, joint categories is according to 3 order is AOAOAOA from pedestal end 2 to sound end, refers to respectively joint center 21,22,23,24,25,26 and 27.6-axle layout has advantages of that cost is lower.7-axle layout has advantages of can be more neatly near baroque object.
The layout of the preferred 7-axle robot C MM arm 1 of Figure 1B is described in basis first embodiment of robot C MM arm 1 invention, but the present invention is not limited to the preferred 6-axle layout of this joint layout or Figure 1A and can has than 7 more or less joints.For simple application, 3 joints may be just enough.The turning axle that the present invention and only being not limited to moves.As disclosing subsequently, it can comprise the preferred linear axes that connects one or more motions thereon of pedestal end 2.
Robot C MM arm system 150 shown in Fig. 1 C comprises robot C MM arm 1, and it utilizes cable 152 to be connected on kneetop computer 151.Robot C MM arm 1 has pedestal end 2 and sound end 3.It is installed on surface 7.Probe 90 is installed on the sound end 3 of robot C MM arm 1.Optic probe 91 also is installed on the sound end 3 of robot C MM arm 1.Robot C MM arm 1 comprises pedestal 4, inner CMM arm 5, exoskeleton 6 and gearing 10.Just measured object 9 is positioned on surface 7.
Fig. 2 shows two critical parts of robot C MM arm 1: inner CMM arm 5 and exoskeleton 6, their share common base 4 and common contact center 21,22,23,24,25,26 and 27.Inner CMM arm 5 sections of comprising 32,33,34,35,36,37 and 38, they are known as respectively CMM section 2-8 in this article.CMM section 838 extends to the sound end 3 of robot C MM arm 1.Common base 4 is also called CMM section 131.Inner CMM arm 5 also comprises joint 51,52,53,54,55,56,57, and they are known as respectively CMM joint 1-7 in this article.Exoskeleton 6 sections of comprising 42,43,44,45,46,47 and 48, they are known as respectively exoskeleton section 2-8 in this article.Exoskeleton section 848 does not extend to the sound end 3 of robot C MM arm.Common base 4 also is called as exoskeleton section 141.Exoskeleton 6 also comprises joint 61,62,63,64,65,66 and 67, and they are known as respectively exoskeleton joint 1-7 in this article.T robot C MM arm 1 also comprises gearing 72,73,74,75,76,77 and 78, and they are known as respectively gearing 2-8 in this article, is used for inner CMM arm 5 is connected to exoskeleton 6.Gearing 272 is connected to exoskeleton section 242 with CMM section 232.Gearing 373 is connected to exoskeleton section 343 with CMM section 333, for gearing 4-874,75,76,77 and 78 the rest may be inferred.
Inner CMM knee-joint head and segment layout figure
The section of the inside CMM arm 5 in robot C MM arm 1 and joint is briefly following names and arrange.
Name section position description comparison length
The rotation of joint name type
CMM joint 1 pedestal axially＞360degs
CMM joint 2 shoulder quadrature＞180degs
CMM joint 3 ancon front axles are to＞360degs
CMM joint 4 ancon quadrature＞180degs
CMM joint 5 wrist front axles are to＞360degs
CMM joint 6 wrist quadrature＞180degs
CMM joint 7 sensor axis are to＞360degs
Referring now to Fig. 3,, the expanded range 80 of robot C MM arm 1 is restricted to from the sound end 3 of joint center 222 to CMM sections 8 38, and CMM joint 3-7 is rotated in order to make this apart from maximum at that time.The major part of the expanded range 80 of robot C MM arm 1 comprises the length sum of CMM section 3 33 and CMM section 5 35.
Referring now to Fig. 4,, in the situation that optic probe 91 is installed on CMM section 8 38, expanded range 80 increases with the actual expanded range 81 of the distance between the sound end 3 of CMM section 8 38 and the photo measure mid point that fathoms that can measure.
Each CMM section has high rigidity.The section of causing bends or the arbitrary load that acts on inner CMM arm 5 that reverses will reduce inner CMM arm 5 degree of accuracy.Gravity is continuous load source, and for the different spaces orientation of robot C MM arm 1, action of gravitation is different.Typical maximum angle torsion slope in the long CMM section of normal using time device people CMM arm was 0.25 radian-second, but can be more or lessly, particularly depended on the length of CMM section.Typical maximum angle bending slope in the long CMM section of normal using time device people CMM arm is 0.5 arcsecond, but can be more or lessly, particularly depends on material, length and the diameter of long CMM section.
Each CMM section comprises one or more important items:
A section joint explanation
Connecting rod 0 weaving carbon fiber
Connecting rod 0 weaving carbon fiber
Referring now to Fig. 5 A,, CMM section 3,5 33,35 comprises link component 102, and link component 102 has diameter 108 and the wall thickness 109 between two two end housings 100,101 that putting separately a joint.Referring now to Fig. 5 B,, CMM section 2,4,6 and 7 32,34,36 and 37 comprises the Double-casing 103 that is putting two joints, and each joint is positioned at each end.Referring now to Fig. 5 C1,, CMM section 8 38 comprises the sound end housing 105 that is at one end putting CMM joint 757 and putting CMM probe installing device 39 at the other end, and end is that the probe 90 of sound end 3 is connected on CMM probe installing device 39.Should be appreciated that as CMM joint 2,4,6 52,54,56 provides Orthogonal Joint and have different selections.Referring now to Fig. 5 C2,, show CMM joint 252 cantilever used and select and connect and select.CMM joint 2,4,652,54,56 series connection that preferably are chosen as used are selected.The scope of robot C MM arm 1 is not limited to any in selecting of these joints, but can comprise the Orthogonal Joint of other design arbitrarily.
Exoskeleton joint and segment layout figure
In robot C MM arm 1, the joint of exoskeleton 6 and segment layout figure are briefly following names and arranges.
Name section position description comparison length
Joint name type rotation brake
Exoskeleton joint 2 shoulder quadratures＞180degs braking
Exoskeleton joint 3 ancon front axles are to＞360degs braking
Exoskeleton joint 4 ancon quadratures＞180degs braking
Exoskeleton joint 5 wrist front axles are to＞360degs braking
Exoskeleton joint 6 wrist quadratures＞180degs braking
Each exoskeleton section comprises one or more important items:
A section joint explanation
Connecting rod 0 aluminum pipe
Connecting rod 0 aluminum pipe
The pedestal layout
Referring now to Fig. 5 D, " the exoskeleton section 1 41 that heavy-duty thread 116 screws in the CMM section 31 that putting CMM joint 1 51 in installing plates 8 and putting exoskeleton joint 1 61 on CMM section 1 31 by utilizing bolt 106 to be connected at joint center 21 that, pedestal 4 comprises by joint center 21 is utilized standard 3.5.Installing plate 8 is connected on surface 7 as erection bolt 107 by erecting device 104.Inner CMM arm 5 and exoskeleton 6 both have respectively pedestal section 31,41.In this first embodiment, exoskeleton section 1 41 is utilized countersunk bolt 106 and is rigidly connected on CMM section 31.Referring now to Fig. 5 E,, in another embodiment of the CMM of this robot arm 1 invention, CMM section 31 can be installed on first surface 7a, and exoskeleton section 1 41 can be installed on second surface 7b, and makes CMM section 31 be not attached on exoskeleton section 1 41.Referring now to Fig. 5 F,, in another embodiment of the CMM of this robot arm 1 invention, CMM section 31 and exoskeleton section 1 41 can be installed on same surperficial 7 independently.By providing pedestal to extend sections between surface 7 and pedestal 2, CMM joint 151 can lift higher above surface 7.This pedestal extends sections preferably based on the light-duty pipe of being made by the weaving carbon fiber of the low thermal coefficient of expansion that is generally 0.075ppm/degC.This means with respect to the 7 pairs of robot C MM arms 1 with the pedestal extension in surface and do not measure and can be acted upon by temperature changes significantly.Referring now to Fig. 5 G,, in another embodiment of the CMM of this robot arm 1 invention, CMM section 31 can be rigidly or is connected in flexibly on exoskeleton section 1 41, and exoskeleton section 1 41 is installed on surface 7.Referring now to Fig. 5 H,, in another embodiment of the CMM of this robot arm invention, CMM section 1 31 and exoskeleton section 141 can be installed on same elementary item 4 on surface 7, and CMM section 2 32 and exoskeleton section 2 42 both are connected on this surface 7 by CMM joint 1 51 and exoskeleton joint 1 61 respectively.A purpose of the CMM of this robot arm invention is to have the pedestal of arbitrary form to install.
Robot C MM arm expanded range
In this first embodiment, the CMM of this robot arm 1 invention that provides is a series of portable robot CMM arms with different expanded ranges.Portable robot CMM arm expanded range 80 variation ranges are that 0.6m is to 3m.Scope of the present invention is not limited to the expanded range in this scope, and expanded range 80 can be lower than 0.6m or more than 3m.
Inner CMM arm configuration
Rigidity and quality
An object of the present invention is to make the quality of inner CMM arm 5 to minimize.This allows that again portable robot CMM arm 1 quality minimizes, because it needs less rigidity and power of motor to move inner CMM arm 5, thereby robot C MM arm 1 is lighter.
Experience shows, will produce the benefit that doubles, and every 100g quality of removing for CMM arm internally 5, just can be from 1 design of the CMM of robot arm the about 250-400g of removal.The typical weight of the moving parts of the inner CMM arm 5 of medium-sized expanded range is 2.5-4kg.Exoskeleton 6 supports and is driving inner CMM arm 5 and acts on inner CMM arm 5 and particularly act on stress on inner CMM knee-joint head 51-57 and reduce to minimum in order to make.In use, the unique load that acts on exoskeleton 6 should be that gravity and load are transmitted by gearing 10.Exoskeleton 6 is always supporting inner CMM arm 5 at same position, thereby provides repeatably load in the same space orientation.By comparison, modern manual CMM arm is to design for the extra-stress that is applied thereto by operating personnel, this extra-stress is significantly higher than those power that act on inner CMM arm 5, and is depending on that operating personnel hold its position and different loading positions and the direction of mode applies.This means that inner CMM arm 5 does not need high rigidity and lighter than it as the manual CMM arm of similar expanded range.
Link component diameter and thickness
Link component diameter 108 is larger, and it is just harder and more accurate.Along with the development of material science, rigidity and the weight ratio of arm improve day by day, because can obtain harder, lighter material.Inner CMM arm 5 has two long connecting rod member 102:CMM sections 3 33, CMM section 535 in upper arm and underarm.The link component diameter 108 of inner CMM arm 5 is in the scope of 40mm-70mm.The CMM of this robot arm 1 scope of invention is not limited to this link component diameter; Can use over 70mm or lower than the link component diameter of 40mm.During being processed by operating personnel, act on power and torque on current manual CMM arm from following aspect: with the power and the torque that cause the combination of joint angle at that time relevant gravity, compensation system, acceleration and operating personnel.Operating personnel can apply bending force on any one connecting rod.For this reason, for two sections, manually the CMM arm has same connecting rod diameter usually.Exoskeleton 6 is supporting whole sections 32-38 of inner CMM arm 5 about equally.For this reason, the inside CMM arm 5 of this first embodiment all has same link component diameter 108 for two sections 33 and 35.The CMM of this robot arm scope of invention is not limited to consistent link component diameter and the link component diameter can be different.Link component 102 is essentially at the free beam of any end by joint or gearing supporting.When being in level, main deflection mode is under Action of Gravity Field.Supposing does not have undesirable moment on link component 102, the deflection of link component 102 is basically irrelevant with link component thickness 109.So link component thickness can be very little, and this and make the minimum congruence of inner CMM arm 5 quality.For both, the link component thickness 109 of inner CMM arm is preferably 1mm to 1.5mm for section 33 and 35.For the arm of longer expanded range, link component thickness 109 and/or link component diameter 108 increase usually in order to keep rigidity.Link component diameter and the thickness parameter for optimizing for different designs technical specification and manufacturing constraints in design process.
Shape
Between erecting stage, exoskeleton section 2-8 42-48 passes through inner CMM arm section successively.The shape of the CMM section 32-38 of inner CMM arm has to make maximum radial dimension as much as possible little.Any of maximum radial dimension reduces to make the size of exoskeleton section 2-8 42-48 to reduce, and this makes robot C MM arm invention size in it is used less and more flexible.
The exoskeleton structure
Performance
The purpose of this first embodiment is to make robot C MM arm 1 be portable and minimize weight.This purpose correspondingly has the requirement of high angular acceleration and inconsistent with the cycle being minimized with the joint.The performance of maximum angular rate and acceleration aspect is higher than long expanded range robot C MM arm 1 for short expanded range robot C MM arm 1.Maximum joint angles speed is in the scope of 20deg/sec to 400deg/sec usually.Exoskeleton joint 1-4 61-64 has the lower maximum angular rate than exoskeleton joint 5-7 65-67, because torque is higher.In the situation that long expanded range 80 is below 35kg for 3m robot C MM arm weight, joint 2 can have the maximum angular rate of 20deg/sec usually.In the situation that short expanded range 80 robot C MM arm weight is more than 20kg lower than 1m, joint 7 can have the maximum angular rate of 400deg/sec usually.The CMM of this robot arm scope of invention is not limited to this maximum angular scope, and the maximum angular rate of joint can be higher than 400deg/sec or lower than 20deg/sec.
Quality and rigidity
The exoskeleton structure is less than inner CMM arm rigidity, because supporting and driving function do not need high rigidity.Therefore the exoskeleton structure is lightweight, thereby makes robot C MM arm lighter.Because for given performance standard, the quality of portable section reduces arbitrarily just needs the less drive system of power, and this weight reduction, so just there is benign cycle.Portable robot CMM arm typical case mass range from the 18kg of 1m expanded range be changed to the 3m expanded range 35 this.The CMM of this robot arm scope of invention is not limited to this mass range and the biggest quality can be higher than 35kg or lower than 18kg.
Shape
Exoskeleton compact conformation and position are near inner CMM arm.This means that robot C MM arm can approach zone such as the inside that is difficult to measure.Therefore unless robot C MM arm can be applicable to those, object is carried out in many-sided application scenario of preparing otherwise just can not process, for example can not in-site measurement and must at first dismantle from automobile the time when the car seat.Exoskeleton section 42-48 forms the sealing shape in order to protect inner CMM arm section 32-38 to avoid during use being exposed under destructive solid, liquid or gas.Exoskeleton section 42-48 is hollow in order to adapt on inner CMM arm section 32-38.The exoskeleton shape also works to make robot C MM arm manually to use and just in case the part of the inner CMM arm of the call protection of collision.Due to aesthetic property, the exoskeleton constitutional detail has non-functional surface configuration.One of many factors that determines the exoskeleton shape is size and the position of motor and gear case driving element.
Material
Inner CMM arm material
Shell 100,101,103,105 is made of aircraft aluminium; Aluminium was subjected to anodization.Link component 102 comprises that it provides and has approached zero thermal expansivity, high rigidity and low-density by weaving carbon fiber-epoxy resin composite material thin walled tube of making of Toray T700 for example.Link component 102 can by bonding agent for example epoxy resin be connected on end housing 100,101, be supported on simultaneously in precise clamp, this will obtain those skilled in the art's clear understanding.
The exoskeleton material
Putting every joint is made by aircraft aluminium.Aluminium was subjected to anodization.The connecting rod item comprises the carbon fiber-of precision modulding.The connecting rod item by bonding agent for example epoxy resin be connected in and putting on every joint, be supported in precise clamp simultaneously.
Robot C MM arm is installed
An object of the present invention is robot C MM arm and can use many different erecting devices to be installed on according to different azimuth on many different structures, in order to be fit to use its application scenario.
Erecting device
Robot C MM arm 1 is installed on surface 7 and can be undertaken by many devices 104, comprise that the bolt that utilizes bolt 107 is fixed, magnetic is installed, vacuum is installed and fixture.Thereby having enough rigidity, the erecting device that importantly uses 104 can the introducing motion not make robot C MM arm 1 degree of accuracy reduce between installing plate 8 and surface 7 during manipulation robot CMM arm 1.
Surface level orientation with vertical robot C MM arm
Referring to Fig. 6, the common Application standard 3.5 of robot C MM arm 1 " x8 screw thread 116 is installed on the horizontal mounting surface 112 of portable stand 110.Stand 110 has can blocked three wheels 111.110 have contractile pin 113.Stand 110 has larger floor area to avoid it to topple over.Floor area is larger than corresponding manual CMM arm, because operating personnel accept the part arm load of manual CMM arm by his pin, has so just reduced the torque that acts on stand 110.The corresponding manual CMM arm stand of the mass ratio of stand 110 is larger, because robot C MM arm 1 is heavier than corresponding manual CMM arm.Stand 110 has tensile vertical member 115 so that the pedestal of rising or reduction robot C MM arm.Stand 110 must be on the rigidity floor surface but not use on carpet or compressible floor covering.Stand 110 is preferably very heavy in order to make the dynamic perfromance of robot C MM arm can not cause its vibration; The control that is installed on the portable robot CMM arm on stand angular acceleration and speed have been limited to avoid vibrating stand 110 and loss degree of accuracy.An example of the stand 110 that short expanded range robot C MM arm is used is the stand of numbering 231-0, and its heavy approximately 100kg is made by Brunson Instrument Company (U.S.), is suitable for short, medium-sized expanded range.Counterweight can be rigidly connected on the pedestal of stand 110 in order to increase its stability.Long expanded range robot C MM arm needs larger more solid stand.Referring to Fig. 7 A, robot C MM arm 1 can be rigidly mounted on stable table 120 for example on optical bench or granite block, and it can be by the shock attenuation device 121 that is positioned at supporting 122 tops and the vibration isolation of passing ground 119.Referring to Fig. 7 B, robot C MM arm 1 can directly be installed on ground 119.Referring to Fig. 7 C, robot C MM arm 1 can be installed on platform 123, and platform 123 is installed on ground 119.Referring to the planimetric map of Fig. 7 D, robot C MM arm 1 is installed on axis of an orbit 124, and it passes ground 119 and advances on axis of an orbit 124.Shown robot C MM arm 1 has three different position A, B, C along axis of an orbit 124.But many large-sized objects 9 that robot C MM arm 1 measurement volumes is large.The second robot C MM arm 1 is installed on the second axis of an orbit 124, and has as shown in the figure two position D and E.These two axis of an orbit are preferably parallel.This means that two robot C MM arms can move and measure large-sized object 9 for example both sides of motorcycle, automobile or Large-sized Communication instrument independently.Axis of an orbit 124 is preferably linearity.Axis of an orbit 124 is preferably mounted in 119 tops, ground in order to make it can be removed and be reinstalled in different positions; Alternatively, axis of an orbit 124 can for good and all be inserted ground 119.Axis of an orbit 124 can be by manual drives, preferably by button in response to manual activation by motor-driven, perhaps be preferably CNC and drive.When along axis of an orbit 124 translation, robot C MM arm 1 is stable can be when not static.Preferably, when along axis of an orbit 124 translation, robot C MM arm 1 is not measured, and opposite rail axle 124 is used for making robot C MM arm 1 from a measuring position to another measuring position motion, for example moves to C through B from A.Yet robot C MM arm can measured during axis of an orbit 124 translations, but degree of accuracy will descend usually; During the part of the large-scale machine that is installed on for robot C MM arm 1 when axis of an orbit 124, this situation appears in most probable.Referring now to Fig. 7 E,, two robot C MM arms 1 can be installed on same axis of an orbit 124 and motion independently.Each robot C MM arm 1 can be by manual drives, preferably by button motor-driven, perhaps preferably CNC driving in response to manual activation along moving of axis of an orbit 124.Applicable application scenario is the measurement to the car prortotype in design studio.This means that productive capacity with the measurement mechanism of four robot C MM arms 1 can be the twice of only having the measurement mechanism of a robot C MM arm on each axis of an orbit 124 wherein, wherein two motions independently on each of two tracks 124.Referring now to Fig. 7 F,, robot C MM arm 1 is installed on vertical shaft 133, and vertical shaft 133 can make the pedestal up and down vertical ground motion of robot C MM arm 1.Vertical shaft 133 can be on axis of an orbit 124 horizontal ground motion.Vertical shaft 133 can be by manual drives, preferably by button motor-driven, perhaps preferably CNC driving in response to manual activation.One or two robot C MM arm 1 that can be in the paired relative robot C MM arm configuration shown in Fig. 7 D provides vertical shaft 133, and one or two arm that perhaps can be in the robot C MM arm configuration shown in Fig. 7 E provides vertical shaft 133.Referring now to Fig. 7 G,, two robot C MM arms are installed on the portable multi-arm pedestal 134 of motion on axis of an orbit 124.Two robot C MM arms separate that suitable operation is overlapping is enough to eliminate in working volume any gap that can not arrive between robot in order to make apart from S.This means and can utilize cost and simpler equipment to realize high productivity, this equipment only relates to independently robot C MM arm 1 of a portable multi-arm pedestal 134 rather than two.As disclosed in preamble, the long CMM arm of shorter robot C MM arm is more accurate.A purpose of the present embodiment is no matter horizontal rail 124 separates or be used in combination with vertical shaft 133, all will mean and can use shorter robot C MM arm.This means, because horizontal rail 124 and vertical shaft 133 are more accurate than robot C MM arm on long distance, so by usage level track 124 and vertical shaft 133, no matter separate or be used in combination, the resultnat accuracy of measurement mechanism all will increase.Those skilled in the art can optimize the specification of robot C MM arm lengths, transverse axis and vertical shaft in order to make degree of accuracy maximize.Referring now to Fig. 7 H,, robot C MM arm 1 is installed on the object 9 that will measure.Used adapter 136.An example of this object 9 is a pipeline section of gas pipe line, and it is measured around the surf zone that has corroded; In this example, robot C MM arm 1 is arranged on pipe upper easier than the temporary structure that has enough stability in the place's construction of close pipe, cost is lower.Adapter 136 can be the magnetic installation so that installation and removal robot C MM arm 1 perhaps can use other erecting device arbitrarily.For some object 9, do not need adapter 136, and robot C MM arm 1 can be directly installed on object 9.Referring now to Fig. 7 I,, robot C MM arm 1 is installed near the processing machine 137 that object 9 is installed.Processing machine 137 by with 138 of the capsules of automatic operating type sliding door 139 around.But the object 9 in robot C MM arm 1 monitoring 137.May to the processing machine 137 of the harmful environmental pollution of robot C MM arm 1, just need to and pull 139 with capsule 138 for comprising in capsule during processing.Some processing machine 137 does not produce the environmental pollution that robot C MM arm 1 is harmful to thereby does not need capsule 138 and pull 139.Have can being directly installed on machine 137 in order to make the more close object 9 of robot C MM arm 1 and in the expanded range of object 9 than small machine people CMM arm 1 of short expanded range 80; If processing machine 137 produces harmful environmental pollution, just need sliding door to protect the robot C MM arm 1 that is installed on processing machine 137.Referring now to Fig. 7 J,, robot C MM arm 1 is installed between four processing machines 137 in order to make robot C MM arm 1 to measure to be installed in four processing machines 137 object 9 on each.May arrange the processing machine 137 of any amount around robot C MM arm 1.Referring now to Fig. 7 K,, robot C MM arm 1 is arranged between three perform regions 142.Each perform region can comprise an object 9.At any one time, perform region 142 can comprise one of following: the object 9 that there is no object 9, will measure, the object 9 of measuring, the object 9 of having measured, transmit the object 9 that enters or leave perform region 142.The perform region 142 that any amount can be arranged around robot C MM arm 1.Object 9 in perform region 142 can be positioned in fixture according to known locations and orientation with respect to robot C MM arm coordinate system 363 exactly; Alternatively, it can someways roughly be located, and for example passes through human eye mark aligning object 9 earthward.Object 9 can be positioned in the perform region by the known any means of these those of ordinary skill in the field.Each object 9 in each perform region 142 can be the different parts with different Part No.s, and perhaps each object can be the identical parts with identical parts number.An advantage that has some perform regions 142 around robot C MM arm 1 be can load operations in order to automatically measure whole night, thereby increase the utilization of robot C MM arm 1.Second advantage is by when robot C MM arm 1 is measured another object 9 at 142 places, territory, secondary service area, utilizes unmeasured object 9 to replace the object 9 of having measured at 142 places, the first perform region, and keeps taking full advantage of of robot C MM arm 1.Referring now to Fig. 7 L,, robot C MM arm 1 is installed on and passes through on perform region 142, lower, the firm bridge 118 that object 9 is positioned at.Robot C MM arm 1 and bridge 118 are designed so that the probe 90 at sound end 3 places that whole upsides of object 9 can be by being arranged on robot C MM arm 1 is to its executable operations.Object 9 must be more flat in order to adapt to bridge 118 belows, and executable operations on its arbitrary region still.Bridge 118 is rigidity, firm and be installed on securely on ground 119 in order to make and there is no significant deflection when 1 motion of robot C MM arm.The main application fields that robot C MM arm 1 is installed on this embodiment on bridge is the optical check of thin-sheet metal.In the first step, the object 9 that can be the thin-sheet metal item stands upstream process, for example at Forming under Pressure.In second step, object 9 is by manual transfer and be placed in perform region 142.Alternatively, for example transfer mechanism or material handling machine people's and so on mechanism can automatically be placed in the thin-sheet metal in perform region 142.In the 3rd step, check by the 90 pairs of objects 9 of at least one probe that are installed on robot C MM arm 1.In the 4th step, the data output from checking process is arranged.Data can result in checking process the automatic comparison of cad model of the data that obtain and desirable object 9.Data output can be statistics or checks data fully.In the 5th step, object 9 is removed from the working position manually or automatically.In optional step, data output is used to directly or by the Collection and analysis to process statistics, the parameter of controlling upstream process is made a change.In substituting optional step, data output is used to physically change the instrument for upstream process.In another embodiment, linear track 124 is provided on bridge 118 so that mobile robot CMM arm 1 checks larger object 9.In alternate embodiment, robot C MM arm 1 is installed on the end of Extension support spare and robot C MM arm 1 is positioned top in the middle of perform region 142, rather than is installed on bridge 118, and this Extension support spare is installed on a side of perform region 142.
Displaceable and campaign-styled object
Another object of the present invention is that robot C MM arm 1 can dislocation be at least one times during operation to being positioned at object 9 executable operations on the object displacement and object 9.Referring now to Fig. 7 M,, robot C MM arm 1 is installed near rotating disk 820, and object 9 is positioned on this rotating disk 820 and rotates around axle A.Rotating disk 820 can be manually turned and utilize fixture 822 to be locked in reposition.Alternatively, rotating disk 820 can be by motorisation unit 821 as motor or servo drive rotation.The automatic rotation of rotating disk 820 can by robot C MM arm system 150 or arbitrarily other device control, for example carry out manual activation by button or subordinate control device.Angle position recording device 823 for example scrambler is connected on the axle A of rotating disk 820 usually.In canonical process, by rotating disk is moved to four positions according to 90 degree intervals, object 9 is by dislocation four times, in order to make robot C MM arm 1 to approach to whole quadrant executable operations of object 9.In this embodiment, when object 9 motion, robot C MM arm 1 is not carried out for example operation of measurement and so on.An advantage of rotating object 9 on rotating disk 820 be can be on greater than the object 9 of the expanded range 80 of robot C MM arm 1 executable operations; It is particularly suitable for not only wide but also high object.The second advantage of rotating object 9 is in the situation that complex object 9 on rotating disk 820, can make robot C MM arm 1 obtain different near the orientation in order to approach the part that is difficult to enter object 9.Referring now to Fig. 7 N,, robot C MM arm 1 is installed near linear work platform 824, thereby object 9 is positioned on this linear work platform 824 dislocation linearly along axle B.Linear work platform 824 has and the similar position measurement ability of rotating disk 820, control ability and advantage.In other embodiments, can use multiaxis worktable dislocation object with 2 or 2 above axles.The expert of this area should be appreciated that worktable axle or the axle combination of every type will have different advantages for use in different types of article size and shape.In another embodiment, robot C MM arm 1 is static and utilize instrument to carry out the operation of non-contact measurement for example or contact operation and so on when object 9 motion.In another embodiment, robot C MM arm 1 and object 9 move when utilizing instrument to carry out the operation of non-cpntact measurement for example or contact operation and so on simultaneously.When robot C MM arm 1 and object 9 during both with respect to ground motion, need another kind of control algolithm to convert coordinate system to common coordinate system such as object coordinates is.In all embodiments, object 9 can or can be not clamped or otherwise be connected on worktable in order to eliminate relative motion between object 9 and worktable.In all working platform embodiment that object 9 moves during operation, worktable must be accurately and object can not be with respect to working table movement in order to make it possible to carry out operation accurately.The worktable of required size and degree of accuracy is generally expensive article.
Other robot C MM arm orientation
For some application scenario, the orientation that robot C MM arm 1 is installed on is not surface level, and wherein robot C MM arm 1 is not generally perpendicularly upright.Referring to Fig. 8 A, robot C MM arm 1 is installed orthogonally with wall 125.Referring to Fig. 8 B, robot C MM arm 1 is by stand 126 supportings; Alternatively it can be from roof plate supporting.Referring to Fig. 8 C, robot C MM arm 1 is installed on the platform 127 on the surface that has to become with perpendicular line 60 degree.Referring to Fig. 8 D and 8E, robot C MM arm 1 is installed on large-scale, the 3-axle conventional type CMM that for example is used for motor corporation.Permitted eurypalynous 3 axle conventional type CMM, comprised horizontal arm CMM128 and bracket CMM129.Robot C MM arm 1 has significant quality, and it expects that usually weight is 18-32kg, and this depends on the expanded range of its degree of accuracy and arm, but it can be heavier or lighter.For being installed on conventional type CMM, lightweight robotic CMM arm according to the present invention can be designed with basically the quality lower than 12kg.Be installed on for automobile on conventional type CMM uses for robot C MM arm 1 wherein, as shown in Fig. 8 E, it is upper and support vertically downward from the vertical column of bridge 131 that robot C MM arm preferably is connected in bracket CMM129.According to this pattern, by the motion of combination bracket CMM129 and the motion of robot C MM arm 1, robot C MM arm 1 just can approach all parts of the object 9 of measuring.Scope of the present invention is not limited to robot C MM arm 1 from installing vertically downward with the vertical column 130 of the bridge-type conventional type 3-axle CMM131 of 3 linear axes or from the also horizontal arm 132 with the horizontal arm CMM128 of 3 linear axes.Robot C MM arm 1 can be from installing with the axle of any amount and any suitable conventional type CMM that is in arbitrary orientation.Referring now to Fig. 8 F,, robot C MM arm 1 is installed on rotation voussoir pedestal 135 with the angled A of vertical rotation shaft B.
Scope of the present invention is not limited to the embodiment of the robot C MM arm equipment shown in Fig. 7 A-G and Fig. 8 A-F.An object of the present invention is robot C MM arm 1 can install with any orientation in free space.Another object of the present invention is that robot C MM arm 1 can be installed from fixing or movable structure.Another object of the present invention is that robot C MM arm 1 can be installed on arbitrary motion formula structure so that according to 6 degree of freedom translation orientation robot CMM arms.Campaign-styled structure can motion at any time during measuring or between measuring.Another object of the present invention is that robot C MM arm 1 can be provided in equipment according to any amount and arbitrary arrangement mode.
Rigidity and non-rigid installation
Robot C MM arm 1 preferably is installed on surface 7 with respect to object 9 rigidity of measuring.Sometimes, between robot C MM arm 1 and the object 9 measured, continuous relative motion can be arranged, for example the large-scale machine by operation is nearby caused, this machine passes through the ground transmitting vibrations.Perhaps, between robot C MM arm 1 and the object 9 measured, accidental relative motion can be arranged, for example be caused by the truck that crosses or with accident collision that the object of measuring occurs.Perhaps, between robot C MM arm 1 and the object 9 measured, relative motion slowly can be arranged, for example the thermal expansion by the structure that robot C MM arm and object are installed is caused.Referring to Fig. 9, it shows the situation of the relative motion between the pedestal end 4 of robot C MM arm 1 and object 9 that robot C MM arm 1 is being measured, and the relative motion of 6DOF can be measured by measurement mechanism independently.The laser tracker that is provided by Leica and the photogrammetric tracker 140 that is preferably provided by Krypton are provided the example of this independent measuring apparatus.Robot C MM arm 1 and photogrammetric tracker 140 are installed on platform 123.Object 9 is installed on the ground 119 that is subject to move and has significant relative motion in order to make between object 9 and platform 123.Photogrammetry targets 141 is connected on object 9, in order to make during measuring process, photogrammetric tracker 140 is visible minimum 3 targets and preferred multiple goal more at any time.Importantly the measurement of 140 pairs of relative motions of photogrammetric tracker is measured with robot C MM arm 1 in time and is synchronizeed.Can realize by the common any means of expert time calibration, comprise and trigger simultaneously measurement mechanism, all be measured with common clock carry out the time stamp so that subsequent treatment.When relative motion measurement and robot C MM arm measure are not that this processing can comprise temporal interpolation when carrying out in a flash.Photogrammetric tracker 140 is measured the process of calibrating with 1 measurement of robot C MM arm to be known by the those of ordinary skill in field under the present invention.Result is the measured value to object 9, its correction for the robot C MM arm 1 measured and the relative motion between object 9 are carried out.
Robot C MM arm scope
The expanded range 80 of robot C MM arm 1 depends on applicable cases.The robot C MM arm 1 of basis the first embodiment that provides is a series of portable robot CMM arms 1 with different expanded ranges 80.Reason presented for purpose of illustration only, these expanded ranges 80 can be from 0.5m to 5m, wherein the expanded range 80 of 1m and 1.5m may be maximum for the parts customer requirement, and the expanded range 80 of 2m to 3.5m requires at most for automotive customers, and the expanded range 80 of 2.5m to 5m is that the aerospace customer requirement is maximum.The expanded range 80 of robot C MM arm 1 invention is also unrestricted in this disclosure; The comparable described scope of robot C MM arm is longer or shorter.Support with the robot exoskeleton the manual CMM arm that inner CMM arm means that robot C MM arm can have than the effective restriction of 2m and have longer expanded range.This means that the application that need to be longer than the 2m expanded range (manually the CMM arm also is impractical in these) can be carried out by robot C MM arm.Basis first embodiment of robot C MM arm 1 be portable system and be not designed for high angular velocity and acceleration so that the weight of restriction robot C MM arm 1.Other embodiment of robot C MM arm 1 can be designed for much higher angular velocity and acceleration.In order to keep same drive system element to stride across the scope of robot C MM arm 1, accept longer expanded range lower maximum angular rate used in this first embodiment.The key difference that strides across scope is the different lengths of connecting rod 102.Portable robot CMM arm can also have two or more scopes, for example 0.6-1.2m and 1.5m-3m expanded range 80.
Robot C MM arm system summary
Referring now to Figure 10,, the architecture of basis first embodiment of robot C MM arm system 150 is described.Control enclosure 159 is arranged on the pedestal 4 of robot C MM arm 1.Utilization is connected in power cable 155 supplying power on power connector 195.Power switch 156 and feed line 157 are provided.Wherein, provide interface connector 194 in order to probe cassette 295 is connected to arm cable 296 by probe cassette.Kneetop computer 151 utilizes communication cable 152 on knee to be connected on kneetop computer connector 197.Suspension 153 utilizes suspension communication cable 154 to be connected on suspension connector 198.Network 200 connects by network connector 199.Suspension 153 and kneetop computer 151 both can be by battery 163,164 powered operation regular periods.Suspension battery 163 recharges by suspension being placed in recharging a little in 158 of electric contact 328; When suspension correctly be placed in recharge a little in the time, automatically form power supply and connect.Kneetop computer battery 164 is recharged by the power network electric energy.In the time of on being installed on robot C MM arm 1, trigger probe 92 forms automatic power supply connection 160 and connects 161 with being connected.In the time of on being installed on robot C MM arm 1, optic probe 91 forms automatic power supply to be connected 160, triggers connection 161 and the communication connection 162 of being connected.
Referring now to Figure 11 A,, the internal architecture of robot C MM arm 1 is described.Controlling PCB 172 is connected on ground wire 165 and+5 volts of power tracks 166.In seven motors 176, a motor is driving each exoskeleton joint 1-7 61-67, they be connected on seven amplifiers 175 by motor cable 196 and by seven from control PCB 172 export to amplifier 175+/-the 10v control signal drives.Controlling PCB172 is connected on seven joint PCB 173 by universal serial bus 169.Control PCB172 and have another two communications and connect 152 and 154, so as respectively with kneetop computer 151 and suspension 153 communications.+ 24 volts of power tracks 167 provide power to amplifier 175.Power supply unit 171 is connected to feed cable 155, battery 170, ground connection 165 and power track 166,167.At least one joint PCB 173 utilizes the communication 162 under power 160, triggering 161 and usable condition to be connected to probe 90.All seven motors 176 all have detent 177, and they are by the signal driver from joint PCB173.Inner CMM arm 5 comprises seven CMM scramblers 178 that are connected on joint PCB 173.Seven scramblers 179 that are installed on seven motors 176 that driving exoskeleton 6 are connected on joint PCB 173.The thermopair 180 that is installed on inner CMM arm 5 is connected on each joint PCB 173.The strainmeter 181 that is installed on inner CMM arm 5 is connected on each joint PCB173.Two limit switches 182 are connected on each joint PCB 182.Two operating personnel's buttons 183 are connected on the joint PCB 173 of the 7th joint.Touch sensor 184 is connected on each joint PCB 173.Each joint PCB 173 is connected on ground wire 165 and+5 volts of power tracks 166.Trigger Bus 174 is connected to each joint PCB173 and controls on PCB172; It is used for seven CMM scramblers 178 of breech lock.
Referring now to Figure 11 B,, the alternative system embodiment used to the internal architecture of robot C MM arm 1 is described, and it has cable still less, allows that longitudinal joints unlimited rotary and weight are lighter, cost is lower and firmer.Control PCB172 and four joint PCB173 and bus 193 and be connected in series, bus 193 is passed four slip ring unit that are positioned at each axial CMM joint 1,3,5,751,53,55,57 places 188.One to three joint is driven and is controlled PCB172 and can also drive one or more joints by each joint PCB173.Each slip ring unit 188 has the ability of 28 lines, but the number of line can be greater or less than 28.Bus 193 also has 28 lines.28 lines of this in bus 193 carrying be arranged in inner CMM arm 5, exoskeleton 6 and 90 the joint center 21 of popping one's head in arbitrarily after all element functions power voltage, ground connection, universal serial bus, control bus and signal wire used.Control bus 394 is incorporated bus 193 into and is used 5 lines.Control bus 394 can be special use or can be STD bus such as the CAN bus.The CAN bus is to hang down at a high speed to postpone control bus.CAN bus and relevant circuit have defective when driving 7 axle.A kind of solution of controlling faster is use two CAN buses and utilize CAN bus driver 4 axles and utilize the 2nd CAN bus driver 3 axles.Rely on extra 5 lines and use two CAN buses just to allow and obtain 1 millisecond of servo-drive system fast.The position of intelligent power amplifier 175 is connected in joint PCB173 or controls on PCB172 against each motor 176 and by control bus 394 and with 24v power supply and 0v ground connection.The EPOS 24/1 and 24/5 that the example of intelligent power amplifier 175 provides for the Maxon Motor by the U.S..In addition, the intelligent power amplifier function can be integrated in joint PCB173 and control in PCB172.Thisly comprise that the control function of closing servo-drive system betides in controller 395.The PCI208 that controller 395 provides for the Trio Motion Technology by Britain.PCI208 has two control buss, 394 outputs of allowing that fast response servo is controlled; These control buss 394 are output as the CAN bus standard.5 or 10 lines of CAN bus replace being used for each about 10 lines of seven motor/scramblers, and it is 395 direct wirings always from motor 176 to controller usually.Because the quantity of slip ring 188 center lines is limited by practical factor such as dimension and weight, so just allowing, the control bus 394 that uses quantity with the arm center line to reduce about 60 lines uses slip ring 188 in order to axially providing unlimited rotary in CMM joint 1,3,5,7 51,53,55,57.Bus 193 provides power, signal and communication to one or more probes 90, and probe 90 can be contact or contactless, wherein usually mostly uses striped probe 97.For third party's dedicated probe 90 is connected on robot C MM arm 1, the object of the present invention is to provide a kind ofly 90 to pass the passage of interface connector 194 by bus 193 from popping one's head in.Like this, pop one's head in 90 supplier of third party can use required passage in the Specification Of Wiring restriction of this robot C MM arm system 150 to be used for the combination in any of power supply, ground connection, signal and bus.The typical amounts that is provided in the line in passage is 9, but can be less than 9 or more than 9.Interface connector 194 can also be provided for calibration machine people CMM arm 1 and connect with 90 the calibrating signal of being connected.
Scope of the present invention is not limited to the architecture of disclosed robot C MM arm system 150 in this first embodiment, but comprises all architectures of the technique effect with robot C MM arm system 150.For example, in another embodiment, control enclosure 159 separates with robot C MM arm 1 and utilizes cable to be connected on the pedestal 4 of robot C MM arm.If robot C MM arm is portable, robot C MM arm just needs this architecture, and the project in control enclosure 159 needs control enclosure 159 very large in order to be matched with sensibly in pedestal 4 here.The preferred architecture of using the first embodiment because portable robot CMM arm is individual unit, and does not increase the position floor area of manufacturing cost and separate type control enclosure 159.In another embodiment, use full-scale PC to replace kneetop computer 151 and controller PCB 172 to be arranged in PC by STD bus such as pci bus; Alternatively, use the network of the some computing machines in frame.In another embodiment, do not provide suspension and come controller robot C MM arm 1 with kneetop computer 151.In another embodiment, provide connector that one or more external shafts are connected on robot C MM arm 1, they are driven by controller 395.The example of this external shaft has linear track or rotating disk.
Inner CMM arm scrambler
Inner CMM arm 5 comprises the angular encoder 178 that is positioned at each CMM joint 51-57 place.Scope of the present invention is not limited to angular encoder or any specially designed angular encoder but can uses the angle measurement unit of any precise forms.The resolution of angular encoder and accuracy are subject to some effects limit, comprising: but the linearity of the linearity at the number of the diameter printed edge of scrambler, edge, read head, the interpolation in scrambler and irregular quantity.In order to optimize the accuracy of robot C MM arm 1, it is more accurate towards the angular encoder at the tip 3 of inner CMM arm 5 to it is desirable to towards the angular encoder ratio of pedestal end 2.This is because will cause that as the very little rotation at 21,22 places very large motion occurs at most advanced and sophisticated 3 places at the pedestal end connector.Yet most advanced and sophisticated 3 joints will cause that as the very little rotation at 25,26 or 27 places very little motion occurs at most advanced and sophisticated 3 places.If all other factorses are controlled, for given joint rotation, the motion at most advanced and sophisticated place is with proportional to the distance of joint from most advanced and sophisticated 3.Inner CMM arm 5 uses CMM scramblers 178 as by Renishaw or Micro-E Systems, the CMM scrambler that USA makes.CMM joint 21,22 towards the pedestal end 2 of inner CMM arm 5 has larger-diameter scrambler, because 3 have longer distances from CMM scrambler 178 to sound end.The intermediate head 23-24 at the ancon place of inner CMM arm 5 has the scrambler of mid diameter, because 3 have intermediate distance from CMM scrambler 178 to sound end.The joint 25-27 far away at the wrist place of inner CMM arm 5 has the minor diameter scrambler, because 3 have small distance from CMM scrambler 178 to sound end.Less scrambler diameter has reduced the weight of arm of carrying of doing one's best by operating personnel, thereby makes it not only compact but also be easy to handle.In the situation that produce large effectively expanded range 81 by optic probe 91, the scrambler that has high-resolution at the joint 23-27 place towards the sound end of arm may be very important.Can expect that the angular encoder that the technology of angular encoder back will improve and have given accuracy will reduce diameter and weight.Referring now to Figure 12 A,, inner CMM arm scrambler 178 comprises the Renishaw RESR angular encoders 185 with 20 microns tolerance pitches, uses together with one or more Renishaw RGH20 read heads 186 of every joint.When each scrambler 185 is installed two or more read head 186, they or install or preferably install each other in 180 degree according to being 90 degrees to each other as shown in figure 12, but read head can be each other in other angle arbitrarily.With the 52mm diameter RESR of 8192 countings be used for CMM joint 23-27 each, thereby provide each joint+/-5.6arc second mark accuracy.With the 150mm diameter RESR of 23,600 countings be used for CMM joint 23-27 each, thereby provide each joint+/-1.9arc second mark accuracy.The output of each Renishaw read head 186 forwards Renishaw RGE interpolater 187 to.From the output of each the Renishaw interpolater 187 joint PCB 173 that packs into.The advantage of using two or more read heads is dual.At first, can be improved or compensate by simple average from following any one error, these errors comprise: the bias of scrambler is installed, the bad calibration of read head, the edge printing is non-linear, read head is non-linear, irregular and other is mechanical/alignment error.Secondly, on-stream, can carry out in joint PCB 173 from the average computation of the reading of two or more interpolaters 187 of same scrambler 185, thereby some improvement are given in accuracy to scrambler.In alternate embodiment, the angular encoder system can be used as an integral body to be provided, and comprises scrambler, one or more read head, interpolater, average and error map, from the angular encoder system to joint PCB 173 with a connection.Can expect that it is this angular encoder system of about 50mm that company as Renishaw and so on will provide the diameter with 0.1arc accuracy second future.
The bimodulus scrambler
The accuracy that is provided in this scrambler in the CMM of this robot arm 1 invention is the key factor in the accuracy of robot C MM arm.An object of the present invention is to provide a kind of every kind of pattern all with the novel bimodulus scrambler of a read head, it is more accurate than the single mode scrambler with two read heads.Referring now to Figure 12 B,, bimodulus scrambler 860 comprises scrambler disc 861, it has the read head 186 of the pattern 862 on edge pattern 862 around the periphery that is printed in its two sides A, B each, reading face A and the second read head 186 of the pattern 862 on reading face B, these two read heads about 180 degree of being separated by.referring now to Figure 12 C, bimodulus scrambler mapped device 863 is provided, it comprises as by Aerotech Inc, the accurate universal stage 864 of ABR1000 that US provides and so on, as being used for to coil the 861 rotation clamp systems 865 that are clamped to the bolt and so on of the special shape on the rotating part of accurate universal stage 864, two fixing read heads 186 and be connected in accurate universal stage 864 and with the mapped system 866 on the read head 186 of cable 868, wherein two fixedly read head 186 each other in about 180 degree and be positioned on dish 861 opposite side, in order to make when pattern 862 during with respect to 186 motion of fixing read head, the first read head 186 can read the first mode 862 on the A face, and the second read head 186 can read the second pattern 862 on the B face.Accurately universal stage 864 can expect that than bimodulus scrambler 860 accuracy of carrying out is more accurate.Mapped system 866 (a) is being controlled the accurately motion of universal stage 864, (b) reads from the signal of read head 186 and (c) output mapping 867.Referring now to Figure 12 D,, show dish 861, the center of the center of Mode A 869, Mode B 870 and the rotation center 871 of axis that is carrying the joint of bimodulus scrambler 860 all represent thereon.Shine upon 867 for digital document and comprise map information thereby (i) amplitude M of two kinds of pattern 862 dislocation relative to each other is provided, (ii) orientation 872 of dislocation, (iii) the accurate angular error between the printed edge on universal stage 864 and each pattern 862 and contain at least the error map of the printing nonlinearity at the edge on each pattern 862.Two kinds of patterns 862 are printed as Rational Arrangement vertically, and wherein typical shaft is 10 microns to dislocation M, but this dislocation M can be considerably beyond 10 microns or than 10 microns much less.The dislocation M orientation 872 by hand labeled in the dish 861 on.Side A and B by hand labeled in the dish 861 on.Usually, the orientation 872 of dislocation is known with reference to the absolute reference mark on the pattern 862 that is read by read head 186.The process that produces mapping 867 is known by those skilled in the art.Provide the reference marker that is positioned on each pattern 862 so that the reference error map.
Bimodulus scrambler 860 up to seven mappings can be provided in robot C MM arm 1.For each bimodulus scrambler 860 provides mapping 867.In the encoder calibration process, the joint of robot C MM arm 1 with bimodulus scrambler 860 from a turning axle to another turning axle according to the step sublevels that are generally 5 degree, but step can be greater or less than 5 degree.The place reads in order to form a group number-reading from each read head 186 at each step.Proofread and correct this group number-reading with the error map of mapping 867 and revise rear reading in order to provide.Use the dislocation in mapping 867 to process revising rear reading with the dislocation azimuth information, so that the method that fully understands according to those skilled in the art is calculated joint center 871 with respect to the position at the center of Mode A 869 and Mode B 870.After calibration process, when robot C MM arm 1 is in use, just proofreaies and correct from the reading of bimodulus scrambler 860 and make robot C MM arm 1 more accurate with respect to the calibrating position of Mode A 869 and Mode B 870 with joint center 871.Calibrated bimodulus scrambler 860 is more accurate than the angle that the equivalent single mode scrambler with two read heads provides, because (a) effectively have two independent error map encoder systems but not one, and the mean value that the result of these two systems provides ratio is better with the result of the encoder system of a pattern, (b) because dish 861 errors that cause with respect to the non-perpendicularity of joint axis average out automatically.This bimodulus scrambler 860 with compare with the single mode scrambler of the equivalence of two read heads that number of components is identical, weight is identical and take identical volume.In alternate embodiment, two patterns 862 of bimodulus scrambler 860 can be positioned at the same side of dish 861, are the form of internal diameter and external diameter pattern.In another embodiment of the bimodulus scrambler 860 of lower cost, if pattern 862 is aligned to and has enough little dislocation M in the manufacture process of dish 861, just do not need to shine upon the additional procedure of bimodulus scrambler 860 so in the process of the joint that adapts to robot C MM 1, all automatically reach the benefit of balance and still can obtain to make axially to misplace arbitrarily.In the alternate embodiment of more accurate robot C MM1, two bimodulus scramblers 860 are provided in each joint, are preferably located in the both sides at joint center.
The exoskeleton drive system structure
Environmental pollution
One object of the present invention is that portable robot CMM arm undisturbedly operates and can be used to office environment.Importantly in design, the level of sending audible noise is remained on Min..Choice for use comprises that the intrinsic low noise kinematic train of motor and toothed gearing method is in order to reduce to minimum with the audible noise that sends.Basically, the level of audible noise output increases with speed and the acceleration of drive machines people CMM arm.In many application, the minimizing of speed and acceleration is less on the impact in cycle.This is that this process is very slow because usually 90% of the cycle be used for measuring, and by accelerated method only to reduce by cycle of 10%.When the audible noise level that will send reduced to minimum and is crucial Application standard, control system can be set by the user in the situation that low velocity and low acceleration undisturbedly scan.Drivetrain components by introducing low electromagnetic and provide protective cover around the parts that send the highest electromagnetic radiation, robot C MM arm just minimizes the electromagnetic radiation of sending.
Heat is transmitted
One object of the present invention is the motor 176 from exoskeleton 6 and other drive disk assembly are reduced to minimum to the heat transmission of inner CMM arm 5, thereby more stable due to temperature, evenly make inner CMM arm 5 more accurate.Disclose:
Thereby-do not have important direct heat conduction connection to eliminate the heat transmission that is caused by conduction from exoskeleton motor 176 to inner CMM arm 5; Gearing 10 is less and coefficient of heat conductivity its material is low; Be not directly connected in the hot-activity order on the pedestal 4 of robot C MM arm in control enclosure 159; This just means the conduction between the pedestal 4 of the hot-activity order that do not exist in control enclosure 159 and robot C MM arm;
-inner CMM arm section 32-38 coating is in order to make the radiation delivery from motor 176 to inner CMM arm 5 reduce to minimum;
-motor well-ventilated and with heat radiator is in order to make convection heat transfer' heat-transfer by convection maximize and its working temperature is minimized; The angular velocity of joint is program control to avoid motor 176 overheated during operation;
-referring now to Figure 13 A, there is pipeline 189 between inner CMM arm section 32-38 and exoskeleton section 2-842-48; The low capacity fan 190 with larger filtrator 191 in pedestal 4 absorbs air 192 and blows along the pipeline 189 between inner CMM arm 5 and exoskeleton 6; Most of air 192 is discharged at 3 places, tip between inner CMM arm section 38 and exoskeleton section 48.This forced-air circulation provides effective cooling by convection current.Select fan 190 so that undisturbedly running in office environment.Filtrator 191 is larger; In the situation that operate in office environment, filtrator 191 should not need to change or clean in 5 years.The part of the air 192 that is sucked by fan 190 is passed control enclosure 159 and discharges by the relief port 353 in control enclosure; This air circulation has been removed the control item purpose heat of controlling PCB 172, PSU 171 and amplifier 175 from comprising.
The exoskeleton kinematic train
Robot C MM arm 1 is driven by motor 176, and motor 176 is the electric brush type DC servo motor with scrambler.Kinematic train of the present invention is not limited to the motor of any kind, but can be driven by the different power system that comprises hydraulic means or pneumatic means.Hydraulic means and pneumatic means can will be introduced in robot C MM arm than the motor vibration still less with scrambler.Motor 176 can be the motor of interchange or DC servo motor, stepper motor or other form; Motor 176 can be brush or brushless.The High-speed Control ring is provided, and wherein motor 176 and scrambler 179 are with ring seal; This high-speed loop is suitable for being horizontally through robot C MM arm 1.When carrying out contact measurement, being positioned at the hard probe of inner CMM arm 5 ends in when contact will stop motion and robot C MM arm is proceeded.For contact type measurement provides the pinpoint accuracy control loop, wherein CMM scrambler 178 is used for sealing the slower high-level ring that is positioned at the High-speed Control ring outside.For reducing manufacturing cost, reduce the weight of robot C MM arm and form compacter design, CMM scrambler 178 can be used to position feedback; 179 of exoskeleton scramblers do not need.For further reducing manufacturing cost, stepper motor can be used for the open loop form, and not need to carry out any position probing in control loop.Some uses robot C MM arm and the lower kinematic train of required power that only needs low acceleration.Other is used needs high acceleration and the higher kinematic train of required power.Application on auto production line needs firm robot C MM arm 1, and it can hold out against the impact of vehicle body.Owing to there being this inner CMM arm 5, so for great majority are used, in the drive train unit and nonessentially have a low backlash.Can use low cost and inferior quality drive train parts such as belt transmission.In this embodiment, a motor 176 is used for driving each joint 61-67.
The Robotic Dynamic characteristic
Those skilled in the art will be understood that, useful is reduces to minimum with the moment of inertia of robot C MM arm as much as possible.For the given specification of the angular acceleration that limits joint and maximum angular rate, will come implementation with energy still less with the robot C MM arm of the moment of inertia lower than another robot C MM arm.Driver element such as motor are usually very heavy, have concentrated quality.Useful way is the pedestal end that (a) makes the as close as possible robot C MM arm in position of driver element; (b) reduce the quality of driver element; (c) reduce the quality of the section of robot C MM arm.In the process that the pedestal end that makes driver element towards robot C MM arm moves closelyer, can reduce the specification of the drive unit between the drive unit that moves and pedestal because these drive units of front needn't resemble the position more moved near the drive unit of pedestal end difficulty.The driver element that each specification reduces is lighter, and can need again other places to get the lower drive unit of other performance requirement.To reduce to allow them to be designed to lighter thereby another benefit that makes drive unit move to more close pedestal end comes from the stress that acts on some exoskeleton section.Therefore can know, the position that only a drive unit is moved to more close pedestal end has just obtained the advantage of combination.One object of the present invention is robot C MM arm is optimized in order to for limiting specification, its weight and energy consumption are reduced to minimum, and this realizes by comprising the method that drive unit is positioned to as close as possible pedestal end and so on.
Referring now to Figure 13 B,, in the high inertia embodiment of robot C MM arm 1, joint center 3,5[23,25] and motor 176 than the low inertia embodiment of robot C MM arm 1 away from pedestal end 2, in the low inertia embodiment of robot C MM arm 1, joint center 3,523,25 and the more close pedestal end 2 of motor 176 thereof.Motor needn't with joint center adjacency; In alternate embodiment, joint center 3,523,25 is away from pedestal end 2, and the more close pedestal end 2 of motor 176 and torquematic transmission 3,523,25 transmit motor torques along exoskeleton section 3,543,45 from motor 176 to the joint center.Can be robot C MM arm quality and save to save greater than 1kg and power consumption and surpass 10% owing to driver being positioned closer to typical reduction effect that the pedestal end obtains.
Gearing
In this first embodiment, the pedestal 41 of exoskeleton 6 is rigidly connected on the pedestal 31 of inner CMM arm 5, does not have significant relative motion and power and torque by by this transmission that is rigidly connected in order to just make between two pedestals 41 and 31.Many gearing 72-78 are provided, and each CMM section 32-38 can not have, and has one or more than a gearing.In gearing 72-78, each is in directly with corresponding CMM section 32-38 with corresponding exoskeleton section 42-48 and contacts.During operation, the center of CMM joint 51-57 and joint 61-67 and axle are in same position basically.Cause the factor of these joint centers and axle generation slight misalignment to comprise:
-CMM section 2-8 32-38 is different from exoskeleton section 2-8 42-48 strain
Elastic deformation occurs in-gearing 2-8 72-78; All gearing 2-8 72-78 comprise elastic device and do not connect rigidly on inner CMM arm 5 and exoskeleton 6 in this first embodiment.In this first embodiment, unique between inner CMM arm 5 and exoskeleton 6 is rigidly attached to pedestal end 2 places; Particularly, at sound end 3 places, be not rigidly connected between inner CMM arm 5 and exoskeleton 6
The spinning of-section will be discussed to this soon
-due to the dislocation of making and the accumulation of build-up tolerance causes
The preferred arrangement of gearing
Those of ordinary skill in the art will be understood that, when the quantity of or gearing 10 of continuous discrete at Choice and design, position and type, should consider many factors.For 6-axle and 7-axle robot C MM arm 1, the set-up mode of gearing 10 will be different.For short expanded range and long expanded range robot C MM arm 1, the set-up mode of gearing 10 will be different.For the different joint set-up modes that comprise joint diverse location and order, the set-up mode of gearing 10 will be different.
The quantity of gearing
Can use the gearing of any amount, from a discrete gearing to the Continuous Contact district on the whole length of robot C MM arm.
A gearing: for locating and orienting probe 90, if only have a gearing, it must be the gearing 8 78 between CMM section 8 38 and exoskeleton section 8 48.Yet, so 6 or 7 armshafts have redundancy and ancon can free movement under gravity or inertial acceleration effect.When CMM joint 454 impacted exoskeleton joint 4 64, this free movement will cause producing second ' realizing unintentionally ' gearing.
Two gearings: as previously mentioned, the first gearing must be gearing 8 78.The second gearing must be in order to control ancon between 6 26 ends of the joint center of joint center 2 22 ends of CMM section 333 and CMM section 6 36.If the second gearing is towards the joint center 222, the driver on exoskeleton 6 will need great power is reached the first gearing of the most of weight that is supporting arm from start to finish; Will cause so more than required machine CMM arm 1 recuperation.If the second gearing away from joint center 4 24, will need macrobending moment by inner CMM arm 5 in order to lift the weight of ancon; Will reduce like this accuracy of robot C MM arm or need large additional weight to strengthen CMM section 3 33.
Three gearings: three gearings except rigid base connects are the preferred amount of gearing of the first embodiment of robot C MM arm 1.These three gearings are positioned at: near and be positioned at joint center 4 24 before, near and be positioned at joint center 6 26 before and be positioned at gearing 8 78 before sound end.This setup of gearing has following advantages:
-long section CMM section 3,5 33,35 is supported on simply near any end, and has just reduced the deflection of crossbeam under Action of Gravity Field like this
The power of-motor and gear case and weight are reduced to minimum in order to the robot C MM arm 1 of minimum weight is provided
The quantity of-gearing is optimised; Any more quantity will increase cost, weight and complicacy
Four to seven gearings: increase with the design complexity of the robot C MM arm 1 of 4-7 gearing 10 gearing with each increase.The possibility that gearing hinders each other and the possibility that inner CMM arm 5 applies undesirable moment is increased.
The continous way gearing: the continous way elastic medium can be provided between inner CMM arm 5 and exoskeleton 6.Intermediate volume between CMM arm 5 and exoskeleton 6 can be full of some small rubber balls, and these small rubber balls are coated with bonding agent in order to make them adhering to each other and can not flow down or flow to around intermediate volume in the different spaces orientation.Intermediate volume can be full of the material as foam-packing and so on, and wherein air bag is trapped in plastic sheeting.Medium can be specified in order to make the power and the torque that are transported to inner CMM arm 5 reduce to minimum.Medium can also be specified in order to make the joint of inner CMM arm 5 and the misalignment of the joint of exoskeleton 6 reduces to minimum.Can specify medium so as to make its radially, axially and torsional direction demonstrated required elasticity in these three minutes in direction.Medium can be the continous way that runs through intermediate volume or can be discontinuous formula in order to be similar to the discrete type gearing.Continuous medium can present discontinuous performance; For example: in the zones of different of intermediate volume radially, axially and the elasticity of torsion can change, perhaps can alter a great deal.
Do not drive the section automatic rotation
Referring again to Fig. 2, during automatic rotation, there are four kinds of situations in 7-axle robot C MM arm 1 when one or more sections in not from the motive situation of actuated element and under Action of Gravity Field.This CMM section automatic rotation is undesirable, because if joint can be oriented at 90 degree to the required angle of rear drive rotation, and so so may be because connector locking causes damaging calibration in CMM arm or loss CMM arm.
Situation 1: if quadrature articulated joint 222 just automatic rotation may occur for straight type.Automatic rotation comprises CMM section 2,3 32,33 rotation together between CMM joint 1,3 51,53.Because robot C MM arm is installed in vertical direction and the eccentric mass that is not accelerated by gravity usually, so just can not be like this.
Situation 2: if quadrature knuckle joint 4 24 just automatic rotation may occur for straight type.Automatic rotation comprises the together rotation of CMM section 4,5 34,35 between CMM joint 3,5 53,55.If exist in CMM section 4,5 34,35 by gravity accelerate from the center of gravity of axle and quadrature knuckle joint 424 not in vertical direction, just may be like this.
Situation 3: if quadrature knuckle joint 6 26 just automatic rotation may occur for straight type.Automatic rotation comprises the together rotation of CMM section 6,7 36,37 between CMM joint 5,7 55,57.If exist in CMM section 6,7 36,37 by gravity accelerate from the center of gravity of axle and quadrature knuckle joint 626 not in vertical direction, just may be like this.Just can prevent situation 1,2 and 3 by rotation limiting element or the Separated type rotary restraint device 940 that is built in the eclipsed form drive transmission.
Situation 4: if the deviation of gravity center axis of CMM section 8 and its just automatic rotation may occur by actuator drives.Yet gearing 878 is essential and produces the torsion driving, so situation 4 can be ignored.
Quadrature articulated joint locking
There is multiple dimensional orientation situation in robot C MM arm 1, and wherein the quadrature articulated joint locks and undesirable power, moment or torque may be applied on inner CMM arm 5 because gravity, dislocation and abuse load.Three kinds of example lock condition are:
Lock condition 1: quadrature knuckle joint 2,4,6 22,24,26 is straight type, and its axis is in level.If the pedestal axis is vertical, arm is vertical.Dislocation may cause bending moment to put on inner CMM arm 5 by gearing.Abuse loads and may cause bending moment to put on inner CMM arm 5 by gearing.The careful design of gearing and ectoskeletal rigidity can reduce to this effect minimum or eliminate.
Lock condition 2: quadrature knuckle joint 4,6 24,26 is straight type, and its axis is in vertically.Be level if be positioned at the section of the robot C MM arm 1 after joint 222, the situation of single rigidity " locking " crossbeam that just exists CMM section 3-833-38 to be formed on to be in level under Action of Gravity Field and to be supported on two or more positions.When at each end bearing, " locking " crossbeam will the deflection significantly in the centre.When being supported on 3 or more during multiposition, will probably produce bending moment and present larger deflection.Dislocation may cause bending moment to put on inner CMM arm 5 by gearing.Abuse loads and may cause bending moment to put on inner CMM arm 5 by gearing.According to the undesirable force and moment that acts on inner CMM arm 5, the difference space orientation situation of this situation for considering.The careful design of gearing and ectoskeletal rigidity can reduce to this effect minimum or eliminate.Alternatively, when measuring, can take steps in order to make robot C MM arm 1 not be moved into this lock condition 2 dimensional orientations.For example, just make arm be in the same space orientation at joint 3,7 23,27 place's 90-degree rotations, with respect to two quadrature knuckle joints 4 of gravity unlocking, 6 24,26, remove all undesirable moments and make arm be suitable for measuring.
Lock condition 3: quadrature knuckle joint 6 26 is that straight type and its axis are vertical.This is the subcase of lock condition 2.Deflection is less.Lock condition 3 can decompose to lock condition 2 in a similar manner.
In above example lock condition or arbitrarily in other lock condition, in CMM joint 2,4,6 32,34,36, any one locking can be avoided by following any method: place hard stop in exoskeleton 6 in order to stop joint to arrive 180 degree 1.; 2. robot C MM is not moved in the dimensional orientation that locking occurs.
The preferred arrangement of gearing
Referring now to Figure 14,, the preferred arrangement of robot C MM arm 1 gearing used is described.Robot C MM arm 1 is in static in the horizontal space orientation forward from joint 2.Three gearings 3,5,8 73,75,78 are provided.Before gearing 3 73 just is positioned at joint center 3 23.Before gearing 5 75 just is positioned at joint center 5 25.After gearing 8 78 is positioned at joint center 7 27.Swiveling limitation mechanism 940 is provided in to be adjacent to 2,4,6 22,24,26 places, joint center.
Referring now to Figure 15,, the position of gearing 8 78 is described.CMM section 8 38 and be installed on rigidly standard probe 90 on CMM section 8 38 at center of gravity CG8 place by gearing 8 78 supportings in case make act on CMM joint 7 57 make a concerted effort or torque can be ignored.Center of gravity CG8 is the center of gravity that CMM section 8 38 adds the standard probe 90 that is installed on rigidly on CMM section 8 38.This is perfect condition, because one of purpose of the CMM of this robot arm 1 invention is exactly by power and torque that minimizing acts on the joint of inner CMM arm 5, accuracy to be maximized.In fact, the probe 90 that comprises the optic probe 91 of various quality, centre of gravity place and moment of inertia will be connected on the sound end 2 of robot C MM arm 1.Under ideal state, all probes 90 be will be designed so that on the proper CMM of being installed on section 38 time, and the centre of gravity place of coupling probe 90 and CMM section 8 38 is centered on the axis of the CMM section 38 that is in gearing 8 78 centers.Like this, connection has the high-quality probe 90 that is centered on center of gravity CG8 can not reduce the accuracy of robot C MM arm, fully supports because extra mass is subject to exoskeleton 6 by gearing 8 78.
Referring now to Figure 16,, swiveling limitation mechanism 940 is described.Swiveling limitation mechanism 940 comprises pin 941 and plug-in type RUBBER O shape ring 942.Pin 941 is rigidly connected on inner CMM arm 5 and stretches out from the axis of CMM joint 252.O shape ring 942 inserts in exoskeleton 6 and with the axis of exoskeleton joint 2 62 rigidly to be aimed at.Pin 941 external diameter significantly less than the internal diameter of O shape ring 942 in case make when CMM joint 252 and 262 pairs of exoskeleton joints punctual, encircle pin 941 and O shape the radial air gap that has homogeneous between 942.The purpose of swiveling limitation mechanism 940 is to prevent that CMM section 2,3 from automatic rotation R occuring when CMM joint 252 is straight type.If automatic rotation R begins, its soon will around the axis oscillating at joint center 222 and with pins 941 effects of O shape ring 942 collisions under stop.Air gap is maintained in the proper motion of robot C MM arm and prevents that undesirable power or torque from being put on inner CMM arm 5 by O shape ring 942 and pin 941.
Referring now to Figure 17,, show the principle of gearing 373 with longitudinal sectional drawing AA and axial, cross-sectional view BB.The driving transmission of gearing 3 73 is for radially.CMM section 3 33 is used to move by the radial force that gearing 3 73 applies from exoskeleton section 3 43.Gearing 3 73 comprises three drive blocks 201, and they are rigidly connected to exoskeleton section 3 43 inside according to 120 degree spacings; Drive block 201 is made by light material such as aluminium.Two layers are bonded on the inside surface of three drive blocks 201, namely elastomeric layer 203 as neoprene (diene) rubber with the layer of low-friction material 202 that contacts with CMM section 3 33 as PTFE.Gearing 3 73 can not transmit axial force, because under axial mode, layer of low-friction material 202 is allowed between CMM section 3 33 and exoskeleton section 3 43 and had slippage.When gearing 3 73 was assemblied in the appropriate location, elastomeric layer 203 just was in the constant compression state.The cross-sectional area of elastomeric layer 203, thickness and rigidity combine so that within can remaining on its design flexibility scope, and rigidity can not increase fast during normal use or the significant distance of compression.Elastomeric layer 203 is than in the situation that inner CMM arm 5 and exoskeleton 6 abuses are loaded the dislocation that produces is much wide in this position; So just prevent that inner CMM arm is subject to high power or torque.The rigidity of elastomeric layer 203 is lower in order to make it be subject to remarkable compression when its supporting maximum weight.Those skilled in the art will appreciate that regulation to cross-sectional area, thickness and rigidity be needs accurately simulation permitted multifactorial known programs, these factors are included in ectoskeletal dislocation tolerance build-up and deflection in the situation that abuse loads.The benefit of use low-friction material 202 is can be by friction generates heat; This means and reduce to required driving force minimum and by eliminating the thermal deformation that causes due to friction ' heat ' point, the precision of inner CMM arm 5 kept.Two buffer stoppers 209 are provided for preventing automatic rotation.Buffer stopper is connected on CMM section 3 33.Under normal operation, there is air gap between buffer stopper 209 and drive block 201.Buffer stopper 209 has with the surface of rubber processing in order to reduce impact.If the beginning automatic rotation will make automatic rotation stop very soon by buffer stopper 209 collision drive blocks 201 so.Similarly, gearing 5 75 is arranged for the radial drive transmission.
The driving transmission of gearing 8 78 is for reversing and radial manner.Gearing 87 (? 8 78) comprise two adjacent cells, i.e. torsion driver and radial actuator.Radial actuator is similar to the radial actuator of Figure 17.Referring now to Figure 18,, show the torsion driver of the gearing 8 78 that longitudinally section AA and axial cross section BB observe.The torque that utilization applies by gearing 8 78 from exoskeleton section 8 48 makes 8 38 rotations of CMM section.Gearing 8 78 comprises the collar 204 that is bonded on CMM section 8 38.The collar 204 also comprises the driving flange 209 of three spacings, 120 degree, and it radially outwards extends and extends longitudinally.The band slot type drive block 205 of three spacing 120 degree is driving driving flange.Each comprises two liners of being made by resilient material 203 with slot type drive block 205, and it is bonded on two driving faces with the slit of slot type drive block 205.Utilize packing ring 207 to use bolt 206 will be with slot type drive block 205 to be connected on exoskeleton section 8 48.Band slot type drive block 205, the collar 204 and packing ring 207 are made by light material such as aluminium.Resilient material 203 has the outside layer of low-friction material 202 that contacts with driving flange 209 as PTFE.Gearing 8 78 can not transmit axial force, because under axial mode, layer of low-friction material 202 is allowed between CMM section 838 and exoskeleton section 8 48 and had slippage.Gearing 8 78 partly transmits radial force, because under radial mode, have slippage although layer of low-friction material 202 is allowed between CMM section 8 38 and exoskeleton section 8 48, the position of driving flange 209 is in 120 degree and concurs in order to provide restoring force to any radial motion between CMM section 8 38 and exoskeleton section 8 48.When gearing 8 78 was assemblied in the appropriate location, elastomeric layer 203 just was in the constant compression state.The cross-sectional area of elastomeric layer 203, thickness and rigidity combine so that within can remaining on its design flexibility scope, and rigidity can not increase fast during normal use or the significant distance of compression.Those skilled in the art will appreciate that to provide integrated form to reverse with radial actuator as than two adjacent torsions of foregoing separate type and radial drive lighter and compacter unit, thereby discloses better principle of the present invention.
Summary
Under the present invention, the expert in field will be understood that, exoskeleton 6 can use various gearings 10 to inner CMM arm 5 transmission power and torques, reduces to the minimum purpose that makes the degree of accuracy maximum of robot C MM arm 1 thereby these gearings 10 can reach power and the torque that will act on inner CMM arm 5.The CMM of this robot arm 1 scope of invention is not limited to the preferred plan of establishment of disclosing of gearing 10, but be applicable to all from exoskeleton 6 to inner CMM arm 5 transmission power and torque in order to make robot C MM arm 1 automatically drive and make its gearing 10 accurately.For example in alternate embodiment, the quantity of separate type gearing 10 can be two or more; Can use the continous way gearing; Can use the combination of separate type and continous way device.The CMM of this robot arm 1 scope of invention is not limited to elastic transmission device.In other embodiments, gearing 10 can be rigidly connected inner CMM arm 5 in one or more positions with exoskeleton 6, be passed to the power of inner CMM arm 5 and the degree of accuracy that torque can not affect robot C MM arm 1 in order to make from exoskeleton 6.Under the present invention, the expert in field is further understood that, the equipment of putting on market future appears to have the inner CMM arm of combined type and exoskeleton, and can be called conventional type robot rather than robot C MM arm.The present invention cover have reducing effect on CMM bearing and section power and all devices of the technique effect of torque.
Robot C MM arm compensation way
The compensation of inner CMM arm
If compensation system is used for inner CMM arm 5, the stress in its joint that utilizes will increase so, and may produce bending moment, and the two all can cause degree of accuracy to reduce or needs increase the weight that is used for balance.The joint of the inside CMM arm 5 of the CMM of this robot arm 1 invention was generally used for than the manual more cycle of CMM arm, because robot C MM arm can use up to 24 hours every days, annual 365 days, maintenance period and stop time were still less.If joint has heavily stressed and continuous use, so compensation system will produce the temperature of this joint in more heats and arm will be higher than the temperature under low behaviour in service.So just may increase the inaccuracy of arm.The bearing that is positioned on that joint of inner CMM arm 5 need to be designed to very firm in order to have much bigger life cycle.The pine bearing is cause the inaccurate remarkable reason in inner CMM arm 5 and can not compensate.One object of the present invention is that the exoskeleton 6 inner CMM arms 5 of carrying are in order to become the external compensation device.The shortcoming that this external compensation makes most of power of acting between moving period on inner CMM arm 5 and torque minimize and eliminate the internal compensation device.This just means that inner CMM arm 5 does not need compensation system and in the situation that be not with compensation system, and the robot C MM arm 1 of manufacturing is will quality lighter, structure is simpler, cost is lower.Scope of the present invention is not limited on inner CMM arm 5 not the robot C MM arm 1 with compensation system, and comprises on inner CMM arm 5 the robot C MM arm 1 with compensation system.
The exoskeleton compensation system
Robot C MM arm 1 can be installed together according to arbitrary orientation and its pedestal 4.Vertically upward or in downward pedestal orientation, exoskeleton 6 preferably has the compensation system that is arranged in exoskeleton joint 2 62, it is used for both weight of compensation exoskeleton 6 and inner CMM arm 5, and this compensation system is not for can directly consume from the power of power source such as the device of voltage, pneumatic means or hydraulic means pressure.This just mean the kinematic train that is arranged in exoskeleton joint 2 62 can power still less, weight is lighter, and consumed energy is still less in most of working cycle.In the modular design of robot C MM arm 1, the existence of compensation system can reduce power consumption 10-25% and with the weight reducing 5-12% of robot C MM arm.
Referring now to Figure 19,, the pedestal 4 of robot C MM arm 1 is installed vertically upward and the application direction A of compensation system 210 upwards lifts exoskeleton 6 exoskeleton sections 343 for overcoming Action of Gravity Field towards the upright position.Compensation system 210 is positioned at an end of the axle of exoskeleton joint 2 62.Because the pedestal 4 of robot C MM arm 1 is installed vertically downward, for example when the post from bracket 3 axle CMM 129 hung down, the application direction of compensation system 210 was used for overcoming Action of Gravity Field and upwards lifts exoskeleton 6 exoskeleton sections 343 towards horizontal level.Preferably, single compensation system 210 plays the effect that torque is provided by exoskeleton joint 262.Compensation system 210 is preferably the machine work disc spring.Compensation system 210 is arranged to optimum value, and rotation exoskeleton joint 262 required torque capacitys reduce to minimum in the arbitrary orientation of exoskeleton joint 2 62 in order to make.This compensation system 210 means can provide size kinematic train less and that quality is lighter to drive exoskeleton joint 2 62.In the ideal case, compensation system 210 should pass the center direct effect of exoskeleton joint 2 62 and apply bending moment in order to avoid to exoskeleton joint 2 62.In the invention of the CMM of this robot arm, the CMM joint 2 of inner CMM arm 5 is positioned in the middle of exoskeleton joint 2 62.Therefore, the position of compensation system 210 eccentric and its apply bending moment to exoskeleton joint 2 62.Parts around the structure of exoskeleton 6, particularly exoskeleton joint 2 62 have enough rigidity so that balance is come the bending moment of self-compensating device 210 and the bending of exoskeleton 6 is remained in required limited field.For robot C MM arm pedestal 4 orientation vertically upward or vertically downward, the torque compensation opposite direction of exoskeleton joint 2 62.The compensation system 210 that provides can rotate in order to apply in opposite direction torque when the pedestal 4 orientation change direction of robot C MM arm 1.In another embodiment of the present invention, compensation system 210 also comprises impact damper 211.
In alternate embodiment, select two compensation systems 210 to be used for arm, wherein use the first compensation system when robot C MM arm 1 has vertically upward pedestal 4 orientation and when robot C MM arm 1 has vertically downward pedestal 4 orientation application the second compensation system; Suitable compensation system 210 is suitable for the orientation of the pedestal 4 of robot C MM arm 1.In another embodiment, the compensation system 210 that provides band to be useful on the manual adjustment function of two different azimuth, but its manual installation between the installation period of robot C MM arm 1.In an alternate embodiment of the present invention, two compensation systems 210 are provided in the either side of exoskeleton joint 2 62 and set for to be approximately greatly same torque, thereby make the bending moment that strides across exoskeleton joint 2 62 to ignore.
In the orientation that the base level of other pedestal orientation such as robot C MM arm is installed, in the time of for example on being installed on wall, preferably there is no compensation system 210 at joint 2 places, unless application is limited so that available.In an alternate embodiment, the invention of the CMM of this robot arm can be in the situation that move without any compensation system 210 in exoskeleton 6.
Joint restraint
Basis first embodiment of robot C MM arm 1 has unlimited rotary in longitudinal joints, and the rotation of each Orthogonal Joint is had strict restriction.The hard joint limiter is the physics stop, and joint can not surpass this stop along the direction rotation of hard joint limiter.One object of the present invention is by slip ring transferring power and signal in inner CMM arm 5, its can serve the electronic installation of inner CMM arm 5 and the kinematic train in exoskeleton 6 the two.In 6-axle robot C MM arm 1, three axial axis are the unlimited rotary formula, and in 7-axle robot C MM arm 1, four axial axis are the unlimited rotary formula.This just means that arm is firmer, because cable need to be by coiling and expansion 360 degree continuously near each longitudinal joints.
The hard limiter of inner CMM joint
In this first embodiment, there is no built-in hard joint limiter in inner CMM arm 5.Longitudinal joints can ad infinitum be rotated.Intrinsic Orthogonal Joint limiter all exceeds the hard joint limiter of exoskeleton 6 slightly, in order to make exoskeleton inner CMM arm 5 can be pressed on the hard joint limiter in course of normal operation.Simple rubber stop is set in order to preventing to damage between erecting stage when inner CMM arm 5 is not supported by exoskeleton 6.In case robot C MM arm 1 has assembled, these rubber stops are not used in operation.
Exoskeleton joint restraint device
In this first embodiment, each exoskeleton joint 2,4,6 62,64,66 has first, second hard joint limiter.Each hard joint limiter is preferably mechanical stop, its with the impact-absorbing element of being made by rubber be connected at least one and impact on side in order to alleviate any impact.For robot C MM arm 1 invention of large-size, the impact that relates to Orthogonal Joint may be quite a lot of, the pipe that is wrinkled in advance by the compression section vertically this impact energy effect that dissipates, and this impact is convenient to absorb in the position of described pipe.Pre-wrinkle mode has just been removed the initial high impact stresses that acts on rigid body.After impacting, only should manage replacing and get final product.This pipe is preferably long is 100mm, is made by fine aluminium, and diameter is 7mm, and wall thickness is 1.5mm and precompression 5% in diameter is the fixture of 9.5mm, in order to adapt to the 10mm hole of the Orthogonal Joint that is arranged in robot C MM arm 1.For the different different size robot C MM arm of the impact energy that absorbs, specification is regulated.Any other the suitable mode or other pattern that should be appreciated that the apparatus with shock absorbing by plastic yield can be used equally, as by shearing material rather than it being wrinkled.In this first embodiment, each exoskeleton joint 2,4,6 62,64,66 has first, second connecting hose limiter.Each connecting hose limiter is preferably limit switch 182.
Best pedestal azimuth direction
The pedestal 4 of robot C MM arm 1 preferably has mark best orientation direction thereon.Pedestal best orientation direction is that pedestal 4 should be towards the direction at robot C MM arm invention center, workspace used.At the best orientation that is used for without the embodiment of unlimited rotary, exoskeleton joint 1 61 can be to both sides rotating photo equivalent before the hard limiter of collision.
Exoskeleton joint 1 limiter
In this first embodiment, exoskeleton joint 1 61 is longitudinal joints.For not with for the embodiment of unlimited rotary, need hard limiter.Referring to Figure 20, the total angular displacement of exoskeleton joint 1 61 between first and second physical connector limiter is 630 degree.Exoskeleton joint 1 first hard joint limiter is arranged to respect to 221 one-tenth 315 equal angles of spending of pedestal best orientation direction 223A, 223B with the second hard joint limiter 222A, 222B.Hard joint limiter 222A and 223A are along with 242 rotations of exoskeleton section.Hard joint limiter 222B and 223B keep static together with exoskeleton section 41.Each hard joint limiter 222B and 223B have the rubber absorbers element 224 that is connected on shock surface.Two connecting hose limit switches 182 are located so that just to contact with limit switch before joint has just extended to its hard limiter limit switch.In another embodiment, to being taken measures in order to be given alternative total angular displacement of the exoskeleton joint 1 61 of 390 degree with respect to rotary hard joint limiter 222A and the 223A that exoskeleton section 242 moves by operating personnel.In alternate embodiment, the angular displacement of exoskeleton joint 1 61 can or can be spent lower than 390 greater than 630 degree.A plurality of joint restraint devices of being arranged to maximum total angular displacement can also be arranged.For exoskeleton joint 3,5,7 63,65,67 provides similar hard joint restraint device.For exoskeleton joint 2-7 62-67 provides similar connecting hose limit switch 182.
Exoskeleton joint 2 limiters
In this first embodiment, exoskeleton joint 262 is Orthogonal Joint.Referring to Figure 21 A, 21B, the angular displacement of exoskeleton joint 2 62 is preferably 185 degree.Referring to Figure 21 B, when exoskeleton joint 2 62 began to rotate, exoskeleton section 3 43 surpassed direction 5 degree vertically upward, and rubber gasket 224 contacts first couple of 225A, 225B.Referring to Figure 21 A, exoskeleton joint 2 62 is completed when rotation, exoskeleton section 3 43 vertically downward and the second hard joint limiter to 226A 226B contact rubber gasket 224.When robot C MM arm pedestal 4 was in vertically upward the orientation, the compensation system 210 that is positioned on exoskeleton joint 2 62 was used for exoskeleton section 3 43 is upwards rotated 225A, 225B towards the first hard joint limiter.When robot C MM arm pedestal is in vertically downward orientation (not shown in Figure 21 A 21B), is positioned at compensation system 210 directive effects on exoskeleton joint 2 62 and makes exoskeleton section 3 43 rotate towards the second hard joint limiter 226A, 226B.For exoskeleton joint 4,6 64,66 provides similar hard joint restraint device.Referring to Figure 21 C, show the set-up mode of robot C MM arm 1 and series connection Orthogonal Joint, wherein the distance between axles SR of robot C MM arm 1 is not greater than with the equivalence of exoskeleton 790 but the distance between axles SM of the manual CMM arm of conventional type.In robot C MM arm 1, show the CMM section 2,3 32,33 that is positioned at exoskeleton section 2,3 42,43 inboards.When CMM section 2,3 32,33 is in orientation parallel to each other, distance between axles SR between CMM section 2,3 32,33 greater than equivalence but for conventional type not with the corresponding CMM section 2 of the manual CMM arm of exoskeleton 790,332,33 distance between axles SM, because the exoskeleton section 2,3 42,43 of exoskeleton 6 needs the space.
The joint detent
The CMM of this robot arm 1 is invented and be can't help operating personnel and supports to overcome gravity.Be cut off if feed to the power of kinematic train, in the situation that there is no detent 177, robot C MM arm 1 will fall under Action of Gravity Field and may be damaged or injure one or more personnel or object.In this first embodiment, all exoskeleton joint 1-7 61-67 have automatic anti-fault detent 177, if it is used when power cut occurs automatically.Like this, if power cut occurs, all exoskeleton joint 1-7 61-67 are just locked, and this being locked in any pedestal installation position and any robots arm's space layout all will be worked.Should be installed on 1, robot C MM arm and make its pedestal vertically upward or in alternate embodiment vertically downward, exoskeleton joint 1 61 does not have detent 177.In this case, exoskeleton joint 1 61 has constant orientation and action of gravitation and can not cause that exoskeleton joint 1 61 produces acceleration.In alternate embodiment, exoskeleton joint 5-7 65-67 and without detent because under Action of Gravity Field the wrist place allowing moment and motion very little.Have like this wrist and design the compacter and lighter benefit of robot C MM arm 1.
Joint bearing
Bearing in CMM joint 1-7 51-57 is important project for the robot C MM arm 1 that pin-point accuracy is provided.CMM scrambler 178 can provide the angle of each joint, but CMM scrambler 178 can not be measured the error of being introduced by the bearing in CMM joint 1-7 51-57.Bearing in CMM joint 1-751-57 and structure is set rigidity is maximized and bearing noise is minimized weight and joint dimension are minimized.Low frictional torque bearing is used for the CMM joint 1-7 51-57 of inner CMM arm 5, in order to particularly in the working cycle situation of heavy type, the amount of the temperature rise of inner CMM arm 5 is minimized.Stress on bearing in inner CMM arm 5 is usually less than the corresponding stress on manual CMM arm, because exoskeleton has compensated most arm weight.Referring now to Figure 22,, as from Barden Corp, the paired prestress pottery taper roll bearing 230 of USA is provided in longitudinal joints in CMM joint 3 53, and Orthogonal Joint is provided in CMM joint 454.Taper roll bearing 230 provides high rigidity and compactedness.Taper roll bearing 230 by applying pre-determined torque to nut 231 by prestress.Bearing 230 uses interference engagement and adapts in housing 100 and 103, and this carries out with the thermal shrinkage engagement process, thus its centre bearer at first be cooled to before insertion-45C at room temperature forms firm interference engagement.In similar set-up mode, prestress taper roll bearing 230 is provided in each CMM joint 1-7 51-57.The multiple method that provides bearing to arrange is provided in the present invention.Scope of the present invention is not limited to use prestress taper roll bearing and heat to interfere shrink-fit.Can use the bearing of any type and the method for bearing fit and adjustment, as long as they can satisfy the requirement of low weight, low friction and high rigidity at least.Aspect degree of accuracy, the bearing in exoskeleton joint 1-7 51-57 is not the key project in robot C MM arm 1, but preferably its life-span is longer than the designed life of robot C MM arm 1 in order to avoid expensive update cost.
Surge protection
Robot C MM arm 1 is portable.Can expect that it will experience a shock at operation, installation, dismounting and In transit.The outstanding outward appearance of the profile of robot C MM arm 1 has the protuberance liner that is made of plastics, and these liners connect thereon in order to absorb collision.During operation, the axle of tracking error is monitored in order to make and impact the infringement that causes and reduce to minimum by stopping clashing into action.Before outage between detent 177 period of energization, at first robot C MM arm 1 moves so that transportation to the space layout of indicating especially by controlling PCB172.The space layout of indicating especially that is used for transportation is that a kind of size of arm that makes is compact in order to allow the space layout of the minimized in size of outer rigid housing as far as possible.Referring again to Figure 21 C, a kind of wherein Orthogonal Joint allows that the space layout of adjacent segment configured in parallel can be used for the size of outer rigid housing is reduced to minimum.During carrying, the detent 177 that is positioned on motor 176 is movable; This just makes robot C MM arm 1 be rigid mount; This just makes and is easy to operate machine people CMM arm 1, because the part of the CMM of robot arm 1 can not rotate when handling.
Assembly technology
One object of the present invention is to be provided for the technique of assembly robot CMM arm 1.Due at first assemble before exoskeleton 6 in assembling, calibration and testing inner CMM arm 5, obtain the advantage of the production aspect of E.B.B. based on utilizing minimal steps with regard to existence.Owing to easily and rapidly exoskeleton 6 being pulled down on CMM arm 5 internally, just there is the advantage of safeguarding the aspect.
At the first step of preferred ' passing through ' technique that is used for 1 assembling of robot C MM arm, inner CMM arm 5 is assembled to degree of functioning with exoskeleton 6 separately separated from one anotherly.In second step, exoskeleton 6 passes through inner CMM arm 5 from sound end to the pedestal end as socks.The inner CMM arm 5 of this assembly technology actual needs is designed to cone-shaped, and exoskeleton 6 is designed to being positioned at its inner hollow cone.Gearing 10 can be placed before or after exoskeleton 6 passes through inner CMM arm 5.
At the first step of ' insertion ' technique that is used for 1 assembling of robot C MM arm, inner CMM arm 5 is assembled to degree of functioning with exoskeleton 6 separatedly.In second step, exoskeleton 6 is opened.In third step, inner CMM arm 5 is inserted in the exoskeleton 6 that opens.In the 4th step, exoskeleton 6 closes on inner CMM arm 5.
At the first step of ' coating ' technique that is used for 1 assembling of robot C MM arm, inner CMM arm 5 is assembled to degree of functioning with exoskeleton 6 separatedly.In second step, exoskeleton 6 coats around inner CMM arm 5.Inserting with cladding process all needs project as exoskeleton bearing and so in order to separate.There are some shortcomings in this design aspect increase number of components and structural complexity.
At the first step of ' around the building ' technique that is used for 1 assembling of robot C MM arm, inner CMM arm 5 is assembled to degree of functioning.In second step, the parts of exoskeleton 6 or subassembly are one by one around inner CMM arm 5 assemblings.At the first step of ' passing through construction ' technique that is used for 1 assembling of robot C MM arm, inner CMM arm 5 is assembled to degree of functioning.In second step, the parts of exoskeleton 6 or subassembly pass through inner CMM arm 5 tops one by one.These build process provide bad maintainability for robot C MM arm, because exoskeleton 6 must be disassembled to allow near inner CMM arm 5.
Scope of the present invention is not limited to disclosed assembly technology, but comprises for assembly robot CMM arm 1 or with its technique manually or automatically arbitrarily of pulling down.Those skilled in the art will be understood that and have many other steps in the whole manufacturing of robot C MM arm 1 and assembly technology flow process, and these techniques can operation can before assembly technology step disclosed herein, between or afterwards.
Probe and instrument
Install
Robot C MM arm 1 has pedestal end 2 and sound end 3.It can comprise one or more measuring sondes 90 or instrument 98, and they preferably are installed on CMM joint 7 57 sound end 3 afterwards.Measuring sonde 90 can be removed or remove with automated manner with manual mode.Automatically removing preferably the accurate installing mechanism that is useful on the frame of two or more probes 90 positions and is used for repeating unclamping probe 90 and probe locked 90 by probe change system such as band realizes.Robot C MM arm 1 can have one or more accurate installing mechanisms.
Referring now to Figure 23,, in this first embodiment, probe installing device 240 is provided in to be positioned on the sound end 3 of CMM joint 7 57 robot C MM arm 1 invention afterwards, pop one's head in 90 in order to be connected to many two with two in three probe installing devices 240, these three probe installing devices 240 comprise: the first probe installing device 244, the second probe installing device 247 and the 3rd probe installing device 251.The first probe installing device 244 comprises from the M8x1.5 internal thread 241 of the first fitting surface 242 and Electical connector 243.The second probe installing device 247 comprises the M20 external thread 245 from the second fitting surface 246.The 3rd probe installing device 251 comprises M30 internal thread 248 and with the 3rd fitting surface 250 of the precision groove 249 of three intervals 120 degree; Recessed formula probe connector 255 is arranged in the 3rd fitting surface 250.The recessed formula probe connector 258 of another one is positioned on CMM section 8 38, is used for connecting probe 90 in the time of can not using with the recessed formula probe connector 255 of box lunch; Connector 255 with 258 mechanical aspects with electric aspect identical.
Referring now to Figure 24,, use the first probe installing device 244 that Renishaw TP20 sonde body 93 is installed on CMM section 8 38, this by it is screwed into screw thread 241 until its realize till running into the first fitting surface 242; Make between Renishaw TP20 sonde body 93 and Electical connector and electrically contact.Use the dynamic fabricated section of magnetic that Renishaw TP20 probe module 94 is installed on Renishaw TP20 sonde body 93.
Referring now to Figure 25,, use the second probe installing device 247 that solid contact probe 95 is installed on CMM section 8 38, this by it being screwed on screw thread 245 until it runs into the second fitting surface 246 realizes.Solid contact sonde 95 be to be installed, and the nonessential Renishaw of removing TP20 sonde body 93 but need at first to lift Renishaw TP20 sonde body 93 at the dynamic fabricated section of magnetic place.This just means the robot C MM arm 1 that does not need to recalibrate with Renishaw TP20 sonde body 93 when at every turn removing solid contact sonde 95.After carriage 253 being passed through solid contact probe 95, be installed on the optic probe 91 on the carriage 253 of the cylinder of three location intervals 120 degree and be installed on the 3rd probe installing device 251, due to the external diameter of internal diameter greater than solid contact sonde 95, so have the gap between carriage 253 and solid contact sonde 95.This just means and can remove optic probe 91 in the situation that need not first remove solid contact sonde 95, and its advantage that has is need to not recalibrate the robot C MM arm 1 with solid contact sonde 95 at every turn when removing optic probe 91.Equally, can in the situation that again alignment optical probe 91 solid contact sonde 95 or Renishaw TP20 sonde body 93 are removed.The center of gravity 96 of optic probe 91 is opened distance ' d ' from the axle offset of CMM section 838.An example of optic probe 91 is the ModelMaker X70 from 3D Scanners (Britain).Referring now to Figure 26,, carriage 253 has carriage connector 256, and this connector 256 is with connecting the cable 257 of carriage connector 256 with optic probe 91.Three cylinders of carriage 253 are positioned in precision groove 249, and are held in place by the nut 254 that is screwed on screw thread 248.As the cylinder 252 of carriage 253 was positioned situation in precision groove 249, carriage connector 256 was automatically positioned in recessed formula probe connector 255, and is held in place by nut 254.But carriage 253 and then optic probe 91 be with respect to position and the orientation resetting of CMM section 8 38, degree of accuracy be about 0.025 to 0.05mm (+/-2Sigma).Carriage can be positioned in three different azimuth apart from one another by 120 degree, but only has a preferential position and recessed formula probe connector 255 to form from being dynamically connected.In another embodiment, two or more sets three precision groove 249 are provided in face 250.This just means and utilizes two groups of three precision groove 249, just carriage 253 can be oriented in six different azimuth apart from one another by 60 degree.
In this first embodiment, the center of gravity of each probe 90 is approximate being on the axle of CMM section 8 38 preferably, so that being used in the acting force of rotation CMM joint 7 57 reduces to minimum and makes any bending moment that acts on CMM joint 7 57 reduce to minimum, when probe center of gravity 96 can also be opened from the axle offset of CMM joint 757, in order to make this first embodiment can be operated to fully up to by be in the caused maximum torque that allows of skew probe of poor position with respect to gravity.
In alternate embodiment, probe 90 can be installed on any section of robot C MM arm 1, comprises pedestal end section, sound end section and any interlude; One or more other joints are provided in between the fabricated section of robot C MM arm section and probe.
In another embodiment, provide the dynamic fabricated section that has activated to pop one's head in order to automatically change as the automatic joint from Renishaw.In another embodiment, provide side mounting device in order to another probe biasing is connected on the side of axle of sound end.During those skilled in the art will be understood that the combination in any of any design of probe installing device and the probe installing device in any feasible location can be provided in alternate embodiment.
Many probes use
In measure using, usually usefully two probes 90 are installed on robot C MM arm 1 so that according to simultaneously with or next a use-pattern unite use.The present invention is not limited to be installed on the probe of one or two on robot C MM arm, but can comprise a plurality of probes.
The example that two probes use both is installed on robot C MM arm 1 as contact sonde 95 and optic probe 91 in order to the instrument of the automobile component in the vehicle body coordinate system is carried out 3-D scanning.Contact sonde 95 is used and is in the reference artifact in known location/orientation such as instrument ball or cone with respect to the vehicle body coordinate system and locates the object that will measure.Optic probe 91 is collected the lip-deep data of object 9.
In basis first embodiment of robot C MM arm invention, the robot C MM that uses a plurality of probes arm is provided, and wherein a plurality of probes are connected on the sound end of robot C MM arm and can alternately use in order in the situation that do not need to connect or dismantle probe and carry out its function.This just means the time that can save in automatic measuring period and neither needs the pop one's head in expensive cost of change system and possible inconvenience, does not also need manual intervention.In another embodiment, can use simultaneously a plurality of mounted probes 90 in order to carry out its function.In another embodiment, can use simultaneously in a plurality of mounted probes the combination of at least two in order to carry out its function.
The probe type
The contact type measurement probe that is used for dimensional measurement that can be installed on robot C MM arm has polytype, includes but not limited to:
-solid sense of touch contact sonde 95;
-triggering contact sonde with the sense of touch of at least one switch, it is once just sending electric signal with object contact, as Renishaw TP6 and Renishaw TP20;
-pop one's head in as Renishaw TP200 with the pressure sensing of at least one strainmeter;
-electrical contact probe wherein just forms circuit at probe when contacting with conductive body, object connects by cable with robot C MM arm;
This solid, sense of touch, electrically contact the shape that tip with the pressure contact measuring sonde has various shapes such as spherical, point type, flat or customization.An example of custom-shaped is useful on the contact measurement probe of the v-depression of measuring bend pipe for band.Another example of custom-shaped is contact measurement probe that be used for to measure the quadrature curved surface at sheet metal edge with two.
-wall thickness measuring probe is as ultrasound wave;
-contact measurement probe, it is used for measuring other size quantity such as coating thickness.
The non-contact measurement probe that is used for dimensional measurement that can be installed on robot C MM arm has polytype, includes but not limited to:
-triggering probe
-range observation probe
-all types of striped probes
-all types of area probes
-wall thickness probe is as ultrasound wave, and it is by sound end and the air between tube-surface, gas or liquid level transmitted signal at robot C MM arm.
The non-contact optical probe can use monochromatic light or white light.In the monochromatic situation of using from laser, the power of laser is preferably lower in order to make it not need safety screen to the perform region that eyes safety and operating personnel needn't wear laser safety goggle and robot.
The contact that is used for the characteristic measurement and the non-contact measurement probe that can be installed on robot C MM arm have polytype, include but not limited to:
-temperature;
-surfaceness;
-color;
-vibration;
-hardness;
-pressure;
-density;
-welding, the crackle in bonding, impurity detect.
Instrument
Have many instruments 98 can be installed on robot C MM arm 1, these instruments include but not limited to:
-utilize labelling apparatus such as pen or foam jet printer head mark; Waiting to be placed in the location that just is being labeled the mark on object uses three-dimensional software such as CAD system to determine in set-up procedure; Determine the location with the model of object, described model designs a model for the object CAD that forms object institute foundation, perhaps the reverse design model of actual object, perhaps the reverse design model of another similar object; The operating personnel of three-dimensional software come to limit with digital form the location of required mark with the three-dimensional software instrument; Alternatively, the location of required mark can be measured according to another similar object in the interactive data acquisition process; In the assembling process as the counterpart in space industry, mark can be measured on female component from projecting member in the location of required mark such as drill center then, perhaps can measure then mark on projecting member from female component; Three-dimensional software produces the path program for the robot C MM arm 1 that labelling apparatus is installed; When the path program automatically performed on robot C MM arm 1, labelling apparatus is marking objects in the precalculated position just; Robot C MM arm 1 has high practicability for mark, because it can be more more accurate and more flexible than conventional type CMM than industrial robot mark; In addition, use robot C MM arm 1 mark can not need the mark fixture
-utilize spray equipment such as spray gun, comprise that the foam jet printer head assembly of color foam jet printer head assembly tints
-cutting, grinding, Drilling, forging, bonding, weld, mill
-placement sticker
Instrument 98 can be for static or can be power tool, and power tool is with translation or rotating element and provide power along arm.
The probe quality
Contact sonde is heavy 50-200g usually.Optic probe is heavy 100-2000g usually.The weight of probe combination can surpass 3kg.
Sonde body architecture and sign
The probe 90 have aspect complicacy and power various.Disclose for optic probe 91 architecture used that is installed in 1 invention of the CMM of this robot arm.Referring now to Figure 27 A,, optic probe 91 has the probe connector 260 for probe cable 259 or carriage cable 257.Probe PCB 270 is with probe static memory 261, probe processor 266, probe bus controller 267, probe radio-cell 268 and probe detector 269.Probe program 272 and probe identity 271 are present in probe static memory 261, and probe identity 271 comprises: probe identity numbering 262, probe calibration data 263, alignment probe data 264 and probe information 265.Probe calibration data 263 is installed on probe 91 data that where have nothing to do for relevant to the calibration of the probe 91 of be used for measuring.Alignment probe data 264 are the data relevant with the alignment case of robot C MM arm to probe 91.Probe information 265 can include but not limited to: probe type, probe weight, probe centre of gravity place and with respect to the moment of inertia that reference point is installed, calibrate date, build date, manufacturing firm, degree of accuracy and sequence number at last.This first embodiment has guaranteed that any probe 90 has and has been stored in its inner probe identity 271.After being installed on robot C MM arm 1, probe 90 just can read probe identity 271.It can read along wired connection or by wireless connections.This just means, each probe 90 of calibrating, and probe calibration data 263 just stores together with probe 90, and has reduced the chance that loss occurs or replaced by the old probe calibration data mistake in the IT system of mechanism.Probe program 272 can be upgraded automatically by kneetop computer 151, perhaps even can utilize Internet or in-house network automatically to upgrade by kneetop computer 151 or probe radio-cell 268.This first embodiment also provides and can also use the simple probe 90 with the Digital ID that is stored in wherein.The probe Digital ID is not limited to be stored in probe static memory 261; It can be in the situation that do not have electric energy to be stored in the life-span in the probe any type of number storage of 90 designed lives.Can process raw data from probe sensor 269 by probe processor 266, can also process by kneetop computer 151.In some sonde body architecture, probe processor 266 carries out great majority or all works for the treatment of.In other sonde body architecture, kneetop computer 151 carries out great majority or all works for the treatment of.
Connecting apparatus for probe and probe cable
The great majority sold on market probe, particularly optic probe 91 has Special connecting device, and the optic probe 91 of customization usually is developed to and is connected on steady arm.The first probe installing device 244 provides the Renis hawM8x 1.5mm threaded hole with the automatic electric contact to come for various Renishaw probes.The second probe installing device 247 provides standard thread, but electric contact is not provided.The 3rd probe installing device 251 provides special-purpose machinery to install to be connected with automatic electric by recessed formula probe connector 255 structure has been set, and it only could use under the intellecture property owner's who obtains the 3rd probe installing device 251 designs license.The manual connection of probe can be undertaken by short probe cable 259 being filled in the additional recessed formula probe connector 258 that is arranged on CMM section 8 38.In preferred embodiment not, probe cable 259 can be positioned at the outside of robot C MM arm 1 and connect into connectivity port 194 at pedestal 4 places of robot C MM arm 1.Those skilled in the art will know cable always the articulated jib robot with problem, and do not wish never to take measures around joint suitably that the sound end of the robot C MM arm of wiring stretches out cable.The connection that connector is connected with interface port is preferably identical with additional recessed formula probe connector 258 with recessed formula probe connector 255.Probe arrangements of electric connection 243,255,258 and 194 provides following one or more: power, ground connection, triggering and data.Referring now to Figure 27 B,, in another embodiment, three probe connectors 260 are provided in to pop one's head on 90; Three probe cables 259 will pop one's head in 90: be connected to robot C MM arm 1 by probe arrangements of electric connection 258; Be connected to kneetop computer 151 and probe control enclosure 295.When making probe 90 size and minimize weight and moving to from the article of probe 90 when pratical and feasible in separate type probe control enclosure 295, just need probe control enclosure 295.Referring now to Figure 27 C,, in another embodiment, probe cable 259 is connected with the probe connector 260 of probe on 90 and extends along the outside of robot C MM arm 1 control enclosure 295 of popping one's head in.Probe cassette to the cable 297 probe control enclosurees 295 of kneetop computer are connected to kneetop computer 151.Probe cassette to arm cable 296 control enclosure 295 of popping one's head in is connected to interface connector 194 on robot C MM arm 1.Referring now to Figure 27 D,, probe control enclosure 295 is connected to the preferred embodiment of robot C MM arm 1.Probe cable 259 be connected to probe on 90 probe connector 260 and the recessed formula probe connector 258 on robot C MM arm 1.Probe cassette to arm cable 296 control enclosure 295 of popping one's head in is connected to interface connector 194 on robot C MM arm 1.Scope of the present invention is not limited to disclosed probe and is electrically connected to and cable, but comprises the wired and wireless connections of various types of probes.For example, probe 90 can utilize radio communication such as I EEE802.11b (WiFi) directly to send data to kneetop computer 151.
The probe specifications and characteristics
Probe 90 specifications and characteristics is determining that largely robot C MM arm 1 carries 90 the mode of popping one's head in the measurement task.As disclosed in preamble, there is the probe 90 of many general types can be used in the invention of the CMM of this robot arm, and for every kind of general type, the design of wide range arranged.The preferred optic probe 91 that is installed on robot C MM arm 1 is striped probe 97.Referring now to Figure 28,, striped probe 97 comprises LASER Light Source 298 and the plane produces eyeglass 299, and the plane produces eyeglass 299 projections to the laser 280 of the both sides fan out of direction+z, by the leg-of-mutton section approximate representation on plane.Measurement is carried out in polygon section 281, and polygon section 281 is according to making the more close striped probe 97 of minimum striped length 284 that maximum striped length 285 is constructed away from the mode of striped probe 97.Distance between minimum fringes length 284 and maximum striped length 285 is the degree of depth of field 282.Projection distance 283 is to pop one's head in 97 to the middle distance of polygon section 281 from striped.The pick-up unit 269 that is arranged in striped probe 97 is collected laser 280, the striped that sweep speed 294 is caught for per second by the lens 300 in the visual field 302 with projection triangulation angle 286 and sweep speed 294.Referring now to Figure 29,, be installed on striped probe 97 on robot C MM arm 1 by moving come scanning object 9 along directions X with the superficial velocity of 293inmm/second with respect to object.The laser 280 that striped 287 passes through to throw forms on the surface of object 9.As long as striped 287 is positioned at polygonal section 281, just measure along striped 287.Referring now to Figure 30,, be positioned at striped 287 on object 9 and be divided into a sequence N zonule 288 along Y-direction, they are with corresponding by each 3D measurement result of probe output.Be distance B Y along the equalization point spacing 289 between the neighbor cell territory 288 of striped 287.Referring now to Figure 31,, recorded on object 9 one group of striped 287 along directions X.Average fringe spacing 290 is distance B X.These a series of stripeds 287 have formed scanned sticking patch 291.Referring now to Figure 32,, come scanning object 9 with nominal overlap distance 292 according to the sticking patch 291 of one group of overlapping scan.Referring now to Figure 33 A,, two visual field stripeds probes 301 comprise two pick-up units 269 and lens 300 with two relative visuals field 302 and 303.Referring now to Figure 33 B,, two visual field striped probes 301 utilize step 304 to observe object 9.First visual field 302 has the path clearly of leading to striped 287, at these laser stripe 280 illuminating objects 9.Second visual field 303 has the path of leading to striped 287, and it is stopped up and be cannot see image striped 287 in this position by the step 304 in object 9.Referring now to Figure 34 A,, two striped probes 308 comprise central checking system 269 and lens 300, lens 300 produce eyeglass 299 with the visual field 302, two lasing light emitters 298 and plane, and its projection intersects at the first laser plane 305 and second laser plane 306 of line 307.Referring now to Figure 34 B,, two striped probes 308 utilize step 304 to observe object 9.Thereby the face of the step 304 of the first laser plane 305 illuminating objects 9 forms striped 287 and the visual field 302 has the path of leading to striped 287.
The following parameters of probe affects at least the program control motion of robot C MM arm 1 and discloses in more detail as follows:
-striped length: striped probe 97 is usually by maximum striped length 285 regulations; In fact, actual striped length will depend on the distance from striped probe 97 to object 9 and change; For the flat articles 9 of height 500mm, utilize from 97 the maximum striped length of 75mm and overlapping up to 25mm of popping one's head in, object can utilize that between each sticking patch, the 50mm increment scans by ten sticking patch; Striped length is longer, needs the quantity of sticking patch fewer; Striped length is changed to 200mm from 10mm usually, but can be more or less; Striped length is overlapping is changed to 50% from 5% of striped length usually, and this shape that depends primarily on object 9 still can be more or less
-equalization point spacing: in fact striped is exported as the three-dimensional point of discrete series; The typical amounts N of the point in striped is about 750 at present, but can expect increase in the future; If striped length is 75mm, the equalization point spacing along striped is 0.1mm; Object 9 with fine feature may need to scan with 0.01-0.05mm or less less equalization point spacing; May need to be utilized as 0.25-1mm or larger sweep speed scans with the larger object 9 of less feature
-sweep speed (striped/second): typical current sweep speed 294 is per second from 25 to 60 stripeds; Can expect that the sweep speed future increases; There is multiple possible sweep speed:
о constant scanning speed: the time between any two stripeds is always identical; This is for being common as video sensor pick-up unit 269
Two kinds of alternative expression constant scanning speed of о: this is for being common for the pick-up unit 269 of interlaced scanning video sensor; The CCIR speed of per second 25 or 50 stripeds commonly; The CCIR speed of per second 30 or 60 stripeds commonly; Higher sweep speed can produce the data of low resolution; Operating personnel are which kind of sweep speed of choice for use at every turn
о is up to any constant scanning speed of maximum scan speed: operating personnel set its speed of wanting
о can be with the speed that trigger to change: the time between striped can change; Another kind of event can trigger striped probe 97
о can be with the speed that process to change: the time between striped can change; The processing time of each striped can change; Next striped will not be recorded until striped formerly is processed
-superficial velocity: have multiple possible superficial velocity:
The constant superficial velocity of о: striped probe 97 moves with constant superficial velocity 293 on object 9; Striped probe 97 can be in constant orientation or change the orientation; Striped probe 97 is measured simultaneously with respect to movement of objects
о variable surface speed: superficial velocity 293 changes in scanning process; Change superficial velocity several different methods can be arranged; If for example the surface be characterised in that some the zone and other segment smoothing it is desirable to more slowly scan characteristic area so usually
The о step-by-step movement: striped probe 97 passes through robot C MM arm 1 from a position to another position movement; Striped probe 97 is measured simultaneously each position is static; Step-by-step movement scanning is used for realizing the full accuracy measurement; In the situation that object 9 motions, striped probe 97 is in constant position with respect to object 9 and measures simultaneously
-average fringe spacing: if robot C MM arm is along moving with the superficial velocity 293 of 30mm/second with the direction of striped quadrature, so in the situation that sweep speed is 60stripes/sec, average fringe spacing 290 will be 0.5mm; Object 9 with fine feature may need to utilize 0.05mm or lower less average fringe spacing to scan; In this case, the speed of robot C MM arm must be reduced to 3mm/second; Larger object 9 with less feature can utilize 1mm or above higher average fringe spacing to scan
The uniformity coefficient of-fringe spacing: robot C MM arm can scan with constant superficial velocity; Manually the operating personnel of CMM arm can not be scanned with accurate and constant superficial velocity; This just means the fringe spacing more uniformly that robot C MM arm can provide to be provided than manual CMM arm;
The three-dimensional point density of-homogeneous: this is desirable in some applications; Thereby robot C MM arm can make average fringe spacing equal the three-dimensional point density that dot spacing is realized homogeneous by setting superficial velocity; The three-dimensional point density of homogeneous can also realize in order to increase the equalization point spacing by coming sampling spot along striped
-depth of field: three-dimensional point can stride across depth of field 282 and measure, the degree of depth of depth of field 282 usually between 50 and 200mm between; In general, depth of field is larger, and is just poorer from root mean square (RMS) the Z noise of the three-dimensional point of striped probe 97; The RMS of existing striped probe is 1/10000 left and right of depth of field; For example: maximum striped length is that 70mm and depth of field are the striped probe 97 of 100mm, and its RMS on the Z direction is 10 microns
-near path: object 9 provides the limited feature of coming scanning object inside near path as gear housing for the probe 90 on robot C MM arm 1; Usually can approach by making probe 90 pass the slot that is arranged in housing; In this case, probe 90 must be as much as possible little and can be installed on the extension such as pipe of robot C MM arm 1 sound end 3; In addition, probe 90 can be as directed in 45 degree or 90 degree at an angle with the direction of extending; The wider possibility that provides on scanning object 9 surfaces just is provided the ability of azimuth configuration probe 90 at an angle
-projection distance: projection distance 283 usually between 75 and 300mm between; Ideally, projection distance is should be large in order to (a) reduce the danger that bumps between robot C MM arm 1 and object 9 and (b) farthest penetrate dark zone such as slit; When projection distance increased, the actual expanded range 81 of robot C MM arm also increased; When the actual expanded range 81 of robot C MM arm increased, the degree of accuracy of robot C MM arm both reduced with the degree of accuracy of probe 91; In some very inapproachable application, wherein the sensor distance has pressure and less ultimate range, the projection distance of desirable selection of small by the surface of the design defined of object 9; In other very inapproachable application, wherein the sensor distance has pressure and larger minor increment by the surface of the design defined of object 9, and ideal is selected larger projection distance; Therefore, the selected of projection distance just got compromise proposal in degree of accuracy and between using
-stopping up: two visual field stripeds probes 301 that are installed on robot C MM arm 1 are and can obtain more data, the similar characteristics that this object 9 has step or causes stopping up from the striped 287 on object 9 with compare advantage with the striped probe 97 in a visual field; Use the situation of striped probe 97 more than using two visual field striped probes 301, in this case, the zone has to be scanned along different azimuth in order to arrive the surf zone that is jammed in the object 9 in the first sticking patch that is obtained again; This just means two visual field striped probe overall measurement times reductions used; Yet two visual field striped probes 301 are popped one's head in than striped, and 97 volumes are huger and weight is heavier.Preferred two striped laser probes 308 that are installed on robot C MM arm 1 are that with striped probe 97 or two visual field probe 301 advantages of comparing it can obtain the data that are positioned on perpendicular steps wall 304.The professional of the technical field of the invention will be understood that, with more than three or three with the striped probe of the angled but non-orthogonal striped in direction of scanning can be in a linear sweep path from start to finish the inwall around cylinder-shaped bearing obtain data.This striped probe will have two or more cameras in order to increase observation point.The advantage of popping one's head in the striped of a plurality of stripeds and camera is to collect more integrated data about vertical wall in a scan path, may need twice of robot C MM or repeatedly pass through same characteristic features in order to complete scanning and only pop one's head in the striped of a striped and a camera
-robotization: robot C MM arm is automatically, and can scan continuously more than 24 hours; By comparison, manually the operating personnel of CMM arm are more tired; This just means that robot C MM arm can be better from object 9 scanning more data and the quality of data than the manual CMM arm that is used by operating personnel.
Lasing light emitter 298 is for wavelength is about 660nm, power is the laser diode of 30mW, and it can be bought from the many suppliers that comprise Toshiba Japan.Optical devices 300 are from Rodenstock, the light pen of Germany.Sensor 269 is CCD ntsc video sensor chip, its can be used as chip or more broad sense camera and buy from the many suppliers that comprise Sony.In a word, scope of the present invention never is limited to the design of optic probe but can introduces any applicable design of optic probe.Light that projection source can comprise any type is as white light; Sightless, ultrared, ultraviolet, part is visible or complete visible laser emission.Can use a plurality of projection sources with different specific wavelengths or different-waveband, they can be distinguished by bandpass filters and multiple sensor 269 subsequently.Projector optical apparatus 299 and imaging optical device 300 can be for static or dynamic.Wherein the dynamic optical device comprises galvanometer mirror and the many minute surfaces of rotary polygon.Projection source can be in firm power or its power variable.The light projection can carry out always or gating carries out.Wherein pick-up unit 269 comprises other device made from CCD and CMOS technology.Pick-up unit 269 can be analogue means such as 1D and 2D PSD device.Pick-up unit 269 can be the digital device with pixel such as ID pixel line or 2D pixel array.Pick-up unit 269 can have different duty factors and can use lenticule.Pick-up unit 269 can have fixing or variable shutter speed.The gating of light projection can be so that light throws at all or part of shutter opening time.
Power supply
In this first embodiment the electric power consumption of disclosed robot C MM arm be usually less than 1kW and under most of occasions lower than 2kW.This just means the home/office chamber network supply that can use 80-240V, and the three-phase supply that need to not move under high voltage.Provide standard IEC socket 195 in order to realize the network supply joint by cable 155.Rig-site utilization for as gas pipe of scanning corrosion and so on provides the robot C MM operation of arm by 24V DC, and 24V DC is powered by one or more 24V DC batteries as type used in the vehicles.The 24V cable 155 of 24V DC socket 195 and long 20m is provided.The rechargeable battery 170 that provides is as standby power supply, it can carry out backup operation such as storage coder position in the situation that outage suddenly occurs, so that the operation of robot C MM arm can directly restart when power network electric power restores fully, and needn't carry out initialize routine.Battery 170 is removable.Provide battery 170 built-in charger used.
Robot C MM arm cable and PCB position
Inside cable 165,166,167,169,174 and 196 is connecting joint PCB 173 and motor 176 along 3 extensions from control enclosure 159 to sound end of robot C MM arm 1.Inside cable 165,166,167,169,174 and 196 extends between inner CMM arm 5 and exoskeleton 6.This just means that all cables within the outside surface of robot C MM arm 1 all are protected.The major part of the device 177-184 of joint PCB173 part all is installed on inner CMM arm 5 or is installed on exoskeleton 6.Each joint PCB 173 is by being connected at least one local device 177-184 at the wire, flat cable or the round section cable that extend between inner CMM arm 5 and exoskeleton 6.Inside cable 165,166,167,169,174 and 196 and the wired connection device 177-184 that leads to joint PCB be the standard that is generally used in this area and firm form.The specification of cable remains on bottom line in order to reduce weight.Serial cable 169 is IEEE-1394 Firewire cable.Probe cassette to arm cable 296 is custom cable, and it is used for probe cassette or the particular demands of other interface arrangement that the service that provides by interface connector 194 to robot C MM arm 1 is relevant.Kneetop computer cable 152 is the Firewire IEEE-1394 cable from Firewire connector 197.Network connector 199 is 100Mbps Ethernet connector, and it is connected on the Ethernet 200 that is made of standard C AT5 cable.Suspension cable 154 is the Firewire IEEE-1394 cable from Firewire connector 198.
Scope of the present invention both had been not limited to disclosed inside cable, also is not limited to disclosed PCB structure is set.Optic probe is increasing aspect the bandwidth of the output data that are passed to processing unit.Can obtain those cables of defined in high bandwidth serial cable such as IEEE-1394b FirewireB, use light signal cable Time Bandwidth mostly to be 3.2GB/sec most, and use electric signal cable Time Bandwidth less.The light signal cable is not subjected to the impact of electrical noise basically, and can be in the situation that decay is not long apart from transmitting signal.This just makes them be applicable to the robot purposes, wherein extended distance and be all feature near the cable of noisy windings in motor.Alternatively, all-network can be 100BaseT Ethernet and hub or the switch that is provided for devices interconnect.The person skilled in the art will understand well, in the situation that do not affect the technology of the present invention effect, can change quantity and the function of the PCB in robot C MM arm.For example: three joint PCB 173 rather than seven joint PCB 173 can be provided, these joints PCB 173 is positioned at shoulder ancon and the wrist place of robot C MM arm, its be connected in single joint PCB173 on two or more joints device such as scrambler, thermopair and the driver that are associated.
User interface
Laptop PC
Referring now to Figure 35,, preferably provide laptop PC 151 to be used for primary user's interface.Provide adjustable platform 310 in order to laptop PC 151 is installed on position away from the pedestal 4 of robot C MM arm 1.Provide the battery 164 in the kneetop computer in order in the situation that do not have the network supply connection to operate.Provide the space for mouse 311 on platform.The present invention is not limited to the kneetop computer user interface.Complete separated type anti-bending PC case can be provided; The separate type lcd screen can connect thereon.Notebook PC can be provided.Computing machine can be integrated in individual machine people CMM arm Unit 1 and the external display that is connected thereon.Display can have the sense of touch detectability.In the situation that two or more robot C MM arms are worked in the unit, single laptop PC is preferably used for controlling all the robot C MM arms in this unit.Preferably, provide the compact printer 312 that is connected on kneetop computer 151.It is used for printing survey record at least.The position of printer is provided on platform 310 below kneetop computer 151.
Suspension
Referring now to Figure 36,, hand held suspension 153 is provided for robot C MM arm 1 is carried out Partial controll; It is with wired 164 324 connecting with being connected of leading to robot C MM arm 1.Electric battery 163 in suspension 153 is provided in the situation that do not have the network supply connection to operate.Recharge a little and 158 be provided on robot C MM arm, suspension 153 can remain on this some a whole night usually in order to recharge; Recharge a little 158 and be characterised in that connection carries out automatically, suspension just is placed in the carriage that is in tram and orientation in order to make suspension electrical contact point 327 and recharge an electrical pickoff 328 and contact.Suspension 153 preferably has 8 " LCD display 322, but it can be smaller or greater; Alternatively, can not have display to be provided on suspension.Suspension with microprocessor 323, be arranged in storer 325 Microsoft Windows CE operating system 326, be arranged in suspension software 330 and the three-dimensional picture chip 329 of storer 325.Suspension display 322 shows by all results of using robot C MM arm 1 to produce, comprises that scan-data is carried out real-time three-dimensional colour figure to be shown.This real-time demonstration provides the help of teaching program.Suspension has many buttons 320 to be used for controlling two direction of motion of each axle.Button utilizes the thin film technique manufacturing.Provide 3-axle operating rod 321, but it can there be more or less axle and two or more operating rods or tracking ball can be arranged.Suspension 153 has two kinds of alternate modes: terminal pattern or aggressive mode, in terminal pattern, suspension 153 is as laptop PC terminal used, and in aggressive mode, the microprocessor 323 of suspension 153 use its oneself software that runs application.In alternate embodiment, it is option that suspension 153 or suspension 153 are not provided; Provide software to carry out the user interface function of suspension on kneetop computer.Green LED 157 is provided on robot C MM arm 1 and suspension 153 in order to show the power connection.All other operation informations all are shown on the display screen of kneetop computer 151 or suspension 153.
The control that head is installed
Referring now to Figure 37,, the earphone 340 that provides for operating personnel 11 is with the wired or wireless contact of leading to kneetop computer 151.Earphone 340 comprises that resolution is at least the monocular display 341 of 800x600 pixel, and the position of monocular display 341 makes operating personnel 11 to observe it with eyes.Operating personnel 11 still can observe surrounding environment with two eyes, but the eyes that can observe monocular display 341 are blocked a little.Monocular display 341 with high-resolution is becoming available and can be placed in earphone 340.Earphone 340 also comprises head-telephone 343 and loudspeaker 342.Operating personnel 11 are by using the order include file of control CMM arm 1 facing to loudspeaker 342 speeches.Each operating personnel 11 preferably tells 1 order of robot C MM arm in order to make the speech recognition software on kneetop computer 151 that higher discrimination will be provided.Speech synthesis software on kneetop computer 151 will be by 343 couples of operating personnel of head-telephone, 11 speeches in order to provide closed loop voice driven user interface.
Button
Referring now to Figure 38 A,, the button 183 of some groups of parallel work-flows is fixed on robot C MM arm.Preferably this is organized and is a pair of button 183 for controlling.Probe end 3 places of the robot C MM arm on pair of buttons 183 sections of being positioned at 8.Button is known as A and B, wherein the most close probe end 3 of A.A is colored green for the redness B of colour.Roughly be separated by between center 25mm and diameter of button 183 is 11mm.Button 183 is the actuating so that minimizing meets accident for spill.Button 183 is major diameter in order to be fit to thumb or fingerprint size.Button 183 is used for measurement and the Choice of Software of control CMM arm 1.With the probe end, other button of parallel work-flow is positioned at 183: be positioned at probe end 3 places on exoskeleton section 848 in exoskeleton section 848 away from the opposite side of first pair; Between ancon on control enclosure 159 and on exoskeleton section 545 and wrist.Referring now to Figure 38 B,, provide wireless foot-switch 350.Referring now to Figure 38 C,, provide the wireless remote control 351 with button; It is fixed to the chosen position place of operating personnel 11 on robot C MM arm, preferably with leather sheath 352; Alternatively, operating personnel 11 can hold telepilot 351.The present invention is not limited to the button 183 of disclosed quantity and their position.Robot C MM arm can be in the situation that connect other device of use thereon as suspension 153 or kneetop computer 151 operations without any button.Control can utilize single button 183 or utilize in every group 3 or more buttons to realize.Single group or many groups can be provided.Affect the quantity of group and the factor of its position and comprise the expanded range of robot C MM arm 1 and the application scenario of using it.
Environmental operations
The portable robot CMM arm of this first embodiment can operate in the temperature range of-10 to+50 degrees centigrade.Can imagine the measurement application scenario as the gas pipeline of Alaska and Egyptian grave and so on, wherein robot C MM arm 1 operation outside under the various different conditions from freezing to the sunlight direct irradiation.Robot C MM arm has the horizontal I P62 of environmental sealing, is not subjected to weather effect.The alternate embodiment of robot C MM arm can be protected to I P64 level or even have privacy protection and for example be in the extraordinary application scenario in radioactive area to be used for the environment very severe.Portable robot CMM arm 1 can also operate in up to 90% humidity usually.
Robot C MM arm coordinate system
Referring now to Figure 39,, there are robot C MM arm system 150 numerous coordinate systems 360 used.These include but not limited to:
-object coordinates is 361
-object features coordinate system 362
-robot C MM arm coordinate system 363
-probe (or instrument) coordinate system 364
-exoskeleton coordinate system 366
Object coordinates be 361 be not known to, unless the datum plate that exists reference characteristic such as instrument ball 368 or object 9 to be installed on object 9, it can be used for for object 9 provides object coordinates is 361.It is modal in auto industry that to be to provide automobile wire object coordinates be 361.For feature 365 provides object features coordinate system 362.Usually, when making, with object features coordinate system 365 witness marker used, can measure in order to determine object features coordinate system 365 it on object.In this first embodiment, also claim that the robot C MM arm coordinate system 363 of inner CMM arm coordinate system is identical with exoskeleton coordinate system 366, because inner CMM arm pedestal 31 and exoskeleton pedestal 41 are rigidly connected.It is the reference sphere 367 of 25mm that diameter is provided in the repeated magnetic fabricated section 369 at pedestal 4 places.The center of reference sphere 367 is designated as the zero point of robot C MM arm coordinate system 363 and exoskeleton coordinate system 366.When exoskeleton had the exoskeleton pedestal 41 that is different from inner CMM arm pedestal 31, if particularly have relative motion between exoskeleton pedestal 41 and inner CMM arm pedestal 31, exoskeleton coordinate system 366 just was different from robot C MM arm coordinate system 363; In this case, provide the second reference sphere 367.Usually be appreciated that the robot field and provide different coordinate systems for the probe 90 on the probe end 3 that is fixed in robot C MM arm 1 or instrument 98.It is known as robot C MM arm probe coordinate system 364.
Control PCB
Referring now to Figure 40,, control PCB172 and controlling robot C MM arm 1.Aerial lug 156,157,194,195,197-199 are installed in the side of controlling PCB172 upward and being connected directly to control enclosure 159.Realize by amplifier analog output circuit 383, trigger circuit 384, fire line bus controller 385, industry ethernet controller 386 and WiFi wireless device 387 with the interface of arm.Dsp processor 380 is moving the control software 382 in storer 381.Control the average software 392 of kinematics software 391 and position in software-accessible storer 381.The program 389 of text formatting is translated by interpreter 390.Robot C MM arm Internet protocol (IP) address 388 is kept in storer 381.Alignment probe file 264 is kept in storer 391.Storer 381 is comprised of enough Static and dynamic storeies.
Joint PCB
Referring now to Figure 41 A, and again referring to Figure 11, joint PCB 173 has following functions:
-with a lot of local device 177-184,90, bus 169,174,161,162 and power line 165,166,160 all be connected to each other by connector 400
-make response by the trigger pip on 178 pairs of Trigger Bus 174 of breech lock scrambler
-from a plurality of sensor 178-184 receive datas, preprocessed data keeps data mode such as encoder to count and sends pretreated data by leading to the universal serial bus 169 of controlling PCB 172
-to making response from the status request of controlling PCB 172
The position is average
Referring now to Figure 41 B,, under the preferred operation mode of the position that is used for definite robot C MM arm 1, encoder clock 406 is provided on joint PCB 173.Encoder clock 406 is used for when each encoder to count 404 arrives joint PCB173, it being carried out time mark.Preferably, 20 encoder to count 404 are stored in storer 402 according to first in first out (FIFO) mode, but can store more than 20 or be less than 20 FIFO counting.When trigger pulse TR on Trigger Bus arrives joint PCB 173, use encoder clock 406 to carry out time mark to it.Referring now to Figure 41 C,, show counting 404 curves with respect to time t on curve map.Each counting Cn-9 to Cn+10 goes on record, and produces 20 countings with time mark in storer.Just after Cn, joint PCB 173 receives the trigger pulse TR that requires encoder position.Trigger pulse carries out time mark by encoder clock 406 when arriving.Joint PCB 173 has the counting Cnx of time mark with 20 and the time of reception trigger pulse TR is sent to control PCB 172 along universal serial bus 169.Referring now to Figure 41 D, position averaging process:
-in the first step 440, the average software 392 in position of controlling in PCB 172 receives time by one group 20 of the trigger pulse TR input trigger pulse TR that receive from the counting with time mark of scrambler 178 with at this scrambler from each joint PCB 173;
-in second step 441, the average software 392 in position passes through 20 countings batten of match in time domain of each scrambler, thereby produces seven seven battens that CMM scrambler 178 is used;
-in the 3rd step 442, the average software 392 in position is counting at time T R place of each CMM scrambler 178 interpolation;
-in the 4th step 443, the counting of seven interpolations is sent to kinematics software 391, determines thus the position of robot C MM arm 1.
The position averaging method for be used for by average and in be inserted in trigger pulse TR time the place the exact position improve a kind of method of robot C MM arm accuracy.The present invention is not limited to this position averaging method, but comprises and can determine more accurately by obtaining and process the more raw position data before and after time of trigger pulse all methods of the position of robot C MM arm.The position of processing is unimportant, and can carry out in one or more processing position, comprises for example scrambler 178, joint PCB 173, control PCB 172 and kneetop computer 151.The use location on average means than the simple encoder operation determines the position of robot C MM arm 1 more exactly.
Thermal compensation
The robot C MM arm that is subject to thermal compensation and does not need to calibrate again when an object of the present invention is to provide the temperature change when robot C MM arm.Thermopair 180 is by on the aluminium that is bonded in shell 100,101,103 each of inner CMM arm 5.CMM section 1-8 31-38 uses the finite element software design in order to do not reverse along with temperature linearity ground expansion/contraction.Similarly, CMM section 1-831-38 uses can not produce and may cause along with temperature change well-known method and the material manufacturing of the stress of distortion.Aluminium expands with well-known speed with temperature.Thermopair 180 read once by joint PCB in every 10 seconds, and temperature is sent to control PCB172 along universal serial bus 169.According to the mode of finite element thermal model prediction, some parameters in 45 movement parameter models of inner CMM arm subsequently by with proportional adjusting of temperature change of being measured by the thermopair 180 in each shell.When running into extreme temperature, in as Alaska State or desert, suggestion contacted before using robot C MM arm or the calibration of contactless probe.
Monitoring force and torque
During measuring, the easy stressed and torque of inner CMM arm 5.Referring now to Figure 41 E,, be installed on strainmeter 181 on CMM section 1-8 31-38 and detect continuously strain on inner CMM arm 5.Three strainmeters 181 are arranged on each CMM section 1-8 31-38 orthogonally.Strainmeter 181 is connected on joint PCB 173.Joint PCB 173 per second will be sent to from the value that each strainmeter 181 reads for five times controls PCB 172.Strain value can send for 5 times greater or less than per second.Between erecting stage, after making each robot C MM arm, move a series of strain-gauge test programs and the value exported from each strainmeter is monitored the term of execution of program.Some test procedures are designed to make inner CMM arm 5 that overstrain occurs; A kind of method of using is transfer arm rapidly, and heavy probe 90 is installed on CMM section 838.Like this, strainmeter 181 just is calibrated to the compression accepted and the tensile strain with maximum.When normal the use, 5 monitoring of per second, are taken action if surpass the maximum strain accepted from the strain of all strainmeters 181.Action comprises: produce error message to operating personnel, in order to reduce strain level, record unacceptable strain and its generation condition automatically to repeat some measurement than jogging speed.In alternate embodiment, strainmeter 181 can be placed in the bearing of CMM joint 1-7 51-57 in order to measure specific bending strain.These bearing strainmeters 181 can be additional to strainmeter 181 uses on CMM section 1-8 31-38 or replace its use.In order to improve the reliability of strain measurement, for each direction provide a plurality of strainmeters and as a result usage comparison and or the method for average process.Scope of the present invention is not limited to be placed in the strainmeter of the specific quantity of ad-hoc location.Present invention resides in can provide to any position of controlling PCB172 and provide the force and moment feedback any strain, pressure torque or other measurement mechanism arbitrarily in robot C MM arm 1.
Selection of time
Measurement can be carried out when busy or carry out when robot C MM arm is static.When measuring when busy, the control PCB 172 in robot measurement CMM arm 1 and the accurate timing between optic probe 91 are very important for keeping pin-point accuracy.Two kinds of methods that guarantee accurate timing between control PCB 172 and optic probe 91 are preferably calibrated and the time mark method.Scope of the present invention is not limited to this two kinds of methods, but comprises any means of accurate timing between the control PCB 172 that can guarantee in control CMM arm 1 and optic probe 91.
Calibration
Calibration steps is characterised in that paired calibration measurement, and first is measured as the probe measurement result and second is measured as the position of inner CMM arm 5.Referring now to the process of Figure 42,, when being calibrated from the data of controlling PCB 172 and optic probe 91, optic probe 91 is preferably main and controls PCB 172 is auxiliary.Be in step 410 in the first step, optic probe 91 sends calibrating signal by Trigger Bus 174 to seven joint PCB 173.Calibrating signal is advanced by Trigger Bus rapidly, postpones lower than 1 microsecond.In step 411, probe measurement result and position data are sent to kneetop computer 151.Joint PCB 173 sends encoder data to controlling PCB 172.Control PCB172 and converge seven encoder positions, calculate the probe end inside CMM arm 5 the position and send the position to kneetop computer 151.Probe 91 sends the probe measurement result to kneetop computer 151.In step 412, the position of kneetop computer 151 coupling probe measurement results and inner CMM arm 5 is in order to provide measurement result.When calibrating signal has the delay of being longer than 1 microsecond when advancing from optic probe 91 to joint PCB173, this method plays a role, thereby makes calibration steps and equipment have the technique effect that obtains probe measurement result and encoder position in order to make them can be combined to produce accurate measurement result.Referring now to Figure 43 A-C,, optic probe 91 is that main to control PCB172 be auxiliary.Referring now to Figure 43 A,, in order to measure, effectively optic probe 91 must satisfy two conditions: light must be throwed and the sensor optical gate must be opened in order to collect light.In the pattern of Figure 43 A, when opening, measures laser instrument.Calibrating signal should be sent to from optic probe 91 at the time T place and control PCB172, and this time is the mid point of P measuring period.In this first embodiment, when when time T one is received calibrating signal, robot C MM arm 1 just can be within time repeatably namely lower than the time of 1 microsecond in the breech lock scrambler.Referring now to Figure 43 B,, P was opened to laser instrument from optical gate and closed measuring period.Referring now to Figure 43 C,, measuring period, P was the time that optical gate is opened.
When to control PCB172 be main and optic probe 91 when being auxiliary, calibration can be carried out according to second method of synchronization.An example of this calibration is that scan mode will be measured and to control the example of PCB 172 when main with the arm increment of rule.Referring now to Figure 44,, calibrating signal arrives optic probe 91 in time T from controlling PCB 172.Preferably laser instrument is opened to open both with optical gate and is carried out in the short-term after T.In other cases, laser instrument decision P measuring period or optical gate and laser instrument combination determine P measuring period.Importantly, according to this second calibration mode, when when scanning when busy, for the precision that makes robot C MM arm 1 maximizes, for all measurement results, postpone t known and can repeat.In some optic probe 91, postpone t and changed by optic probe 91 between different measuring.In this case, optic probe 91 passed on by universal serial bus 169 change that postpones the t value before receiving next calibrating signal.Referring now to the process of Figure 45,, in the first step 413, optic probe 91 is to the change of controlling PCB 172 transmission lag t values.Step 413 only has and just carries out when t changes when postponing.In step 414, control PCB 172 and send the probe calibrating signal in time T to optic probe 91.In step 415, control PCB 172 and send the encoder calibration signal at time T+t to seven joint PCB173.Control PCB and use the correct opportunity of determining to send the encoder calibration signal as the device of internal clocking and so on after the probe calibrating signal.In the situation that probe 90 be many stripeds probe as pops one's head in 308 and so on two stripeds 305,306 two stripeds, can carry out simultaneously from the measurement of striped, wherein all stripeds illuminate or once illuminate discretely a striped simultaneously, perhaps once illuminate the striped group., under any circumstance, 90 move on robot C MM arm if pop one's head in when illuminating different periods when striped, robot C MM arm will be in diverse location when each striped illuminates, and each striped will be the separate type calibrating mode.An object of the present invention is in the first calibration mode that uses, controlling PCB172 and be main the probe 90 is auxiliary, and in the second calibration mode that uses, and probe 90 is that main to control PCB 172 be auxiliary.
Time mark and interpolation
Sometimes, collimation optical probe 91 and control PCB 172 produce a pair of measurement result exactly.For example, if be not provided for sending or receiving the device of calibrating signal, just can not calibrate.In the time mark scheme, have two kinds of situations: (i) optic probe 91 and control PCB 172 have same measurement speed (ii) optic probe 91 and have difference and or variable measurement speed with control PCB 172.
In situation (i), measure and carry out in pairs.Importantly the speed measurement of optic probe 91 and control PCB172 is measured speed accurately and can be along with time migration.Optic probe 91 with control PCB172 in two clocks accurately operation in order to make their in identical time of scanning beginning demonstration when finishing.Optic probe 91 and control PCB172 measure with same speed in order to make between two adjacent optical measurements and two adjacent positions measurements always has same time interval I.Typical rate changes measuring for 25 times to 1000 measurement ranges of per second from per second, but they can be greater than 1000 or lower than 25.In situation (ii), measurement result flows out from optic probe 91 with rule or irregular interval, and flows out from controlling PCB172 with identical or different rule or irregular interval.
Referring now to the process of Figure 46,, same process be used for situation (i) and (ii) both.
-in the first step 416, before just beginning scanning, two clock alignments in scanning optical probe 91 and control PCB172 become as close as possible;
-in step 417, require optic probe 91 to begin scanning by control PCB172 and begin to measure;
-in step 418, obtain position data by controlling PCB172; Utilize the clock of controlling in PCB172, time mark is carried out in each position.Obtain measurement result in optic probe 91; Utilize the clock in optic probe 91, time mark is carried out in each position;
-in step 419, robot C MM arm scanning sequence stops and requiring optic probe 91 to stop scanning;
-in step 420, two clocks in optic probe 91 and control PCB 172 are checked each other;
-in step 421, control the file that the position of time mark has been carried out in PCB172 output.The file of the measurement result of time mark has been carried out in optic probe 91 outputs;
-in step 422, control the PCB172 position by interpolation and come calculation combination measurement result file in order to provide the best-estimated corresponding to the position of the inside CMM arm 5 of each optic probe measurement result.Each inner CMM arm 5 positions comprise X, Y, Z position and I, J, the K orientation vector of the end 3 of popping one's head in.The interpolation of inner CMM arm 5 positions by match by the three-dimensional polyline of inner CMM arm 5 positions and carry out along three-dimensional polyline and the proportional interpolation of time mark time sequence difference.
Scope of the present invention is not limited to the process of carrying out time mark and interpolation in Figure 46, but comprises any process that relates to time mark and interpolation that obtains same technique effect.For example, in the situation that exactly collimation optical probe 91 and control PCB172 in two clocks, so just use to comprise and at first scan known artifactitious method.Referring now to Figure 47,, with being located so that with the 90 ridged artifacts 370 of spending two planes of joining ridge is roughly parallel to laser stripe 287.Form two path approach by being installed on the optic probe 91 on robot C MM arm above ridged artifact 370.The first path 371 edge+X-directions and alternate path 372 edge-X-directions.Probe measurement result in two files that carry out time mark and arm position are used the estimation of calibration situation between two clocks are made up.Referring now to Figure 48,, when two paths 371,372 are compared, just calculate the error E as the distance on X-direction.Error E is used for accurately determining to be present in the difference of two calibration of clocks.So, this difference is used as the correction factor of the calibration situation between two clocks of estimation in order to two accurate calibrations between clock are provided when measuring object 9 subsequently.
The synchronizing pulse sign
There is litura in calibration to robot C MM arm system 150, and it can solve by the novel method of real-time synchronization pulse sign.In some cases, one or more measurement results from one or more devices are lost owing to existing to disturb in system's operation, this just causes producing in the process that will accurately put together from the synchro measure result in a plurality of sources fuzzy, this just may cause undesirable system situation, itself or lose more data or incorrect calibration data be provided.In other cases, the source about calibrating signal may exist fuzzy.One object of the present invention is to add calibration marker to each from the synchronizing pulse of calibrating signal issue device, it comprise (i) along with each from the continuous calibrating signal of calibrating signal issue device and the increment integer; Randomly the unique identification of (ii) this calibrating signal issue device is encoded; (iii) time mark randomly.All systems all need the increment integer.The typical minimum value of increment integer is 0 and typical maximal value is 255.When reaching maximum integer, so next increment integer is just smallest positive integral.After the people CMM arm system 150 that starts the machine, the first integer is output as 0.The form of synchronizing pulse and calibration marker can be determined by any those of ordinary skill in field under the present invention.For example, synchronizing pulse is the rising pulse of 10 microsecond pulse width, and always indicates that calibration marker length is 15 binary digits, and each position represents by occurring or lacking 10 microsecond pulses.Calibration marker utilizes verification to be encoded with the position.Unique device identification coding of each calibrating signal issue device is only in the situation that from there being fuzzy just needs between the calibrating signal of a plurality of calibrating signal issue devices.Time mark is the option that the system development personnel come the clock time between calibrating installation to use by Trigger Bus (174), and it can be used to other purpose.Have some calibrating signal issue devices that are connected on Trigger Bus (174), the calibrating signal that it can send with calibration marker includes but not limited to following one or more in each:
The manual button of optic probe (91) (183)
Takeoff probe (90) telepilot (351)
Contact triggers probe (92) and controls PCB (172)
Pressure probe in scan pattern (99) external control device
Also have one or more calibrating signal receiving traps to be connected on Trigger Bus (174), the calibrating signal that it can receive with calibration marker includes but not limited to following one or more in each:
Optic probe (91) is controlled PCB (172)
Takeoff probe (90) external control device
Joint PCB (173)
Have at least one verifying unit, it can be also composite set in order to proofread and make up measurement data from two or more devices.Verifying unit can be autonomous device or can be the calibrating signal issue device or the part of calibrating signal receiving trap.
The novel synchronous pulse notation that is used for the sign synchronizing pulse is disclosed.In first step, the calibrating signal issue device sends the synchronizing pulse on Trigger Bus of being positioned at that there is calibration marker the back, and calibration marker comprises (i) calibrating signal issue device increment integer, randomly (ii) calibrating signal issue device identification code, (iii) calibrating signal issue device time mark randomly.In second step, the calibrating signal receiving trap receives the trigger pulse on Trigger Bus of being positioned at that there is calibration marker the back.In third step, the calibrating signal issue device sends calibrating signal issue device packet to verifying unit directly or indirectly on communication bus, data comprise at least: the backup of the calibration marker that (i) show data that the issued coding of synchronizing pulse, (ii) produce in the calibrating signal issue device, is sent by the calibrating signal issue device, it comprises the increment integer, (iv) calibrating signal issue device identification code of (iii) calibrating signal issue device and (iv) calibrating signal issue device time mark randomly.In the 4th step, the calibrating signal receiving trap sends calibrating signal receiving trap packet to verifying unit directly or indirectly on communication bus, it comprises at least: (i) show the increment integer, (v) calibrating signal receiving trap identification code of the backup of coding that synchronizing pulse received, calibration marker that (ii) receives, data that (iii) produces in response to trigger pulse in the calibrating signal receiving trap, (iv) calibrating signal receiving trap and (vi) calibrating signal receiving trap time mark randomly.In the 5th step, verifying unit receives calibrating signal issue device packet and calibrating signal receiving trap packet according to random order.In the 6th step, in the situation that calibrating signal issue device packet is identical with calibrating signal issue device increment integer in calibrating signal receiving trap packet, verifying unit just merges the data in calibrating signal issue device packet and calibrating signal receiving trap packet.
This novel calibration marker and method are not limited to the disclosed embodiments, but comprise that sign that any use system ground system changes fuzzy method occurs with in avoiding calibrating.For example, in alternate embodiment, integer range can be lower than 256 or greater than 256.In another embodiment, sign can be changed according to any system mode.In this synchronizing pulse denotation approach, step 3 can be in step 2 or before occur or step 4 simultaneously or before occur.
Surveying program
Robot C MM arm 1 is carried out programming fast and easily extremely important, because robot needs skilled operating personnel that they are programmed and this is one will makes one of challenge that robot C MM arm 1 achieves success on market in general.Robot C MM arm program 389 is translated device 390 and is released in real time the instruction of translating and controlling in software 382 executive routines 389 by releasing.Program 389 can generate according to many different modes.For operating personnel 11 provide text editor in order to generate and the editor CMM of robot arm program 389 on kneetop computer 151.Program 389 can be according to off-line programming system as generating in the EMWorkplace from Tecnomatix.Program 389 can use suspension 153 or kneetop computer 151 remote controls start the machine people CMM arm 1 and instruct by operating personnel 11; If this just mean be difficult near the time, thereby can carry out remote guide and not need to provide stand so that the operator approaches hand-driven moving mobile robot CMM arm.
Start-up check
Robot C MM arm 1 is powered by being connected to power network cable 155 and using switch 156 to connect.The control software 382 of controlling in PCB172 starts when powering up automatically.The first task of controlling software 382 is to carry out a series of start-up checks.The each side hardware and software that can check of its confirmation in robot C MM arm is just in proper operation.Joint software 405 in joint PCB173 starts when powering up automatically.The first task of joint software 405 is to carry out a series of start-up checks.Its confirmation is connected in the each side hardware and software that can check on joint PCB 173 all just in proper operation.Suspension software 330 in suspension 153 starts when powering up under the control of suspension operation system 326 automatically.The first task of suspension software 330 is to carry out a series of start-up checks.The each side hardware and software that can check in its confirmation suspension 153 is all just in proper operation.Checked directly with control the hardware that PCB172 is connected after, control software 382 is by asking to check seven remote-type coupling PCB 173 from the status report of each remote-type coupling PCB on universal serial bus 169.Subsequently, controlling software 382 just asks from the status report that can be installed on any probe 90 on robot C MM arm 1 by universal serial bus 169.When completing inner start-up check, control software 382 and attempt by external bus and comprise that the equipment of foot-switch 350, telepilot 351, suspension 153 and kneetop computer 151 carries out communication.When completing whole start-up check, the control software 382 in control PCB172 is with regard to wait instruction.Those skilled in the art will be understood that, start-up check can be carried out according to multiple different order, and can take very short or for a long time, still, when the start-up check program is carried out, allow operating personnel 11 wait for that it is undesirable surpassing several seconds.
Reference
It is desirable to robot C MM arm and know all the time its joint angle.This can be by with absolute encoder and interrogate them by joint PCB 173 and realize when starting.When using incremental encoder, it is desirable to keep electric power by battery 170.If do not know the joint angle yet control PCB172, so just need benchmark to process.After at first safety was done in inspection like this, operating personnel 11 started automatic references and process.During benchmark is processed, make each joint rotation until till arriving the reference position.
Calibration
Automatic calibrating method and artifact
Have multiple calibration machine people's method and the method for the manual CMM arm of multiple calibration, it is for known to those skilled in the art in the invention and quoted in background of invention.Referring now to Figure 49 and 50,, in this first embodiment, used the calibration steps of automatic measurement known calibration artifact 373.45 movement parameter calibrating patterns are adopted by 7-axle robot C MM arm 1.Robot C MM arm 1 is rigidly connected on surface 7 and measures the calibration artifact 373 that is rigidly connected to equally on surface 7.Calibration artifact 373 comprises with four maximum gauges being the piece of the 90 degree cones 375 of 6mm.The position of one of four cones 375 is higher than another three approximate coplanar cones 375.Calibration artifact 373 is accurately known through distance, orientation between proof and four cones 375.Calibration artifact 373 is made for rigidity and by the material Invar of low thermal coefficient of expansion.Utilization is passed hole 374 and is threaded onto the bolt 376 of surface in 7 artifact 373 is rigidly connected on surface 7.In another embodiment, artifact 373 is rigidly connected on surface 7 by fixture.Touch trigger probe 92 is the Renishaw touch trigger probe, and it is installed on robot C MM arm 1.Calibration procedure is carried out by operating personnel's 11 beginnings and by controlling PCB 172.It comprises in four balls 375, each takes 90 contact sondes to measure.In 360 contact sonde measuring processes, joint is taken exercise as much as possible; This just means that the joint angle of utilizing various combinations measures.Do not have identical direction of joint during 360 times contact sonde is measured.For each measurement, record seven encoder positions.Use the well-known least square method of those skilled in the art, 360 group coding device positions are used for optimizing 45 parameters of this motion model.This calibration steps can be used for the probe coordinate system 364 of any contact sonde 95 is aimed at robot C MM arm coordinate system 363, and it preferably reduces measures number of times in order to make its acceleration; During this contact sonde alignment procedures, robot C MM arm is not preferably recalibrated, but can recalibrate yet.Referring now to Figure 51 A,, in another embodiment, artifact 373 is positioned in eight positions, and these eight positions are near cubical eight angles in the measurement volumes of robot C MM arm 1.In each position, artifact 373 is with respect to surface 7 and then install rigidly with respect to robot C MM arm 1.In each position, automatically carry out 360 times and measure.Use identical least square method, utilize 8x360 group coding device position to optimize 45 parameters of this motion model.Calibration process is calibration arm and contact sonde simultaneously.
Calibration of axes
One or more separate type axial-movements can be provided, and it relative to each other moves robot C MM arm and the artifactitious coordinate system of calibration; These axles can be manually to control formula or self actuating formula.They can be for linear or rotary.For example, referring now to Figure 51 B,, robot C MM arm 1 can be installed on servo-controlled turning axle 377, be preferably so that servo-controlled turning axle 377 is consistent with the axle at joint center 121, thereby make robot C MM arm can rotate to any angle, more measurements of artifact 373 are carried out in each position, angle.Servo-controlled turning axle 377 is necessary for rigidity, does not introduce error in order to can not vibrate on servo-controlled turning axle 377 due to robot C MM arm 1.Provide servo-controlled turning axle 377 just to make whole automatic calibration process automatically to carry out.Its advantage is compact equipment and does not need to construct rigid structure so that the diverse location in measurement volumes is installed artifact 373.Can provide the manual rotation axle to replace servo-controlled turning axle 377, its advantage is that system architecture is simpler and portable better, resets due to periodic manual is carried out in the pedestal orientation of robot C MM arm 1, so it be semi-automation.
Run through the calibration of measurement volumes
The inside CMM arm 5 of robot C MM arm 1 is not perfect rigidity.Under Action of Gravity Field, the long CMM section that is in the horizontal space orientation is will deflection a certain amount of.This deflection can not be measured and is an error source by the angular encoder in inner CMM arm 5.These errors can be measured and but calibration data be used for to be revised as the repetitive error of deflection under Action of Gravity Field and so on by calibration process.Another error source is the deflection in joint bearing.In good calibration process, a large amount of somes place in measurement volumes is measured robot C MM arm 1, and they will be used subsequently.Robot C MM arm 1 has redundancy in the major part of measurement volumes, in other words, robot C MM arm 1 can be in the dimensional orientation of unlimited amount in order to measure single position.In good calibration process, for each point in measurement volumes, robot C MM arm 1 is placed into a large amount of dimensional orientations.Reason is, measured point is more, and the dimensional orientation of the robot C MM arm 1 of measuring at each some place is more, and calibration process is just better.Due to the automatic calibration axle that robot C MM arm and the artifactitious coordinate system of calibration are relative to each other moved being provided, just allow and utilize automated procedure to measure a large amount of points.This just means that robot C MM arm 1 will be more accurate owing to having better calibration process.
Scope of the present invention is not limited to disclosed automatic calibrating method.For example, scope of the present invention comprise any automatically, the calibration steps of part automatic or manual.Can use any contact or non-contact optical probe 90.This method can be non-portable and at robot C MM arm manufacturing scene or service centre place carry out; Alternatively, method can for portable, advantageously make robot C MM arm to recalibrate at the scene.The axial-movement of any amount, type, position or automatic degree can provide relative motion between robot C MM arm 1 and calibration artifact 373.The calibration artifact 373 that any amount can be arranged.Calibration artifact 373 can be installed on have level altitude or height, in orientation and position on the adjustable post of any one in order to make when contact by probe 90, calibrating artifact 373 is rigidity.Each or a plurality of calibration artifact 373 can or in the situation that not contact with non-contact probe 90 and measure by contact sonde 90 contacts.Can use does not need artifactitious method.Scope of the present invention comprises any method of the technique effect that can realize accurate and automatic calibration machine people CMM arm 1.
The aligning of optic probe
The method that exists the multiple coordinate system that makes manual CMM arm to aim at the probe coordinate system 364 of optic probe 91, it is for known to the those of ordinary skill in field of the present invention and quoted in background of invention.Make the coordinate system 363 of robot C MM arm 1 scan ball from the optic probe 91 that the optimal way utilization of coordinate system 364 alignings of optic probe 91 is installed on robot C MM arm 1 from a plurality of different probe orientation and orientation.Ball preferably diameter is 25mm, and it has passed through calibrating and has had the rough smooth finish that shows; This ball is provided by Renishaw.In the situation that use striped probe 97, use five striped probe orientation: in robot C MM arm coordinate system 363+X ,-X ,+Y ,-Y ,-the Z direction.For each direction, ball is scanned with 45 degree increments in the orientation of fringe plane 280 by striped probe 97, thereby produces 8 location by each direction.Each place in the combination of 40 directions/location ,+X and-X be in probe coordinate system 364 in the time, just carry out forward+X scan path with backward-the X scan path.Resulting 80 groups of optic probe measurement results and arm position are processed with the well-known least square method of those skilled in the art, aimed at transformation matrix in order to produce between robot C MM arm coordinate system 363 and probe coordinate system 364.Scope of the present invention is not limited to disclosed automatic aligning method, but comprises any automatic, part automatic or manual alignment methods that can realize making robot C MM arm 1 and the optic probe 91 accurate technique effects of aiming at.
Object is decided benchmark
Normal conditions are before measuring, object 9 to be decided benchmark.In deciding baseline process, be that transformation matrix between 361 is measured to robot C MM arm coordinate system 363 and object coordinates.As a rule, reference characteristic such as cone, instrument ball and reference field are provided in accurate location on object 9.In the situation that decide benchmark with respect to 1 pair of object 9 of robot C MM arm, at first operating personnel specify the robot C MM arm user interface software on kneetop computer 151 or suspension 154 which uses decide pedestal method, and then robot C MM arm adopts the method.The common pedestal method of deciding comprises: three orthogonal planes; Two cones and a plane; Three instrument balls.Then, operating personnel's manual guidance robot C MM arm passes to carry out decide pedestal method desired position sequence, in case during the in-position, control PCB172 just for each measurement application automatic technology.
Feature and surface inspection
Robot C MM arm is measuring mechanism.Performed majority but be not all measurements be all for inspection.Robot C MM arm is particularly suitable for feature and the surface inspection of non-prism-shaped object.The typical objects that checks comprises those objects of being made by sheet metal, plastics or glass fibre and the instrument of making these projects.These objects are for example being made in automobile, Aero-Space, appliances and toy industry.Object is made by mold pressing, cutting, bending, punching course usually.On the object that can check, the example of feature comprises: exterior angle, square hole, rectangular opening, slotted eye, circular hole, edge contour and interior angle.In most cases, can obtain the cad file of object.Accurate three-dimensional localization, orientation, the shape of cad file specified object surface and feature.Object can be measured and make comparisons with cad file with any instrument that is used for the making object.Measurement result can be stored to be used for the purpose of quality assurance.Object can be measured by contact or non-contact optical probe 90; The advantage of non-contact optical probe is not touch object.For cad file do not exist or the situation of having lost for, can carry out reverse design in order to the main cad file that uses in checking subsequently is provided to master object or instrument.
Control software
Continuous sweep: the kinematics module 391 of controlling in software 382 uses the known control algolithm of those of ordinary skill of robot control field controlling exoskeleton moving along program 389 desired paths; This is the method for the most often using
Step-by-step movement scanning: control kinematics module 391 in software 382 and controlling exoskeleton and move along the step-by-step movement in program 389 desired paths, the some place specified in program 389 stops
Conversion: conversion is the motion of carrying out during measuring; The kinematics module 391 of controlling in software 382 is being controlled exoskeleton along the continuous motion of program 389 desired transduction pathway in the situation that do not monitor strainmeter
Training: the kinematics module 391 in control software 382 is according to the motion command effect by operating personnel's 11 direct appointments that receives by suspension 153, earphone 340 or kneetop computer 151
Heat monitoring: control software 382 monitoring thermopairs 180 and make dynamic parameter adapt to its temperature; The advantage of doing like this is to make the temperature of robot C MM arm to remain in limited field in the varying environment condition, makes simultaneously its impact on net cycle time reduce to minimum
Strain detecting: control software 382 monitoring strainmeters 181 so that the excessive strain value in inspection continuous sweep pattern
Collision monitoring: control the software 382 following errors of monitoring and in the situation that it is excessive, will use the emergency stop and send error message, this error message can comprise by the loudspeaker in kneetop computer 151 or the audible alarm of sending by earphone 340
Coordinate system is returned to zero: control software 382 and make 363 zeroings of robot C MM arm coordinate system, this by preferably utilize sense of touch trigger probe 92 come measuring basis ball 367 to search its center and the center of using this reference sphere 367 as realizing the zero point of robot C MM arm coordinate system 363
Object is decided reference: it is 361 that control software 382 is referenced to object coordinates by benchmark with robot C MM arm coordinate system 363.Know if control software 382 benchmark that approximately obtains wherein on object 9, this function is just carried out automatically.If operating personnel 11 at first have to robot C MM arm professor benchmark go object 9 where, this function is just carried out in semi-automatic mode.
Feature location: the one or more features on control software 382 measurement objects 9 are 361 position with respect to object coordinates
Dimensional measurement: control the size that software 382 is measured the one or more features on object 9; Those skilled in the art will be understood that, provide a series of functions to measure various types of sizes
Surface measurement: control all surface or part surface that software 382 is measured object 9
Software reference: control software 382 and will check the cad model that records surface data and object 9 of object by least-square fitting approach
Error generates: control software 382 data measured of body surface and the cad model of object 9 are compared and generate single error and error map
Report generation: control software 382 automatically generate measurement data about object 9 surfaces be different from the object cad model the deviation situation report and/or by/miss data
Statistical trends: control software 382 editors about the statistical trends information of following aspect, these aspects comprise that the one or more features on object 9 are 361 position with respect to object coordinates, and the size of the one or more features on object and the data measured of body surface are different from the deviation of the cad model of object.
The method that is used for robot C MM arm measure
Referring now to Figure 52,, in first step 431, control PCB172 at least one amplifier 175 output signal, it makes at least one motor 176 output torque.In step 432, the driver of motor makes torque at least one exoskeleton section 42-48.In step 433, at least one gearing 72-78 is subject to the pressure from least one exoskeleton section 42-48.In step 434, at least one gearing 72-78 applies power at the centre of gravity place place near CMM section 32-38 at least one CMM section 32-38.In step 435, probe 90 measurement data.In step 436, control the PCB172 reception from the encoder data of joint PCB 173.In step 437, control the measurement data that PCB 172 receives from probe 90.In the method that is used for calibration machine people CMM arm measure, in the another one step, probe 90 sends calibrating signal.In the robot C MM arm measure that carries out time mark method used, probe measurement result and position are carried out time mark.
Robot C MM arm advantage
One object of the present invention is that the manual CMM arm of robot C MM arm disclosed herein and equivalence compares can expanded range longer and operation is more accurate.At first, the expanded range of robot C MM arm can be longer than 2 meters, because it is by the exoskeleton supporting but not by the operating personnel's supporting that can not process it.Secondly, exoskeleton is supporting inner CMM arm in order to make the power that is applied to it minimize in optimum position.The 3rd, the larger-diameter scrambler that inner CMM arm uses resolution and degree of accuracy to increase, this may operate for operating personnel in inconvenience.Comprehensive these three factors just make robot C MM arm longer and operation is more accurate than manual CMM arm expanded range.This just means at customer requirements carries under high-precision secular trend, and robot C MM arm can provide than the more practicality of manual CMM arm for its owner.
One of the present invention is characterised in that its weight is with lower than existing robot.Typical weight is changing in 5kg to 35kg scope, and this depends on the expanded range of arm.This just means that less robot C MM arm invention with the intermediate sizes pattern is lightweight to being enough to for portable.The portable robot CMM arm of this first embodiment comprises single compact unit; It can be transported in the simple shell with wheel by a people.Can use stand, this just means that robot C MM arm does not need to be connected on ground with bolt as robot; This just means that robot C MM arm can promptly move to another position from a position.
Applicability
Robot C MM arm combines the degree of accuracy advantage of CMM arm with dirigibility and the robotization of robot.This just means, its for solve a large amount of in the middle of the preferred embodiment of precision measure tasks, existing solution one or more aspects in aspect degree of accuracy, dirigibility and robotization when solving these tasks are in a disadvantageous position.The CMM of this robot arm invention has robotization and accuracy two aspects concurrently.It is suitable for the multiple requirement of auto industry to measuring.It is lightweight and manufacturing cost is lower.Robot C MM arm is measured more reliable than the manual operation work of manual CMM arm automatically, does not cause measurement inaccurate because apply the operating personnel of power and torque.On production line, robot C MM arm and operating personnel operate manual CMM arm and compare and reduced running cost, particularly with 2 or 3 classes of reverse mould formulas work the time.Can expect that the present invention will be as the general service survey instrument to be used for being similar to the general purpose extensive application occasion of conventional type CNC CMM.
Exist two kinds to measure widely application: reverse engineering design and inspection.The CMM of this robot arm invention is applicable to both, but it will be appreciated that and checking that application facet can more employings because reverse engineering design with make regular check on compare fewer.Listed for example the following application of purposes of the present invention.Application of the present invention is not limited to following listed application.
Check is used
-be used for the auto shield door the gap with flush measurement
The check of-dimensional tolerence
The analysis of-riverbed
-VR emulation
-processing checks
-trial-production design
The exploitation of-foam
Body inspection on-production line
Seat inspection on-seat production line
-on-the-spot automotive interior
-pull down the engine components with the scene
-turbo blade
-housing and ventilator cowling
The inspection of-petrol tank
The analysis of-glass quality
-inner deburring
The model machine assembling of-automobile; The panel of tram has manually been put in verification
-pressing machine die
The scanning of-bridge support
-metal sheet parts: feature
-metal sheet parts: surface configuration
The corrosion measurement of-exterior tube and tube thickness are measured
Reverse engineering design
-be used for the standby military parts that drawing has been lost
-design a model for the clay car shape of Automobile Design
-industrial design model
-surface reconstruction
-for film/broadcasting, the feature of electronic game cartoon making or the model of stage property
The artistic work of-preciousness such as large-scale engraving, statue and artifact are in order to file, study, reproduce and protect
The design of-Rapid Prototyping
-manual measurement time-consuming and the effort complex object
Medical
-breast reconstruction
-neurosurgery
-radiotherapy
-robotic surgical
Other
-for the feeling toy of playing
-research
-training
For the existing rigid structure of static optical probe on automotive line, the unit of some robot C MM arms is sophisticated equipments.Robot C MM arm has more dirigibility for the dynamic reprogramming that is used for the different car models that rolls off the production line.For the optical scanning of disposable object, robot C MM arm has been removed from operating personnel's arduous manpower and by the power that acts on inner CMM arm is minimized dimensional accuracy is maximized.For the application that relates to inaccessible object, usually build stand in order to make operating personnel utilize manual CMM arm measure object; Usually operating personnel are in awkward position, and it is not only dangerous but also may cause backward pull.Using the CMM of this robot arm invention will mean and can use hand-held control panel that measurement is manually controlled.This just means that not needing to build stand and operating personnel does not need to enter with inconvenience, position dangerous and that be harmful to health and measure.
The second embodiment
Industrial robot CMM arm
In this second embodiment, disclosed industrial robot CMM arm is used for providing robot motion accurately.In this second embodiment, provide the seven-shaft industrial robot CMM arm with common base section and public probe section 8.Public probe section can be carried heavy probe or instrument, and is subject to significant power effect, and precise position information is provided simultaneously.Industrial robot CMM arm compares with existing industrial robot that not only reproducibility is better, and approximately more accurate 10 times.Referring now to Figure 53,, industrial robot CMM arm 450 has common base 4, and common base 4 comprises CMM section 31, gearing 1 71 and robot exoskeleton section 1 41.Industrial robot CMM arm 450 also has public probe section 8 451, and it comprises CMM section 8 38, gearing 8 78 and exoskeleton section 8 48.In fact, it provides the gearing 8 78 of rigidity.The CMM section 2-7 32-37 of the CMM arm of industrial robot 450 is connected on exoskeleton section 2-7 42-47 by gearing 2-7 72-77.Gearing 2-7 72-77 is preferred and be rigidity unlike disclosed in the first embodiment.Between the industrial robot CMM arm 450 of the portable robot CMM arm 1 of the first embodiment and this second embodiment, the key distinction is the gearing 8 78 of portable robot CMM arm 1 and non-rigid and gearing 8 78 industrial robot CMM arm 450 is rigidity.Referring now to Figure 54,, in another embodiment of this second embodiment, industrial robot CMM arm 450 has two probes 90 and 91.It is provided in to mix in six/seven axle forms, and 6 turning axles of 90 uses of wherein popping one's head in are located, and 7 turning axles of 91 uses of popping one's head in are located.CMM section 7/837/38 is not for there is no the rigid body of joint in it.Probe 90 be symmetrical vertically probe such as solid probe or touch trigger probe, radially the haveing nothing to do of its measurement effect and this effect.This with regard to meaning for regard to can operated probe 90, need to the last joint before it be not just the axial-rotation joint.Probe 90 has six CMM joint 1-6 51-56 between the pedestal end 2 of itself and industrial robot CMM arm 450.Optic probe 91 is rigidly connected on exoskeleton joint 7 67 exoskeleton section 8 48 afterwards.Optic probe 91 is preferably striped probe 97.Probe 91 measurement effect depend on its with respect to the orientation of arm and motion radially the two.This with regard to meaning for regard to the probe 91 that can easily be operated, need to the last joint before it be just the axial-rotation joint.Optic probe 91 has seven exoskeleton joint 1-7 61-67 between itself and pedestal end 2.Exoskeleton bearing 452 between CMM section 7/8 and exoskeleton section 848 is allowed axial-rotation.Probe 91 center line 453 around single CMM section 7/8 37/38 on the 7th axle that is installed on exoskeleton section 8 48 rotates, and it is driven by motor 176.Exoskeleton bearing 452 in order to transmit in the axial direction along the power of center line 453, strides across the moment of bearing as positive drive device 78 perpendicular to the arbitrarily nonrotational direction in radial force and edge of center line 453.
Those skilled in the art will be understood that, except the situation described in this second embodiment, this industrial robot CMM arm 450 second embodiment can be provided in various other embodiment, they all have constructed effect of the present invention, and the scope of this industrial robot CMM arm 450 second embodiment is not limited to above the disclosed embodiments.For example this second embodiment can be provided in to be similar in the six axle forms of Figure 1A, but it is with public probe section 8.In the situation that the embodiment of Figure 54, this second embodiment can be provided in to be similar in the mixing five-axis/six-axis form of Figure 1A, but it is with exoskeleton bearing 452.
Soundness and material
The exoskeleton 6 of industrial robot CMM arm 450 is rigidity, strong and firm.It is configured for high acceleration and locates with high reproducibility.In complex environment such as automobile production-lines, industrial robot can unexpectedly bump with body of a motor car frequently.Industrial robot is constructed to be permeable to hold out against this collision in the situation that vehicle body is damaged.In the situation that be not replaced or obtain significant the reparation, the exoskeleton 6 of industrial robot CMM arm 450 can hold out against with auto production line on the collision of vehicle body.The material that the industrial robot of materials similar on auto production line that the exoskeleton 6 of industrial robot CMM arm 450 uses uses.Aluminium casting is used for most of sections.Compare with portable robot CMM arm 1, the kinematic train power of industrial robot CMM arm 450 is higher in order to drive the exoskeleton 6 of better quality and carry out and use desired more high acceleration.The inside CMM arm 5 of industrial robot CMM arm 450 is according to constructing with the similar mode of inside CMM arm 5 of portable robot CMM arm 1.
Thermal environment
The purpose of this second embodiment is that this industrial robot CMM arm 450 just connects operation exactly and accurately operate from one under the static state of relative broad range and Dynamic Thermal state.Industrial robot CMM arm 450 will be put in production environment.If temperature is completely controlled, the temperature of this production environment is accurately controlled.Temperature can surpass 15C and change with the steeper thermograde that per hour surpasses 5C by significantly changing.In addition, the kinematic train of industrial robot CMM arm 450 produces sizable heat.Industrial robot CMM arm 450 takies about 1 hour to be come preheating and reaches thermal stability.Review Figure 13, air 192 flow velocitys will be considerably beyond portable robot CMM arm 1 air velocity used; Filtrator 191 will be larger in order to adapt to higher air 192 flow velocitys and can purify better vitiated air 192 from production environment.In a separate type embodiment, air 192 can interior recirculation and combined heat exchanger and cooling device be provided in pedestal so that it is cooling; This just prevents that dust from entering the gap between exoskeleton 6 and inner CMM arm 5.During warm-up cycle and continuous operation, air 192 circulations will be removed the focus on inner CMM arm 5.Therefore, the inside CMM arm 5 of industrial robot CMM arm 450 can keep its degree of accuracy in this thermal environment.This just means, industrial robot CMM arm 450 is connected beginning from one, in whole warm-up cycle, in light and consistent maintenance pinpoint accuracy under heavy type circulates and under the static state that runs in all typical production environment and dynamic temperature.
Use
As discussing in background of the present invention, industrial machine artificially can repeat formula but be inaccurate; This just means and exists the many of industrial robot to use, and it needs current because industrial robot enough unconsummated degree of accuracy accurately and also not.Industrial robot CMM arm 450 enough accurately, enough can repeat and be enough firm in order to satisfy the requirement of many these application.Another purpose of this second embodiment is that industrial robot CMM arm 450 can have probe 90 and the instrument 98 that is installed on public probe section 8 451 concurrently.This just means provides two uses circulation, wherein industrial robot CMM arm 450 cycle period tool using 98 carry out work and use probe 90 to measure.Another purpose of the first embodiment is, portable robot CMM arm 1 has the instrument 98 that is installed on exoskeleton 6 and is installed on probe 90 on inner CMM arm 5.This just means provides two uses circulation, wherein portable robot CMM arm 1 cycle period tool using 98 carry out work and use probe 90 to measure.This just means at the workstation place, and the result of described task can be executed the task and measure to robot C MM arm, perhaps executes the task in a position and measure in another position.This also means and utilizes robot degree of accuracy that instrument 98 executes the task to increase a magnitude with comparing before.Exoskeleton 6 power of industrial robot CMM arm 450 are enough large in order to handle the required instrument of using.It is rigidity, and has high reproducibility.It has the high-power driving system that allows than high acceleration.Except industrial robot CMM arm 450 of the present invention is more accurate approximately 10 to 100 times than industrial robot, it has the design specifications of the existing scope that is similar to industrial robot.Except it can bear by the more high acceleration that is applied to it at the gearing 10 between exoskeleton 6 and inner CMM arm 7, the inside CMM arm 5 of industrial robot CMM arm 450 is similar to the inside CMM arm 5 of the first embodiment.
Global coordinate system
When two or more industrial robot CMM arms 450 were worked on common object 9 together, usefully providing can be for the global coordinate system 461 of robot C MM arm coordinate system 363 references.Provide a kind of method of this global coordinate system to refer to by providing the global coordinate system artifact to realize.Referring now to Figure 55,, four industrial robot CMM arms 450 are arranged in the unit 454 on production line 455.The global coordinate system artifact 456 that provides comprises two groups three measurement balls 459 that are positioned on rigidity artifact structure 460, and its band is useful on the global coordinate system reference point 458 of global coordinate system 461.The expanded range 457 of each industrial robot CMM arm 450 and position make each industrial robot CMM arm 450 can measure at least one group three and measure ball 459, thereby with respect to global coordinate system 461 location its robot C MM arm coordinate systems 363.Scope of the present invention is not limited to by providing global coordinate system artifact 456 that global coordinate system 461 is provided.Those skilled in the art will be understood that, global coordinate system 461 can provide by multiple apparatus and method.For example, can use laser tracker.The present invention includes any device that global coordinate system is provided.
Method
Although the portable robot CMM arm 1 of the first embodiment is very suitable for measuring, the industrial robot CMM arm 450 of this second embodiment both had been suitable for comprising the accurate robot manipulation by the instrument of the carrying of the robot in industrial environment, was suitable for again measuring.Method comprises one or more steps.Control software 382 and carry out the method.This second operable conventional method of embodiment is disclosed.The illustrative methods of described robot C MM arm 1 can be used for industrial robot CMM arm 450.Below other illustrative methods be provided in to control in software 382 in order to use industrial robot CMM arm 450:
Feature is carried out reference: control software 382 industrial robot CMM arm coordinate system 363 is carried out reference with respect to object features coordinate system 362 features
Whole reference: industrial robot CMM arm coordinate system 363 is with respect to global coordinate system 461
Probe reference: control software 382 industrial robot CMM arm coordinate system 363 is carried out reference with respect to the measuring sonde coordinate system 364 of probe 90
Automated tool conversion: control software 382 for being positioned at the instrument 98 organization tool auto-changings on industrial robot CMM arm 450; Use this point during with industrial robot CMM arm 450 when instrument auto-changing system:
The instrument reference: controlling software 382 is 364 to carry out reference with industrial robot CMM arm coordinate system 363 with respect to the tool coordinates of instrument 98; For example after being changed, just uses by instrument this point
Process: control software 382 tool usings 98 and process on object 9
Adjust tool offsets: the tool coordinates of controlling software 382 adjustment means 98 is 364
Carrying: object is round transported to industrial robot CMM arm position; There is the method for many carry an objects, includes but not limited to: transport on production line; Transported by travelling belt in the time of on being positioned at pallet; Operating personnel's manual load.
Install: object can be installed before the operation of other industrial robot CMM arm standing; Installation can be and can repeat formula or not reproducible formula; Installation can be for the rigidity energy so that in the situation that object mobile bear operating physical force or install can just remain static so that optical check; In general, industrial robot CMM arm has high kinematic dexterity and object only need to be arranged in a position in order to be provided for the entry of remaining operation; There is the multiple method that object is installed in this position, includes but not limited to: be positioned over object on the surface not reproduciblely; Locking objects is locked in this position on pallet and with pallet; Object is installed on production line; Object is installed in fixture.
The flag check method
Referring now to Figure 56,, in first step 470, object 9 in-positions are located and are installed in the expanded range of industrial robot CMM arm 450.In step 471, industrial robot CMM arm coordinate system 363 is with respect to object coordinates system 361 location.If object 9 is installed in precise clamp with known locations and the orientation with respect to industrial robot CMM arm, do not need this step.In step 472, the probe 90 that is positioned on industrial robot CMM arm 450 is measured the one or more features 365 that are positioned on object 9 according to process of measurement 389.In step 473, the position of each feature 365 and or size calculate according to measurement data collected during step 472.In step 474, the design attitude of the position of each feature 365 and size and each feature 365 and size and tolerance thereof compare, and usually carry out with the form of cad model and scrutiny program.If the position fixing process of step 471 comprises the feature of measuring on object 9, step 471 can be simultaneously completed as the part of this step so.In step 475, the output measurement result.In step 476, object 9 leaves this position.
Surface inspecting method
Referring now to Figure 57,, in first step 480, object 9 in-positions are located and are installed in the expanded range of industrial robot CMM arm 450.In step 481, industrial robot CMM arm coordinate system 363 is with respect to object coordinates system 361 location.In step 482, the probe 90 on industrial robot CMM arm 450 is measured the surface of object 9 according to process of measurement 389.In step 483, surface measurement data collected during step 482 are carried out pre-service.In step 484, surface measurement data and the design surface of pretreated object 9 compared.In step 485, the output measurement result.In step 486, object 9 leaves this position.An example of the applicability of this method is the crank axle inspection unit.Contrast CAD design review (check) (DR) is without mach crank axle, so that within whether the crank axle that verification is made by this forming technology be in margin tolerance.
The tool operation method
Referring now to Figure 58,, in first step 490, object 9 in-positions are located and are installed in the expanded range of industrial robot CMM arm 450.In step 491, industrial robot CMM arm coordinate system 363 is with respect to object coordinates system 361 location.In step 492, the instrument 98 on industrial robot CMM arm 450 of being positioned at executable operations according to robot program 389 and on object 9.Known transition between industrial robot CMM arm 450 tool using coordinate systems 364 and industrial robot CMM arm coordinate system 363 is come executable operations.In step 493, object 9 leaves this position.
Operation inspection and cutter method of adjustment
This method need to be installed at least one instrument 98 and the probe 90 on industrial robot CMM arm 450.Referring now to Figure 59 A,, in first step 500, object 9 in-positions are located and are installed in the expanded range of industrial robot CMM arm 450.In step 501, industrial robot CMM arm coordinate system 363 is with respect to object coordinates system 361 location.In step 502, the instrument 98 on industrial robot CMM arm 450 of being positioned at executable operations according to robot program 389 and on object 9.In step 503, the probe 90 on industrial robot CMM arm 450 is measured upper one or more treated feature 365 and or the surface of object 9 of object 9 according to process of measurement 389.In step 504, to the position of each processing feature 365 and or size calculate, and or carry out surface preparation according to measurement data collected during step 503.In step 505, with the position of each processing feature 365 and size and or the design attitude of surface and each processing feature 365 and size and tolerance thereof compare.In step 506, calculate the cutter adjustment according to the result of step 505, and come adjustment means coordinate system 364 with adjusting operation.Tool coordinates is that 364 adjusting can be carried out on the statistical trends basis according to a large amount of same operation situations statistics, in order to differentiate and the deviation that quantizes in any error.In step 507, the output measurement result.In step 508, object 9 leaves this position.This method can be used in three exemplary patterns, but is not limited to this three patterns
-only check (skips steps 506)
-only carry out cutter adjustment (skips steps 507)
-check and cutter adjustment (comprising each step 500-508)
Those skilled in the art will be understood that, exist the multiple use industrial robot CMM arm 450 that can be used for to measure also other method of executable operations to be much higher than present achieved degree of accuracy, and method disclosed herein for can being used for using industrial robot CMM arm 450, all is measured the also illustrative methods of the method for executable operations to be much higher than previous degree of accuracy.
Production line
Industrial robot CMM arm 450 can be on production line any applicable position place be installed into individual unit, perhaps a plurality of industrial robot CMM arms 450 can be installed together in order to complete the measurement task in a unit or some unit.An example is for being positioned on auto production line.In general, the automobile on production line is according to known and stable speed motion; Yet degree of accuracy will reduce when measuring moving object.Therefore, preferably construct a kind of unit, wherein remain static at whole measurement cycle period automobile.Alternatively, this unit can be positioned over the object of contiguous production line place and a part of made of sampling.The typical production line is measured to use and is comprised: white vehicle body, nacelle, rear deck, underbody and instrument panel fixture.The characteristic feature that checks comprises: edge and surface location, hole site, slot position, gap and flush measurement.Also check surface configuration.Usually, production line will have the production line control system that starts the operating cycle in the unit on production line.One or more industrial robot CMM arms 450 in the unit can be connected on production line control system by the mode known to any those skilled in the art.Control PCB 172 in industrial robot CMM arm 450 can receive signal and information and return signal and information.Signal and information from production line control system to industrial robot CMM arm 450 for example generally include: start cycle; The force outage cycle; Service routine XXX; Program XXX itself; Return measurement is YYY as a result; Control parameter; The state requirement.Signal and information from industrial robot CMM arm 450 to production line control system for example generally include: status report; Measurement result; Measurement report; Feedback control parameters.Industrial robot CMM arm 450 will enter in the hardwire mode emergency stop circuit of production line usually.Can be used for feedforward data in order to control or adapt to downstream process on the production control line from the measurement result of industrial robot CMM arm 450 and feedback control parameters.Measurement demand to flexible production line usually needs industrial robot CMM arm 450 expanded ranges to surpass 2m and sometimes surpasses 3m.Preferably industrial robot CMM arm 450 has minimum 6 axles, thereby can be near measured position in order to have dirigibility.Preferably industrial robot CMM arm 450 can accelerate fast in order to move between the position in the short as far as possible time.Industrial robot CMM arm 450 has flexibility, agility and smaller floor area.Therefore industrial robot CMM arm 450 can on production line along produce element and/or producing be installed on operating unit in the middle of element within.Must careful operation in order to can not bump between robot C MM arm and other project.This just means that industrial robot CMM arm 450 can insert in most of positions along production line, and can not take valuable space as the special measurement unit in production line.Industrial robot CMM arm 450 is measured with pinpoint accuracy and can be positioned at the side of executive component such as welding robot or just be located thereon trip.One or more executive components can receive from the feedback data of one or more industrial robot CMM arms 450 and carry out thus and the matched operation more accurately of the actual measurement location of object such as sheet metal project.This just mean faster, better or cost lower but need more effective technique of higher accuracy can be for the production of on line.
The parts method of adjustment
Industrial robot CMM arm 450 is specially adapted to usually to make the model machine production run of the 200-250 platform model machine of new cars model.Owing to can realize that the integrated form pinpoint accuracy measures by the industrial robot CMM arm 450 that is positioned at the productive unit place, so just might change the mach method of sample and/or improve and show methodical degree of accuracy.For example, the error aspect feedback metal sheet parts location before its welding or bonding just can be regulated metal sheet parts until it is in correct location according to manual or automatic mode.Therefore, this can save in the larger input aspect the accurate model machine tool of production by allowing the simpler instrument of use with regard to meaning the invention of robot C MM arm.The novel features method of adjustment is disclosed.Referring now to Figure 59 B,, in first step 510, movable first component is manuallyd locate with respect to second component by operating personnel.In step 511, industrial robot CMM arm 450 obtains the measurement data about first component and second component position and orientation.In step 512, be recorded in the cad model of second component from the measurement data of second component.In step 513, will compare from the measurement data of first component and the cad model of first component; The cad model of first component and the cad model of second component are in the same coordinate system, and the cad model of first component is arranged in desirable Design Orientation with respect to the cad model of second component.In step 514, calculating the error in the desirable CAD position and orientation of first component actual location and deviation in orientation first component and show can be by the useful information of operating personnel's processing in order to provide.In step 515, manual operator use shown error to decide to be further manual adjustments first component the location and or directed and forward the first step to, or first component is located well and stops.In step 516, manual operator use shown error manual adjustments first component the location and or directed; Will carry out the second step of this method after the 7th step.Those skilled in the art will be understood that, achieved degree of accuracy position to be much higher than at present with respect to second component to exist multiple other hand control and automation method can be used for use industrial robot CMM arm 450 to help first components, and method disclosed herein can be used for using industrial robot CMM arm 450 help first components with respect to the illustrative methods of second component with the method that is much higher than previous degree of accuracy and positions for all.In alternate embodiment, step 510,515 and 516 can be carried out automatically in order to make whole parts adjustment process automatically carry out.
Body repair methods
Industrial robot CMM arm 450 is applicable to the bodywork technique of carrying out after vehicle body distortion accident occurs.At first industrial robot CMM arm 450 is applied in diagnostic operation, so that the parts that quantize the degree of vehicle body distortion and need to determine to replace, and corresponding with step 511-514.Industrial robot CMM arm 450 uses after each correction process is as stretching, bending in order to measure the remainder error that is different from ideal form; This is corresponding with step 511-516.Industrial robot CMM arm 450 is used during each replacement process, and during replacement process, new parts such as panel board for car bodies replace impaired corresponding component in order to help new instrument panel correctly to aim at; This with the parts method of adjustment the institute 510-516 is corresponding in steps.Diagnostic operation, correction process and replacement process are the particular instance that the parts method of adjustment is used.Scope of the present invention is not limited to the repairing of body of a motor car, but is applicable to the repairing of the object of any complicated shape.The present invention is applicable to repair fully the object that formed by parts or by an object made from upper-part.
Processing machine
Referring again to Fig. 7 J, industrial robot CMM arm 450 can be installed on one or more processing machines 137 or contiguous its installation.In the situation that form production line by two or more processing machines 137, between high Value Operations, object 9 is measured and by/unsuccessfully check the waste value % that just can reduce production line.In addition, industrial robot CMM arm 450 can provide the dual-use function of measuring with materials handling.In some applications, industrial robot CMM arm 450 can provide three kinds of operations: materials processing operation and the materials handling operation of measuring operation, utilizing instrument to carry out.An exemplary application of industrial robot CMM arm 450 is in the turbine blade production line.Compare with manual examination (check), the speed of the optical measurement of being undertaken by industrial robot CMM arm 450 and degree of accuracy can so that this application cost is effective more.
Use the advantage of robot C MM arm invention on production line
Following advantage is provided for example and has used the advantage of robot C MM arm invention to be not limited to these advantages on production line:
1. as long as allow, robot C MM arm can be installed in existing unit any position along production line, but not only is arranged in the special cell that has accounted for the production line space.
2. robot C MM arm can check the surface and to the subsequent handling feedforward data
3. robot C MM arm can check the surface and feedback data after processing or during it
4. robot C MM arm can increase the degree of accuracy of processing as connection
5. robot C MM arm can be so that the switching time between the reduction product
Robot C MM arm can become on production line everywhere public instrument, all advantages of the production agility aspect that has that processing and tool standardization bring
7. robot C MM arm can provide more accurate project assembling before connecting operation, made the connection technique that will use can be more accurate
8. robot C MM arm can provide more accurate method to be used for various tool, parts that assembling comprises for example multiple industry of automobile and aerospace
Robot C MM arm can to manual operator the Real-time Feedback loop is provided in case before another operation the position of adjustment component
Robot C MM arm can to movable member the Real-time Feedback loop is provided in case connect or another assembling process before the position of adjustment component automatically
11. robot C MM arm can be decided benchmark automatically with respect to the production line benchmark
12. robot C MM arm can be decided benchmark automatically with respect to the body of a motor car lines coordinate system that the object reference data for example is positioned at the place, unit
13. robot C MM arm can relative to each other be decided benchmark in common coordinate system
14. robot C MM arm can form one with production line control system
15. robot C MM arm makes it possible to adopt different job operations.Thereby have as reducing processing and drop into, increase processing speed, improve the quality of products and improve processing degree of accuracy and so on advantage
16. robot C MM arm can improve main line process and model machine production run
17. robot C MM arm can not need to check the fascia clamp
18. robot C MM arm can be eliminated personal error
19. robot C MM arm is compared with industrial robot, and just manufacturing cost is slightly expensive, but it provides the added value that surpasses its additional cost
20. robot C MM arm has increased the degree of accuracy of processing, and allows with the lower instrument of accuracy and carries out more effective processing and saved the space on the production line thereby compare with two standing posture products
21. individual machine people CMM arm can be processed following operation one or more: measurement, material processed, material handling; This just provides more purposes than the robot that can not carry out Measurement accuracy.
Muller
The purpose of this embodiment is to provide a kind of industrial robot CMM arm 450 that can grind complicated shape.Application standard CNC control system guarantees to hang down error and follows the path.The machine work path is generated by standard 7-axle CAD software package.Be used for calculating accurately the six degree of freedom position and orientation and utilize required six-freedom degree position and orientation to come closed-loop from the exact position of CMM scrambler 178 feedback, knowing as those skilled in the art.This just means that industrial robot CMM arm 450 can grind complicated shape more accurately than standard industry robot.Major advantage is that the amplitude of the machining error of industrial robot CMM arm 450 usually will be than the low magnitude of the machining error amplitude of industrial robot.Use another advantage of abradant industrial robot CMM arm 450 to be, manually flattening coarse part such as step place due to the out of true path, do not need other hand finish operation.Another advantage is that industrial robot CMM arm 450 can the muller machining center or horizontal arm CMM complicated shape such as the macrotype spherical that can not grind.Can expect that industrial robot CMM arm 450 will be applicable in industry widely in order to complicated shape is carried out accurate machine work.
The 3rd embodiment
In this 3rd embodiment, a kind of robot C MM arm of expansion bearing is disclosed, at all in its space layout that can move to, it has all reduced the joint that acts on inner CMM arm 5 and the force and moment on section significantly.
Act on the force and moment on the robot C MM arm of the first embodiment
Some space layouts place at robot C MM arm 1, existence acts on the sizable load on inner CMM arm 5, thereby structure is set can not provides enough control to export to reduce these loads of seven motors 176 of seven the exoskeleton joint 1-761-67 effect of passing through exoskeleton 6 that provides is provided.In some space layouts, all wt of the section of following inner CMM arm 5 all acts on joint.For example, when inner CMM arm 5 was arranged in the vertical space layout, the general assembly (TW) of CMM section 2-832-38 directly dropped on CMM joint 151.Similarly, the general assembly (TW) of CMM section 3-8 33-38 directly drops on CMM joint 252, and CMM joint 353 to CMM joints 757 are until arm is also similar like this.This load of seven kinematic trains in exoskeleton on can not the bearing of compensating action in the CMM joint.For having the CMM joint 1,3,5,751,53,55 and 57 that structure axially is set, when inner CMM arm 5 is in the vertical space layout, act on the axis that axial CMM joint is just passed in load on these CMM joints.For the CMM joint 2,4,6 52,54 and 56 that has quadrature and arrange structure, when inner CMM arm 5 is in the vertical space layout, act on these CMM joints load just with the axis quadrature of quadrature CMM joint.In any locus of robot C MM arm 1, the network of non-zero forces and non-zero moment all acts on inner CMM arm 5 from exoskeleton 6, and no matter robot C MM arm 1 is in static or motion state.Due to the joint that makes inner CMM arm 5 and section generation strain, so these force and moments just reduce the measuring accuracy of robot C MM arm 1.
Expansion bearing formula robot C MM arm
The expansion bearing formula robot C MM arm of this 3rd embodiment comprises for detection of the strainmeter that acts on the wind tunnel on inner CMM arm 5 and is with the expansion bearing that is useful on the wind tunnel of equilibrium activity on inner CMM arm 5 to control the movable drive device of software.This precision that just means expansion bearing formula robot C MM arm is greater than the expanded range robot C MM arm 1 identical with expansion bearing formula robot or the precision of industrial robot CMM arm 450.In addition, both compare with the industrial robot CMM arm 450 of the robot C MM arm 1 of the first embodiment and the second embodiment, and expansion bearing formula robot C MM arm can be specified the degree of accuracy operation and the expanded range that reaches increases according to certain.
Referring now to Figure 60,, expansion bearing formula robot C MM arm 550 comprises the movable drive device 2-8 562-568 between exoskeleton 6 and inner CMM arm 5.Strainmeter 181 is connected on inner CMM arm 5 disclosedly and is illustrated in Figure 41 E as preamble.
The movable drive device
Each movable drive device 2-8 562-568 provides one to pass as the expansion bearing direction of the driving direction of disclosed gearing 2-8 72-78 and one or more weight for supporting actively inner CMM arm 5 formerly in the first embodiment.Each movable drive device 562-568 is positioned at the center of gravity place of its corresponding CMM section 2-8 32-38 or is positioned near it; This just is reduced to two force component with the supporting task of each CMM section: radial and axial.Do not have moment to need effectively to use, because each movable drive device 562-568 is positioned at the center of gravity place of its corresponding CMM section 2-8 32-38 or is positioned near it.
Direction drives the expansion bearing device
Axial expansion bearing
Movable drive device 3,5,7 563,565,567 provides radial drive and movable axially mounting.Referring now to Figure 61,, movable drive device such as movable drive device 3 563 comprise two parts: as disclosed in preamble and the passive radial drive gearing 3 73 and movable axially mounting 3 583 that show in Figure 17.Movable axially mounting 3 583 comprises two supporting motors 571, and it applies the axial thrust of passing rotating bearing ball seat ring 575 devices by supporting gear case 572 devices and rotating bearing ball leading screw 574 devices to the CMM section support flange 570 on the CMM section 333 that is installed on inner CMM arm 5.Two supporting motors 571 arrange in order to provide uniform axial thrust on CMM section support flange 570 according to the mode that is mutually 180 degree.Supporting motor 571 bolts are connected on supporting gear case 572, and supporting gear case 572 bolts are connected on frame support bracket 573.Rotating bearing ball leading screw 574 stretches out and is supported on far-end by frame support bracket 573 from supporting gear case 572.Rotating bearing ball seat ring 575 at far-end between supporting gear case 572 and frame support bracket 573.Frame support bracket 573 is connected in exoskeleton section 3 43 by resilient material 203.Supporting scrambler 579 is connected on each supporting motor 571.Supporting motor 571 can apply axial force along any one relative direction that is determined by expansion bearing control software between exoskeleton section 3 43 and CMM section 3 33.For example, if CMM section 3 33 is in vertically upward dimensional orientation, the axial force that acts on so on CMM section 3 33 will make progress so that active balance acts on the downward gravity on CMM section 333.
In this set structure, passive radial drive gearing 3 73 is positioned at a side of movable axially mounting 3 583 along the axle of CMM section 3 33.In another embodiment of the present invention, passive radial drive gearing 3 73 is positioned at the opposite side of movable axially mounting 3 583.In another embodiment of the present invention, passive radial drive gearing 3 73 can form one with movable axially mounting 3 583, in order to make the action center of the radial drive of passing passive radial drive gearing 373 and the action center of movable axially mounting 3 583 be in same position.
The axial/radial expansion bearing
Referring now to Figure 63,, movable radial support 4 594 comprises three unit 594A, 594B and 594C.Show movable radial support 4 unit 594A with section AA and BB.Show movable radial support 4 unit 594B and 594C with section BB.In each movable radial support Unit 4 594, supporting motor 571 applies radial thrust by supporting gear case 572, supporting 90 degree transmission gear boxes 577 and rotating bearing ball leading screws 574, described radial thrust act on radial support carriage 578 by rotating bearing ball seat ring 575 and by resilient material 203 and low-friction material 202 to the CMM section 4 34 of inner CMM arm 5.These three movable radial support 4 unit 594A, 594B and 594C are mutually that 120 degree arrange to acting on radial thrust provider on CMM section 4 34 to control.Supporting motor 571 bolts are connected on supporting gear case 572, and supporting gear case 572 bolts are connected on radial support motor support 576.Supporting gear case 572 drives supporting 90 degree transmission gear boxes 577.Rotating bearing ball leading screw 574 exposes from support 90 degree transmission gear boxes 577.Rotating bearing ball seat ring 575 receives the thrust from rotating bearing ball leading screw 574, and described thrust is by radial support carriage 578 and be passed to the CMM section 434 of inner CMM arm 5 by resilient material 203 and low-friction material 202.Supporting scrambler 579 is connected on supporting motor 571.Three unit 594A, 594B and the 594C of movable radial support 4594 can provide radial force along the Arbitrary Relative direction between exoskeleton section 444 and CMM section 434, and it controls the software decision by expansion bearing.For example, if CMM section 4 34 is in the horizontal space orientation, thereby radial force will upwards overcome the gravity active balance that acts on CMM section 4 34 and acts on downward gravity on CMM section 4 34 so.
The quantity of movable drive device
Be in the preferred embodiment of 7-axle expansion bearing formula robot C MM arm 550 of arbitrary orientation at pedestal, have 11 expansion bearing devices: movable axially mounting 2-8 582-588 and movable radial support 2,4,6,8 592,594,596,598.If pedestal is in vertically all the time, ten expansion bearing devices just enough and not need movable radial support 2592 so.Be in the embodiment of 6-axle expansion bearing formula robot C MM arm 550 of arbitrary orientation at pedestal, because there is no movable drive device 4 564, so have nine expansion bearing devices: if pedestal is in vertically all the time, eight expansion bearing devices just enough and not need movable radial support 2 592 so.
Compare with other device, some expansion bearing devices are larger on the impact of the overall accuracy of expansion bearing formula robot C MM arm 550.For example, the expansion bearing device near sound end is less on the impact of overall accuracy than the expansion bearing device that is used for heavier section.Compare with the degree of accuracy with the similar machine people CMM arm 1 of any expansion bearing device not, only provide an expansion bearing device just can increase the degree of accuracy of expansion bearing formula robot C MM arm 550.One object of the present invention is that expansion bearing formula robot C MM arm 550 has one or more expansion bearing devices.
In general, can reduce by the quantity that increases movable drive device 560 force and moment in expansion bearing formula robot C MM arm 550, thereby make expansion bearing formula robot C MM arm 550 more accurate.For example, can provide two or more movable drive devices 560 to support each CMM section.In fact, each increase of the quantity of movable drive device will produce limited repayment.In the another one embodiment of expansion bearing formula robot C MM arm 550, two movable drive devices are offered longer CMM section 3,5 33,35 in order to more multi-support is provided.Scope of the present invention comprises any expansion bearing formula robot C MM arm 550 with one or more movable drive devices.
Structured material
Inside CMM arm 5 and the exoskeleton 6 of expansion bearing formula robot C MM arm 550 are preferably made by same material in order to the difference of thermal expansion is minimized.CMM joint 51-57 also aims at the axle of exoskeleton joint 61-67.So inner CMM arm 5 and exoskeleton 6 change the length of same amount along with temperature change.
Expansion bearing is controlled software
Referring now to Figure 64,, expansion bearing is controlled software 552 and is provided in to control in the storer 381 of PCB172.For every kind of space layout, expansion bearing is controlled software 552 and is optimized the expansion bearing of inner CMM arm 5 by exoskeleton 6.Supporting motor 571 is driven by the output of amplifier 176 according to the amplifier analog output circuit 383 in the control PCB 172 that is determined by control software 382.Each supporting scrambler 579 is connected on joint PCB 173, and joint PCB 173 is connected in and controls on PCB172.
Referring now to Figure 65,, expansion bearing is controlled software 552 and is had from strainmeter 181, kinematics software 391 and the input of controlling software 382.The wind tunnel of strainmeter 181 indicative functions on inner CMM arm 5.Kinematics software 391 provides space layout position, the velocity and acceleration of expansion bearing formula robot C MM arm 550.Control software 382 movable drive device 2-8 position, the velocity and acceleration of 562-568 are provided.Expansion bearing is controlled software 552 and is had the required steering order of the supporting motor 571 that mails to control software 382 as output.Control software 382 and receive the position of exoskeleton scrambler 179, CMM scrambler 178 and supporting scrambler 579 as input.Control software 382 and be used for CD-ROM drive motor 176 and the driving signal that supports motor 571 to amplifier 175 outputs.Both provide single control loop for motor 176 and supporting motor 571 to control software 382, and this has just been avoided because two contention control rings occurring thereby being difficult to harmonious undesirable situation.One object of the present invention is that controlling software 552 by expansion bearing provides accurate expansion bearing formula robot C MM arm 550, in order to the wind tunnel that acts on inner CMM arm 5 is minimized, wherein control software 552 inputs from strainmeter 181 to expansion bearing, the wind tunnel that strainmeter 181 is measured in inner CMM arm 5, and control software 552 outputs in order to control the movable drive device 2-8 562-568 that can apply from exoskeleton 6 to inner CMM arm 5 wind tunnel from expansion bearing.Like this, inner CMM arm 5 is fully by the fabricated section supporting of pedestal CMM section 31 and movable drive device 2-8 562-568.Those skilled in the art will be understood that have several different methods can be provided for the expansion bearing control software and itself and main control software 382 is integrated in order to the wind tunnel that acts on expansion bearing formula robot C MM arm 550 is minimized of expansion bearing formula robot C MM arm 550.Those skilled in the art are further understood that, expansion bearing is controlled on the sound end 3 that software can auto-compensation be installed on inner CMM arm 5 or near the probe of the heavy type it 91, and can provide at least two movable drive devices to be used for supporting CMM section 838 so that compensation is not installed near the probe 91 the center of gravity of CMM section 8 38.
Air bearing in gearing
Air bearing can be used to eliminate contacting between inner CMM arm 5 and exoskeleton 6.Referring again to Figure 17, in gearing 3 73 radially, air bearing will be used for replacing low-friction material 202.Referring again to Figure 18, in reversing gearing 4 74, except resilient material 203, will also use air bearing.Referring again to 61 and 63, in movable axially mounting 563 and movable radial support 594, air bearing will be used in and replace low-friction material 202.Air bearing air used can be provided and be introduced by the flexible pipe that extends by compressor the position of air bearing between inner CMM arm 5 and exoskeleton 6.Out air can have the subsidiary function of cooling expansion bearing formula robot C MM arm 550 from air bearing.The elementary exhaust apparatus that air is used is provided in sound end, and secondary exhaust apparatus is provided in apart from the suitable distance of each section Air bearing.The major advantage of air bearing has been to eliminate the friction between inner CMM arm 5 and exoskeleton 6; This just guarantees that the power that applies along a direction can not have due to fricative harmful component along another direction, thereby makes in expansion bearing formula robot C MM arm 550 more accurate.
Resilient material, pressure transducer and expansion bearing are controlled
Referring again to Figure 17,18,61 and 63, resilient material 203 is provided in each parts of movable drive device 2-8562-568, and inner CMM arm 5 comes in contact herein with exoskeleton.Resilient material 203 is protected inner CMM arm 5 by absorption from the peak value of the power of exoskeleton 6.The power that strides across resilient material 203 produces by following factor at least: the variation of gravity, its locus of causing due to the motion of expansion bearing formula robot C MM arm 550, inertial acceleration, assembling interference fit, thermal expansion/contraction and the supporting motor 571 of expansion bearing formula robot C MM arm 550.Be utilized as the space of expansion bearing formula robot C MM arm 550 and the extreme value of the power that the inertia ability is calculated, thickness, sectional area and the elastic properties of materials coefficient of the resilient material 203 of each position carefully calculated in order to optimize the relative expansion of resilient material 203/contraction.
In alternate embodiment, pressure transducer is in resilient material 203 rather than is in the strainmeter 181 that is installed on inner CMM arm 5.The reality that strides across resilient material 203 is made a concerted effort, and is no matter that force of compression, tension force or shearing force can be measured at each movable drive device place.Utilization determines that based on the calculating of the design of expansion bearing formula robot C MM arm 550 ideal that strides across each resilient material under the existing space position of expansion bearing formula robot C MM arm 550 and inertia situation makes a concerted effort.Supporting motor 571 activates in order to reduce or increase the reality that strides across each resilient material 203 by new expansion bearing control software algorithm makes a concerted effort.
Environmental factor and operating performance
In order to obtain best degree of accuracy, expansion bearing formula robot C MM arm 550 should be used for hot controlled environment, there is no external vibration.When measuring with lower speed and by power that acceleration was produced hour, just can realizing optimum.Yet the user's request productive capacity from user's measuring equipment and speed, acceleration that can have with expansion bearing formula robot C MM arm 5 is key factor.Inner CMM arm 5 can be different from the manual CMM arm that may stand sizable wind tunnel of being applied by operating personnel by a plurality of movable drive devices supportings and by the design performance of the inside CMM arm 5 of a plurality of movable drive devices supportings.This just mean the quality/inertia of the inside CMM arm 5 in expansion bearing formula robot C MM arm 550 can be lower and its corresponding acceleration that may stand when keeping pinpoint accuracy can be higher, thereby make it become high productivity and accurate measuring equipment.
Validity of the present invention
The wind tunnel that acts on inner CMM arm 5 due to gravity and inertial force effect comes balance by the movable drive device.This expansion bearing formula robot C MM arm 550 can effectively support inner CMM arm 5 in case the wind tunnel at fabricated section place that makes its pedestal CMM section 31 than not providing the corresponding wind tunnel in movable drive device situation low one or more magnitudes.In addition, this expansion bearing formula robot C MM arm 550 can effectively support inner CMM arm 5 in case make its at the wind tunnel of each joint than not providing the corresponding wind tunnel in movable drive device situation low one or more magnitudes.
More accurate than manual CMM arm
This 3rd embodiment can liken for the about magnitude of the reduction of the wind tunnel on the manual CMM arm of corresponding size the wind tunnel that acts on inner CMM arm 5 to.This just mean expansion bearing formula robot C MM arm 550 can specific force and moment can not to be reduced to the manual CMM arm with similar expanded range of negligible quantity more accurate.In the situation that wind tunnel is less, inner CMM arm 5 can be designed to very light; The dual benefits that has be exoskeleton 6 therefore can be lighter and kinematic train can be lighter because their power is less.
The alternative method of expansion bearing
Have other method that realizes expansion bearing, and the scope of the present embodiment is not limited to above-mentioned device.For example, at another embodiment that is used for axially mounting, a motor 571 can be used for driving two rotating bearing ball leading screws 574 by drive transmission as bringing.Be used for axially or the alternate embodiment of radial support, controlled linear actuators such as voice coil actuator can be in the situation that the position that does not need to know the movable drive device provide required linear force; Provide ratio with the motor of scrambler simpler control loop used.
The 4th embodiment
Measure parameter
In this 4th embodiment, the method and apparatus that is used for another object of the present invention being disclosed: measures parameter, construct the model of parameter and analyze its model.Can be included but not limited to by the example of applicable contact or noncontact parameter measurement probe 90 parameters of measuring: temperature; Surfaceness; Color; Vibration; Hardness; Pressure; Density; Crack in welding, bonding/impurity detects.The part of object 9 or object to be measured is positioned at the expanded range of robot C MM arm 1.Perhaps object 9 can be brought to robot C MM arm 1 place or robot C MM arm can be brought to the object place.Coordinate system with respect to robot C MM arm 363 is measured parameter.Alternatively, object coordinates is 361 can set for as before disclosed, and is 361 to measure parameters with respect to object coordinates.Parameter measurement probe 90 is connected in the sound end 3 of inner CMM arm 5, but can be connected in the sound end of exoskeleton 6.When being public, the parameter measurement probe is connected on public sound end when the sound end of the sound end of inner CMM arm 5 and exoskeleton 6.
Measuring process, selection of time and a plurality of probe
Measuring process moves parameter measurement probe 90 with respect to object 9 and is measured to carry out by parameter measurement probe 90 by robot C MM arm 1.As disclosed in preamble, the positioned/oriented of sound end in X, the Y of robot C MM arm, Z, I, J, K coordinate can be synchronizeed with the measurement of parameter measurement probe 90, perhaps carries out time mark or direct position fixing or by the interpolation position fixing on time basis otherwise.Measurement is carried out along the motion path of robot C MM arm 1.Measure and preferably carry out in the continuous sweep campaign, wherein parameter measurement probe 90 is in operation and measures; Shorter in the carrying out time of measuring, be usually less than 100 milliseconds also usually in the situation of some milliseconds, this measuring method that is in operation is fit to parameter measurement probe 90.Alternatively, measurement can progressively be carried out, and wherein parameter measurement probe 90 is measured when robot C MM arm 1 is in fact static; Usually be usually also some seconds greater than 100 milliseconds in the situation that measurement is carried out the time long, this step-by-step movement measuring method is fit to parameter measurement probe 90.On the robot C MM arm 1 that parameter measurement probe 90 can be installed on one or more other probes 90, in order to can adopt the combination in any of parameter and/or dimensional measurement.An example utilization is used for the non-contact optical probe 91 of dimensional measurement and is used for thermometric contact-free measurement of temperature scanning probe pipe.It is also understood that single probe 90 can measure two or more different parameters.It is also understood that two contact sondes preferably are not installed on robot C MM arm 1, because in the preferred operations situation of robot C MM arm, only have a contact sonde 95 to contact with object 9, unless provide specially in the design of contact sonde 95.The measurement of probe 90 is installed preferably carries out along single measuring route during single measuring process, in order to make track can not repeat; This make aspect the measuring process minimal time the most effective.The measurement of all probes 90 can synchronously be carried out during measuring process, in order to make all pop one's head in 90 in fact simultaneously and measure with same speed.Alternatively, one or more installation probes 90 can be measured with different rates.As before disclosed, each probe measurement of 90 can be used calibration or by interpolation and preferably directly relevant to the positioned/oriented of arm.To store from robot C MM arm 1 and the data of the one or more probes that comprise parameter measurement probe 90.
Parameter measurement probe measurement position
(a) position of single parameter measurement can be positioned at the tip of parameter measurement probe;
(b) position of single parameter measurement can be positioned at apart from the most advanced and sophisticated unknown distance of parameter measurement probe but the known orientation place;
(c) position of single parameter measurement can be positioned at apart from the most advanced and sophisticated known fixed distance of parameter measurement probe and known orientation place;
(d) position of single parameter measurement can be positioned at and record fixed range and known orientation place apart from the tip of parameter measurement probe;
(e) can carry out simultaneously a plurality of parameter measurements along projection plane, wherein each parameter measurement is positioned at the known position with respect to most advanced and sophisticated parameter measurement probe tip;
(f) can carry out simultaneously a plurality of parameter measurements in view field, wherein each parameter measurement is positioned at the known position with respect to most advanced and sophisticated parameter measurement probe tip;
(g) can carry out simultaneously a plurality of parameter measurements in view field, wherein each parameter measurement is positioned at respect to the known orientation of parameter measurement probe tip but the unknown distance place;
The probe 90 of a plurality of installations preferably has the different measuring position with respect to robot C MM arm coordinate system 363, in order to measuring process can not interfered with each other; Different measuring positions is preferably adjacent to each other in order to extra measurement campaign is minimized.The probe 90 of a plurality of installations preferably has identical orientation in order to make trajectory path planning simpler with respect to robot C MM arm coordinate system 363.When the installation probe 90 that exists more than three or three, these probes are preferably located in and make all measure coplanar position.For the single-point type but measure for a plurality of installations probe of different parameters, the path of robot C MM arm and directed preferably being determined to be make in the position of all measurements all along same paths rather than side by side path mutually.For a plurality of installation probes of the single-point type of measuring identical parameter, the path of robot C MM arm and directed preferably being determined are caught in the position of all measurements falls within mutually side by side path, thereby make robot C MM arm can throughput rate higher by measuring simultaneously along some approximately parallel paths.
The calibration of parameter measurement probe and aligning
Parameter measurement probe 90 is aimed at the coordinate system of robot C MM arm by the method that is mainly determined by the designs of parameter measurement probe.Preferably, the supplier of parameter measurement probe according to certain methods with these measurement mechanism pre-calibrations become to have clear and enough accurate probe benchmark structure is set, only need to be simply with its with respect to robot C MM arm coordinate system with known offset/assembled orientation on robot C MM arm; Provide this skew/directional data as the parameter measurement calibration file of popping one's head in; Use this calibration file that the aiming at of coordinate system of parameter measurement probe and robot C MM arm is provided.Should be appreciated that if can not obtain this pre-calibration from the suppliers of parameter measurement probe, can construct special calibration clamp so, the parameter that this fixture is suitable for measuring is in order to calibrate probe with respect to the probe benchmark in calibration process.Be to be understood that, if can not obtain this pre-calibration from the suppliers of parameter measurement probe, so alternatively can provide artifact, the parameter that this artifact is suitable for measuring is in order to make the probe coordinate system aim at the coordinate system of robot C MM arm by the known calibration process of those skilled in the art, and described alignment procedures comprises utilizes the parameter measurement probe that is installed on robot C MM arm to carry out the measurement of enough number of times to artifact.
Referring now to Figure 66, parameter measurement process:
-in first step 601, object and robot C MM arm are relative to each other located in order to make object be in expanded range for the robot C MM arm of measuring;
-in step 602, the parameter measurement probe is installed on the sound end of robot C MM arm;
-in step 603, parameter measurement probe coordinate system is aimed at robot C MM arm coordinate system;
-in step 604, robot C MM arm is moved along the path and utilize the parameter measurement probe to measure;
-in step 605, storage is from the measurement result of parameter measurement probe with from the positioned/oriented of robot C MM arm.
Scope of the present invention be not limited to this parameter measurement process and this process that provides only for for example.
Modeling
Disclosing a kind of method extracts parameter measurement data and robot C MM arm position location data and they is combined in order to be that object builds a parametric model.In this method, one or more parameters one-tenth model capable of being combined or remain the separate type model.Should be appreciated that as open, exist parameter measurement to determine and uncertain location with respect to the various of robot C MM arm.Disclose another kind of method, it be used for to extract the cad model of object and itself and parameter measurement data and robot C MM arm position/location data is combined in order to be object structure parametric model.In this another kind method, the cad model of object is referenced to parameter measurement data and robot C MM arm position/location data.This another kind method is adapted to pass through with the method for the cad model of object contrast determines previous uncertain position.For example, if the cad model of object provides surface definition and the parameter that utilizes undefined position to measure is surperficial parameter, so this position just can by according to known orientation projection parameter until its be determined till running into the CAD surface of object.In general, parameter can be that surperficial associated arguments such as color or inner parameter are as the crackle in the impurity in welding or bonding.
Referring now to Figure 67, modeling process:
-in first step 611, prepare one group location parameter measurement data with interpolating method according to previously stored parameter measurement result and robot C MM arm positioned/oriented according to the time and space;
-in step 612, use modeling method that this group is located the parameter measurement data and put into the applicable data structural model;
-in step 613, use combined method that the cad model of object is combined with location parameter measurement data structuring model in order to integrated CAD and parameter measurement model is provided.
Scope of the present invention is not limited to this modeling process, and this process that provides is only for giving an example.For example, in the time of on simple object such as metal plate, just do not need to provide step 613.In another example, can provide the 3 d scan data of the outer shape of model but not cad model is provided.
Analyze with visual
Can analyze so that definite analysis data according to integrated CAD and parameter measurement model.For example:
(a) can derive maximal value and/or the minimum value of parameter and its location
(b) color can be distributed to parameter and can be provided colored the demonstration to parameter in the protrusion of surface of object according to numerical range
(c) can for the zone of object or object set by or fail criteria, and by determine according to the measurement result of this standard analysis parameter by or unsuccessfully
(d) derive the statistics of the parameter of surveying and the individual data items of the separation parameter of surveying, and these data are offered production control system in order to feed back to production run in order to carry out Data Trend Monitor and the production run adjusting
Analyze data and or integrated CAD and parameter measurement model preferably carry out visual on the color computer display.As a rule, the parameter measurement result and analyze on the surface that data are presented at cad model or the three dimensional image prime model inner.Can carry out visual with the immersion three-dimensional visualization technique.Selected visualization technique will depend on treats that visual parameter is surperficial parameter or inner parameter; Selected visualization technique also will depend on the cad model of object or the 3-D scanning surface model whether available.Can use any technology known to those skilled in the art or equipment that model is carried out visual, comprise various types of skeleton views and various types of 3-D display.
Referring now to the analysis of Figure 68, visual and feedback, process:
-in first step 621, analyze integrated CAD and parameter measurement results model with analytical equipment;
-in step 622, export this analysis data;
-in step 623, show that output analysis data are for use in visual;
-in step 624, provide and analyze data as the feedback in production run.
Scope of the present invention be not limited to this analysis, visual and feedback procedure and this process that provides only for for example.For example, in unmanned transfer matic, usually can not comprise step 623, unless available display terminal is so that this process of visualization once in a while.
The 5th embodiment
Maneuverability robot C MM arm
In this 5th embodiment, a kind of maneuverability robot C MM arm embodiment is disclosed.At present, larger object such as the vehicles are measured according to two kinds of usual manners: use CMM such as bracket CMM or the opposed horizontal arm CMM larger than the vehicles, perhaps the movable equipment with less measurement expanded range of motion around the vehicles.Larger CMM particularly when it is robotization, just needs larger capital investment.Movable equipment needs skilled manual work and is subject to the personal error impact.
The purpose of this 5th embodiment is to provide a kind of maneuverability robot C MM arm for measuring large-sized object such as the vehicles, and it and compares with large-scale CMM that size is less and cost is lower automatically, accurately, flexibly.
Referring now to Figure 69,, show maneuverability robot C MM arm 700 with side view, end-view and upward view respectively.Maneuverability robot C MM arm 700 comprises the vehicles 701 that robot C MM arm 1 is installed.Robot C MM arm 1 is rigidly connected on tripod base 704, and three spurs 706 reduce the effect of actuator from tripod base 704 reductions by pin; When spur 706 was in extended position, the general assembly (TW) of maneuverability robot C MM arm 700 was just supported and can accurately be measured by spur 706.The vehicles also comprise four wheels 702, battery 705, automatic charging/communication contact 710, the motor/gearbox unit 703 that is used for wheels, control module 709 and band tracking/target identification sensor 708, wherein are used for the manual suspension 153 that arranges and control maneuverability robot C MM arm 700 and are connected in control module 709.Referring now to Figure 70,, show the Typical Planar arrangenent diagram of the vehicles measured zone of using maneuverability robot C MM arm 700.Maneuverability robot C MM arm 700 along by with 712 at the track of the vehicles 9 arranged around and go.Be target 714 along the interval with 712, the position of target 714 indication maneuverability robot C MM arms 700 is in order to stop and measuring the vehicles.Each target 714 is preferably unique and can be identified in the process of measurement 389 that use in this place, position.An array reference cone 713 is provided on the ground 718 of vehicles measured zone, and maneuverability robot C MM arm 700 can be exactly from then on reference to its location.Charging/communication station 711 is provided so as by the automatic charging/liaison 710 on maneuverability robot C MM arm 700 from electric power supply 719 to battery 705 automatic chargings and with computer network 720 communications.Referring now to Figure 71,, plug-in type reference cone 715 can be permanently positioned in ground 718.Detachable reference cone 716 can temporary adhesion in ground 718.In the situation that needs improve the reference data degree of accuracy, provide convex type reference cone 717.Referring now to Figure 72,, the three-dimensional position of reference cone 713 is stored in reference cone and locates in array 721.The three-dimensional position of target 714 is stored in target location array 722.The three-dimensional polyline of band is stored in band polyline array 723.
Set-up procedure
The exact position of each reference cone 713 in reference cone array 721 is measured as the optical tracker that is provided by Leica or Faro Technologies with three-dimensional measuring apparatus accurately.Also to as measuring with 712 path with as the position of the target 714 of target location array 722 with polyline array 723.Reference cone array 721 provides global coordinate system 461.These are measured only needs annual carry out once or in the situation that layout changes carries out.Array with reference to circular cone 721, belt path 723 and target 722 positions offers off-line programming system, and this off-line programming system can also provide the emulation to process.Operating personnel use off-line programming system to produce process of measurement 389.The battery 705 of maneuverability robot C MM arm 700 charges at 711 places, charging/communication station.Process of measurement 389 and array 721,722,723 are downloaded to the control module 709 of maneuverability robot C MM arm 700.During the object 9 that can be the vehicles roughly moves into and locates for generation of the program design of process of measurement 389.Object 9 is usually with the reference data that with respect to object coordinates is 361.With the position adjustments of object 9 to the less error range that is positioned at the program design location.
Referring now to Figure 73, set-up procedure:
-in first step 731, witness mark circular cone 713, target and be with 712; Provide array 721,722,723 to off-line programming system
-in step 732, use off-line programming system to produce process of measurement 389;
-in step 733, to battery 705 chargings;
-in step 734, process of measurement 389 is downloaded in maneuverability robot C MM arm 700;
-in step 735, object 9 is moved to approximate location and regulates.
This process is an example of preparation process, and is intended to a kind of possible set-up procedure of example explanation, but the present embodiment is not limited to this set-up procedure.For example, step 733, charge to battery in any point place during the course.
Measuring process
Operating personnel 11 start the measurement operation.Maneuverability robot C MM arm 700 is carried out process of measurement 389.Maneuverability robot C MM arm 700 going along with 712 and row and advance to the target 714 that the first programming is set.It stops and putting down actuator 707 with pin and put down its spur 706.Maneuverability robot C MM arm 700 carries out self poisoning by measuring all reference cones 713 in the arm expanded range with respect to global coordinate system 461.Suppose that maneuverability robot C MM arm 700 is better than 5mm with respect to the reproducibility of the position and orientation of target.The program that is used for witness mark circular cone 713 location be included in greater than the search routine in the 5mm scope in case before measuring it position reference circular cone at first.Utilize the position of local reference cone 713, maneuverability robot C MM arm 700 coordinate systems 363 are referenced to global coordinate system 461.Maneuverability robot C MM arm 700 is carried out the process of measurement 389 of this position.Then, it lifts its spur 706 and advances to next position.This process repeats until till completing process of measurement 389 and maneuverability robot C MM arm 700 and having got back to 711 places, charging/communication station.Measurement result is uploaded to the computing machine of appointment from maneuverability robot C MM arm 700 by communication network 720.In at least one target 714 positions, to being that 361 reference data is measured with respect to object coordinates on object 9.This just provides the benchmark between object coordinates system 361 and global coordinate system 461.
Referring now to Figure 74, process of measurement:
-in first step 741, maneuverability robot C MM arm 700 is moved to first object;
-in step 742, stop maneuverability robot C MM arm 700 above target, put down spur 706;
-in step 743, by measure local with reference to cone 713 with maneuverability robot C MM arm 700 with reference to the part with reference to cone 713;
-in step 744, maneuverability robot C MM arm 700 is measured object 9 according to process of measurement 389;
-in step 745, lift spur 706;
-is checking routine completed in step 746? if complete turn to step 747.If do not complete turn to step 748;
-in step 747, make maneuverability robot C MM arm 700 move to next target; Turn to step 742;
-in step 748, make maneuverability robot C MM arm 700 return to charging/communication station 711;
-in step 749, upload measurement result.
This process is an example of process of measurement, and is intended to a kind of possible measuring process of example explanation, but the present embodiment is not limited to this set-up procedure.Other steps that for example, may recharge battery component in the centre of whole measuring process.
The those of ordinary skill in automatically guided vehicle field will be understood that, maneuverability robot C MM arm 700 provides this application required all devices.For example, provide to the wheel steering angle self actuating in order to vehicle 701 is turned to.Provide and be used for the algorithm that band is followed the trail of and target is identified.The position mapping of reference cone is provided.Provide for detection of the safety sensor that may collide.Vision and aural alert system are provided.
The scope of this 5th embodiment is not limited to disclosed method and apparatus, but comprises all methods of the maneuverability robot C MM arm 700 that is provided for automatically, accurately and neatly measures large-sized object.For example, maneuverability robot C MM arm 700 can have three, the wheel more than five or five.Spur and pin that tripod base 704 can have four or more put down actuator 707 constant force that acts on each spur can be provided.Each wheel 702 can commutate independently.Radio positioning system or dead reckoning navigation system can be used for replacing being with 712 and target 714.Instrument ball, optical target or other contact or noncontact benchmark artifact can be used for replacing reference cone 713 arbitrarily.A plurality of accumulators can be provided.The process of measuring can be carried out on the computing machine on maneuverability robot C MM arm 700 or network.The vehicles 701 can be combined to form a self-contained unit with robot C MM arm 1 and tripod base 706, and perhaps the vehicles can draw robot C MM arm 1 on tripod base 406 from a position to another position, then withdraw from during measuring process.The vehicles 701 can be by one or more drivings and the operation in the various energy, and these energy comprise: battery, along the electric energy that is permanently fixed cable, electric energy, fuel cell and combustible such as gasoline from track.In another embodiment of this 5th embodiment, dynamically fabricated section is rigidly fixed on ground 718.Robot C MM arm 1 can be lifted and be put down by maneuverability robot C MM arm 700.Maneuverability robot C MM arm 700 is being followed the trail of and is being with 712 and stop at dynamic fabricated section place.Robot C MM arm 1 is delegated on dynamic fabricated section.Automatic locking mechanism makes robot C MM arm 1 locate and be locked in position and orientation repeatably.When in place, the repeatability of these dynamic fabricated sections is better than 10 microns.Realize this point as three by the 120 directed right cylinders of degree with the dynamic installation method known to those skilled in the art.Before using maneuverability robot C MM arm 700, utilize accurate three-dimensional measuring apparatus such as Leica optical tracker to come the position and orientation of map machines people CMM arm 1 in being fixed in ground each dynamic fabricated section.Like this, when each use maneuverability robot C MM arm 700, in the situation that need to be in each position with reference to reference cone 713, robot C MM arm 1 just is in known universe coordinate system 461.
The 6th embodiment
With the ectoskeletal robot C MM arm of movable
In this 6th embodiment, disclose a kind of with the ectoskeletal robot C MM arm of movable embodiment.Above open, the robot program who is used for robot C MM arm can off line generate or form by a series of robot motions of interactive training.For most objects, two kinds of methods that robot C MM arm is carried out program design all are much slower than the method for utilizing manual CMM arm manual measurement object.
The purpose of this 6th embodiment is to provide a kind of with the ectoskeletal robot C MM arm of movable, in order to removing manual measurement the first object in ectoskeletal situation, and utilizes the exoskeleton of institute's dislocation automatically to measure all other similar objects.
Referring now to Figure 75,, show the robot C MM arm with movable exoskeleton 750, but exoskeleton 6 or be removed or retract and inner CMM arm 5 manual operations wherein.Referring now to Figure 76,, provide exoskeleton section 343 to be used as pipe with the slit of milling out from it, in order to make CMM section 333 to propose from exoskeleton section 343 during exoskeleton 6 dislocations.CMM section 535 can be proposed from exoskeleton section 545 similarly, and CMM section 838 can be proposed from exoskeleton section 848 similarly.Pipe with slit has enough wall thickness in order to desirable strength is provided.Referring now to Figure 77,, provide the gearing 373 that is connected on exoskeleton section 343 to be used as the split bearing assembly, it comprises head bearing 751, lower bearing 752, hinge 753 and securing member 754, in order to make when securing member 754 is released, CMM section 333 can be proposed.Provide similarly gearing 575 and gearing 777 as the split bearing assembly.
Referring now to the use of Figure 78 measuring process with the robot C MM arm of movable exoskeleton 750:
-in first step 760, with exoskeleton 6 CMM arm 5 dislocations internally; Automatically move in suitable space layout with the robot C MM arm of movable exoskeleton 750, when (a) inner CMM arm 5 can be easily from exoskeleton 6 unclamp and (b) exoskeleton 6 do not hinder when manually using inner CMM arm 5 in the future; Gearing is manually unclamped; Inner CMM arm 5 is proposed from exoskeleton 6; Randomly, for example can exoskeleton 6 be retracted away from inner CMM arm 5 by hinge means; Randomly, for example can connect and make its outage and exoskeleton 6 is removed by mechanically unclamping its bolt;
-in step 761, use inner CMM arm 5 manual measurement objects 9;
-in step 762, if exoskeleton 6 has been retracted or has been removed changes exoskeleton 6; Inner CMM arm 5 is carried into exoskeleton 6 and fastening gearing;
-in step 763, use with the robot C MM arm of movable exoskeleton 750 and automatically measure one or more similar objects 9.
The scope of this 6th embodiment is not limited to disclosed method and apparatus, but all modes that can provide with the robot C MM arm of movable exoskeleton 750 are provided.Ectoskeletal dislocation is not limited to disclosed location without prejudice, removes and these methods of retracting, but comprises the dislocation exoskeleton in order to can manually use any method of inner CMM arm.Those skilled in the art will be understood that, with the robot C MM arm of movable exoskeleton 750 with the required equipment of all its hand control and automations operations.Most users has various objects to be measured, and some objects use manual CMM arm measure best, and other object uses robot C MM arm measure best.Buy once, just provide simultaneously manual CMM arm and robot C MM arm for the user with the robot C MM arm of movable exoskeleton 750.Also have advantages of with the robot C MM arm of movable exoskeleton 750 and be easy to assemble, test and repair.
The 7th embodiment
Coupling robot CMM arm
In this 7th embodiment, a kind of coupling CMM arm and ectoskeletal robot C MM arm of robot of comprising disclosed.With the CMM arm presentation space redundancy of enough joints, wherein for the position and orientation of most of given sound ends, the intermediate head of arm may have one group of continuous difference location.Accelerate under gravity or inertial force effect for the sound end of handling the CMM arm limits intermediate head simultaneously, the CMM arm must be supported at least two positions by the robot exoskeleton: near the probe end with near the place, centre position.A specific embodiment of coupling robot CMM arm is disclosed now.Referring now to Figure 79,, CMM arm 5 neighboringly is installed on mutually on surface 7 in order to form coupling robot arm 780 with robot exoskeleton 6.Pedestal spacing between CMM arm 5 and robot exoskeleton 6 is optimised, and this part carries out according to the ectoskeletal expanded range of CMM arm and robot and application requirements.The CMM arm is carrying on its last section 38 pops one's head in 90.CMM arm 5 is connected in two positions with driven linear axes 779 by driven crossbeam 771 with robot exoskeleton 6.Driven crossbeam 771 is rigidly connected in when rotating around robot exoskeleton joint 767 with convenient robot gripper 770 on robot gripper 770, the inswept circular path of driven crossbeam 771.Driven crossbeam 771 is connected on CMM section 737 in order to make robot exoskeleton 6 can control the position and orientation of CMM section 7 37 by the limited universal joint 778 of the rotation collar 772 and part.Driven linear axes 779 is connected between robot exoskeleton section 545 and CMM section 5 35.Driven linear axes 779 is connected on robot exoskeleton section 5 45 with universal joint 776 by the rotation collar 774.Driven linear axes 779 is connected on CMM section 5 35 with universal joint 777 by the rotation collar 775.The 8th driven shaft that driven linear axes 779 consists of except seven driven shafts of robot exoskeleton 6.Can use method known to those skilled in the art to increase/reduce the length of driven linear axes 779 under programmed control.By increasing or reduce the length of driven linear axes 779, just can limit the ancon of CMM arm 5 in the position redundancy of CMM joint 4 54 with the correlation range place.The 9th driven shaft, namely driven turning axle 773 drives CMM joint 7 57 and allows that probe 90 is around the axle rotation of CMM section 8 38.
Exist a plurality of robots exoskeleton 6 to be coupled in order to the embodiment of coupling robot CMM arm 780 is provided with CMM arm 5.The scope of this 7th embodiment is not limited to disclosed coupling robot CMM arm 780 in above the 7th embodiment, but comprises that robot exoskeleton 6 is by various types of couplings of gearing and other device and CMM arm 5.For example, in another embodiment, CMM arm 5 can be connected in two above positions with robot exoskeleton 6.In the unimportant independent embodiment of the dimensional orientation of a CMM arm presentation space redundancy and intermediate head, CMM arm 5 and robot exoskeleton 6 can only be connected in the sound end place.At a CMM arm 5 not in the different embodiment of presentation space redundancy, CMM arm 5 and robot exoskeleton 6 can only be connected in the sound end place.
The 8th embodiment
With ectoskeletal manual CMM arm
Typical case in typical case's use pattern manually CMM arm has the power/moment that is applied to it in the following manner.
-by being installed on rigidly the pedestal 2 on supporting structure
-by with the contact sonde 95 that is installed on rigidly the object contact on supporting structure
-left hand by the operator
-the right hand by the operator
-act on the gravity on whole manual CMM arm
-by the balancing spring coupling arrangement
Manually there is many reasons in the measuring error of CMM arm, and these errors weaken its robustness of measuring purposes, and reason comprises the power/moment that acts on manual CMM arm, causes measuring error thereby described power/moment causes little geometry deformation.Manually on the CMM arm, some the most remarkable reasons of measuring error comprise:
-reason 1: cause damage because manual CMM arm accident drops on or strikes against on hard thing.In the first defective pattern, serious damage requires manual CMM arm is sent returns producer's repairing and calibration again.In the second defective pattern, the accumulation of collision year in year out is easy to the joint in loosening manual CMM arm and loses its precision for this reason;
-reason 2: the left hand by the operator and the right hand put on the wind tunnel on manual CMM arm; These wind tunnels can make the bearing and section distortion of manual CMM arm; If contact sonde 95 contacts with object or supporting structure, these wind tunnels just may strengthen; The unfavorable condition of a kind of bearing and section distortion is to be in line and operating personnel when striding across CMM section 3-5 33-35 and CMM joint 3-4 53-54 and apply bending moment with hand as CMM section 3-5 33-35, just may cause being about the error of 0.5mm;
-reason 3: if compensation system 210 as inner machine work spring are built in CMM joint 2 22, the trimming moment that strides across the CMM joint 222 between CMM section 2 32 and CMMS section 3 33 changes in typical range about 10Nm in the level orientation of section 3 near just can the 0Nm from the vertical orientations of section 3.This variable moment will cause the measuring error from two sources: cause the deflection of CMM section 333 due to the moment that is applied to it, and because the bearing that strides across in CMM joint 2 52 applies the inaccuracy that moment causes
-reason 4: because the local asymmetric heat that operating personnel's hand causes is transmitted;
-reason 5: manually the non-unlimited rotary axle of CMM arm collides on buffer stopper, thereby causes the impact that acts on manual CMM arm;
-reason 6: thus manually the non-unlimited rotary axle of CMM arm may quite high (it is just unusual that the torque on axle 2 surpasses 10Nm) facing to the crooked bending moment that acts on manual CMM arm of making of buffer stopper;
-reason 7: when the manual CMM arm that utilizes motion is measured as in the situation that when using 97 scanning of striped probe, the manually quality of CMM arm and inertia generation dynamic measurement error; Manually the major part of the typical 10kg quality of CMM arm is because the needs structure can be in the situation that do not need to recalibrate the firm manual CMM arm that has stood maloperation;
-reason 8: the contact by contact sonde 95 tips puts on the power on arm; Like this, sizable manual CMM arm weight is by contact sonde 95 effects; If operating personnel 11 are by the load-bearing of manual CMM arm, operating personnel's part weight just also can be by contact sonde 95 effects so;
-reason 9: when being held by operating personnel, the wind tunnel that applies by optic probe 91;
-reason 10: the shock and vibration that In transit applies; In most cases, the design of traffic condition provides the undesirable wind tunnel that acts on arm.
Exist thousands of manual CMM arm and them to become in the past more accurate along with the time in market.The main users problem that exists in renewal, more accurate arm is the overall equilbrium between degree of accuracy and robustness.Because manually the CMM arm is more accurate, their robustness is just lower.Very accurate arm is being transported to and may losing its precision after client or client use the short time in the correcting device of manufacturing place.
In this 8th embodiment, disclose a kind of with ectoskeletal manual CMM arm, it comprises light-duty inner CMM arm and exoskeleton, exoskeleton is gripped by operating personnel, and it has reduced significantly these reasons of measuring error and has compared more accurate and firmer with CMM by the manual CMM arm of the direct equivalence that grips of operating personnel.
Referring now to Figure 80 A,, the manual CMM arm with exoskeleton system 802 that provides comprises the manual CMM arm with exoskeleton 800, and it utilizes cable 152 to be connected on kneetop computer 151.Manual CMM arm with exoskeleton 800 has pedestal end 2 and sound end 3.Manual CMM arm with exoskeleton 800 is installed on surface 7.Probe 90 is installed on sound end 3 with the manual CMM arm of exoskeleton 800.Optic probe 91 also is installed on sound end 3 with the manual CMM arm of exoskeleton 800.Operating personnel's button 183 is adjacent to sound end 3 and installs.Manual CMM arm with exoskeleton 800 comprises pedestal 4, inner CMM arm 5, exoskeleton 801, is positioned at compensation system 210 and gearing 10 on exoskeleton joint 2 62.Measured object 9 is positioned on surface upper 7.
Lightweight and the gearing 10 of exoskeleton 801 is supporting inner CMM arm 5 in order to make the minimise stress that acts on inner CMM arm 5.Exoskeleton 801 is being protected inner CMM arm 5.Exoskeleton 801 is flexible, and wherein at any one long section xxx, the typical segment on xxx is deflected to from 0.1 to 5mm, but section deflection may be greater than 5mm or less than 0.1mm.Any bending of exoskeleton 801 all is absorbed by the flexibility in the gearing 10 of the inner CMM arm of supporting rigidity; In other embodiments, exoskeleton 801 may be rigidity.Exoskeleton 801 is made by the material of high strength and lightweight such as carbon fiber or duroplasts, also may be made by the material of any function.Exoskeleton 801 is encapsulating inner CMM arm 5 fully in order to adequately protect it, but it can be that part is encapsulating inner CMM arm 5 in other embodiments.Exoskeleton 801 is designed for by operating personnel from the aspect of ergonomics and grips.Inner CMM arm 5 is light-duty; Due to the protection of exoskeleton 801, so that inner CMM arm 5 does not need to be designed to is enough strong with abuse in standing to use and the load that applies.Inner CMM arm 5 does not comprise the additional weight that is associated with the defencive function that is used for following aspect; these aspects are normal use and abuse, environmental sealing, ergonomics, electronic installation and ornament, and they are processed by exoskeleton 801.For this reason, inner CMM arm 5 average weight on unit length is lighter.
This uses together with optic probe 91 on being connected in inner CMM arm 5 with manual CMM arm the 8th embodiment of exoskeleton 800 with the invention of ectoskeletal CMM arm.Exoskeleton 801 is gripped by operating personnel 11.Optic probe 91 is designed so that it by exoskeleton 801 protection in order to avoid is operated personnel 11 and grips.Like this, operating personnel can not be to inner CMM arm 5 or the direct stress application of optic probe 91, and with the manual CMM arm of exoskeleton system 802 with the equivalence of exoskeleton 790 manually the CMM arm do not compare more accurate.
In alternate embodiment, use together with optic probe 90 on being connected in inner CMM arm 5 with the manual CMM arm of exoskeleton 800.Exoskeleton 801 is gripped by operating personnel 11.Like this, operating personnel can not be to direct stress application on inner CMM arm 5 or optic probe 90, and with the manual CMM arm of exoskeleton system 802 with the equivalence of exoskeleton 790 manually the CMM arm do not compare more accurate.
The wireless buttons unit
Up to the present, firmly be connected on arm and passed arm for the button of control with the manual CMM arm of exoskeleton 800.This just just is limited to button one or more fixed positions, perhaps is positioned at the 7th axle or is positioned at the position of rotation at the most on the rotary knob collar of slip ring.A new embodiment who be used for to control with the manual CMM arm of exoskeleton 800 provides Integral wireless pushbutton unit 814, and the user can place control knob 183 easily.Wireless buttons unit 814 comprises one or more buttons 183, transmitter 815 and it is by self contained battery 816 power supplies.Wireless buttons unit 814 is with carrier 843, and it comprises for the seat of wireless buttons unit and one or more Velcro for carrier being anchored on along the almost any position of exoskeleton 6 is with 844.Wireless receiver 847 is provided, and it is integrated in on the manual CMM arm of exoskeleton system 802 and be built in pedestal 4.May have or not be used for the antenna 848 of wireless receiver 847.Antenna 848 can be or can be not be external and/or detachable.In another embodiment, slide and to be provided on each in the oval shell of column of exoskeleton 6 with rotating carrier 845.Wireless buttons unit 814 has the simple compatible press fit in pack into carrier 843 or slip and rotating carrier 845 in order to make it can be positioned fast on any compatible carrier or be removed.Slide and usually can not removed from its corresponding exoskeleton sections with rotating carrier 845.Slide and to have simple braking/unclamp controller 846 with rotating carrier; It can not slide or rotate in application position; In the release position, operating personnel can make its slip or rotate to desired location.Braking/unclamp control 846 can operate individually.When electing button with the manual CMM arm of exoskeleton 800 as indicator and button 183 use, button 183 can utilize suitable system hardware and software to control any function with the manual CMM arm of exoskeleton system 802, comprises user interface point and selection function.
Buffer stopper
Referring now to Figure 80 B,, with the manual CMM arm of exoskeleton 800 with buffer stopper 818 in order to make arm docks at stand when pedestal end 2 is directed vertically upward in, its center tap center 424 hangs downwards towards pedestal 4 for the highest joint center and sound end 3, in order to the Duan Buhui that is positioned at the arm after joint center 222 is under Action of Gravity Field.The buffer stopper 818 that is positioned on exoskeleton joint 2 62 provides from vertical direction over parking parking a little of angle R, wherein exoskeleton joint 2 62 just in time passes through exoskeleton joint 1 61, thereby makes the centre of gravity place with the part of the manual CMM arm of exoskeleton 800 that is positioned at after joint center 2 22 be positioned at the buffer stopper side of the vertical shaft of 222 tops, joint center.The representative value of R is that 5 degree still can be more or less.When exoskeleton docked on buffer stopper, CMM joint 2 52 is quite freely rotation before arriving arbitrarily hard limiter.Advantage at the buffer stopper 818 of exoskeleton 802 interior effects is, if exoskeleton 802 is pushed against on buffer stopper 818 firmly, when buffer stopper 818 contacts or stands bending moment, inner CMM arm 5 just is not hit impact, and this design that just means inner CMM arm 5 can be lighter and firmer on the whole with the manual CMM arm of exoskeleton 800.In addition, can provide the position near buffer stopper 818 between exoskeleton section 242 and exoskeleton section 3 43 or be in the magnet 817 that substitutes leveraged position, need to overcome magnetic pull and center 2 22 rotations of starting joint by quite large starting pressure in order to make; This just means and more is being difficult to unexpectedly collision arm when the vertical direction, thereby makes it fall under Action of Gravity Field and be damaged.In alternate embodiment, magnet 817 can be as the double duty of buffer stopper and damping magnet.
The feature of measuring error and minimizing
be provided in to comprise with the manual CMM arm of exoskeleton 800 in a plurality of embodiment of device of previous disclosed benefit in the present invention, these devices include but not limited to: with one, the CMM scrambler 178 of two or more read heads 186, CMM temperature sensor 180, CMM strainmeter 181, stand 110 and other erecting devices, the prestress bearing, the optic probe of any type, the contact sonde that comprises any type of pressure probe 99, the probe of any amount, calibrating installation, the movable drive device, be used for arm and any or battery and the battery charger of all devices as being connected probe thereon, and make can functionating with the manual CMM arm of exoskeleton system 802 any designed system general structure.
This manual CMM arm the 8th embodiment with exoskeleton 800 has reduced the reason that causes measuring error in many aspects:
Probe and optic probe lid
Referring now to Figure 81,, probe cover 803 is connected on the sound end of exoskeleton 801.Probe cover 803 has three kinds of use patterns: put down displaceable and retraction.Probe cover lever 805 is used for mobile probe lid 803 between three kinds of use patterns.In putting down pattern, probe cover 803 is in the situation that the collision protection probe 90 that meets accident; The pattern of putting down is to be used for transportation, the normal mode when reposition assembling and use optic probe 91.In displaceable pattern, probe cover 803 is displaceable in order to make probe 90 can carry out contact measurement.Probe cover 803 overcomes probe cover spring 806 dislocation upwards vertically, is covered with probe 90 and protection probe 90 avoids by in the position of side collision in order to make it usually be in.When probe 90 was put on object 9 vertically, probe cover spring 806 bore with some weight of the manual CMM arm of exoskeleton 800 and therefore as compensation.In the retraction pattern, probe cover 803 is retracted and is stayed the probe 90 that exposes fully.Probe cover 803 can be used for the probe 90, particularly submissive or not frangible probe 90 of any type, comprises touch trigger probe 92 with or without removable tracer needle, with or without the pressure probe 99 of removable tracer needle and fixing contact sonde 95.Probe cover 803 can be made by most engineering materials, but is preferably light-duty, rigid material.Preferably, preferred soft coating such as rubber are in order to make it hold comfortable and move more comfortable between three kinds of patterns.Probe cover 803 is transparent in order to can see probe 90 by it.
Referring now to Figure 82 A,, a kind of optic probe lid 804 is disclosed.Optic probe lid 804 is connected on exoskeleton 801 and is arranged for protection optic probe 91.Optic probe lid 804 can be held by operating personnel, and can be to optic probe 91 transmission power or moments.Accidentally collision protection optic probe 91 in the situation that occur in optic probe lid 804.Referring now to Figure 82 B,, the second purpose of optic probe lid 804 is can be more easily hand-held by operating personnel 11 with the manual CMM arm of exoskeleton 800 in order to make as handle.In any one in optic probe lid 804 and probe cover 803 or two manual CMM arms that can be provided in exoskeleton 800.Optic probe lid 804 has reduced the reason that causes measuring error in many aspects, comprising:
The part exoskeleton
In another embodiment of this 8th embodiment, exoskeleton 802 can be the part exoskeleton with the exoskeleton section of lacking than the CMM section.Referring now to Figure 83 A,, the part exoskeleton 807 that provides comprises three exoskeleton section 1-3 41-43 and two exoskeleton joint 1-2 61-62.This part exoskeleton 807 has the compensation system 210 that is positioned at exoskeleton joint 2 62 places, and it is preferably the machine work spring and is contained in the shell of part exoskeleton 807.The manual CMM arm that this just means with exoskeleton wherein is the exoskeleton 800 of part exoskeleton 807 has the availability of balance arm, portable advantage round the single shell of lower section, compensation system does not apply moment by any CMM section 1-3 31-33 or CMM joint 1-2 51-52, and this just provides the aesthetic property advantage of precision advantage and and compact assembling neat round CMM section 1-3 31-33.The part exoskeleton is not limited to part exoskeleton 807, but can comprise than part exoskeleton 807 lack the section and or joint, perhaps than its Duo the section with or joint.Referring now to Figure 83 B,, the extension exoskeleton 808 that provides comprises four exoskeleton section 1-4 41-44 and two exoskeleton joint 1-361-63.When extension exoskeleton 808 is supporting inner CMM arm 5, than the more close CMM joint 454 of part exoskeleton 807.This just means in extension exoskeleton 808, and to compare the bending moment that acts on CMM section 434 less with part exoskeleton 807, and has the aesthetic property advantage that extension exoskeleton 808 fitly stops at the ancon place.Exoskeleton joint 363 has the joint location roughly the same with CMM joint 353.Alternatively, exoskeleton joint 363 can be provided in more close ancon place and combine with gearing 474 and as bearing.Yet CMM joint 4 easily is collided.Referring now to Figure 83 C,, protection extension exoskeleton 809 is provided, it is preferred part exoskeleton embodiment, comprises five exoskeleton section 1-5 41-45 and four exoskeleton joint 1-4 61-64.Exoskeleton section 5 45 is for being covered with short section of ancon and comprising impact damper 819 as impact-absorbing element.Protection extension exoskeleton 809 supports inner CMM arms 5 in the zone identical with extension exoskeleton 808 near CMM joint 4 54 by gearing 4 74.Short exoskeleton section 545 is around 4 64 rotations of exoskeleton joint.Provide gearing 5 in order to any bending moment that acts on CMM section 5 35 is minimized.This just mean short exoskeleton section 5 45 particularly impact damper 819 protection CMM joints 4 54 avoid during use collision, avoid from the heat transmission of operating personnel's hand and avoid the infraction of regulations operation as make ancon sagging.This part exoskeleton embodiment is not limited to the disclosed embodiments, but the quantity that can comprise joint in exoskeleton 6 and section arranges arbitrarily structure lower than the quantity of the joint in inner CMM arm 5 and section.For example, the part exoskeleton may comprise exoskeleton section 1-5, exoskeleton joint 1-5 and be positioned at ancon CMM joint 4 before and two gearings 10 before wrist CMM joint 6.The advantage of this set structure is to support easily two long CMM sections in order to make where no matter hold exoskeleton 6, and the load on most of length of inner CMM arm 5 all can repeat.
The joint grouping
In the manual CMM arm of conventional type, CMM joint 353 is provided in contiguous CMM joint 4 54 places rather than contiguous CMM joint 2 52 and sentences and just can not make operating personnel hold inexpediently the rotation section.Similarly, CMM joint 5 is provided in contiguous CMM joint 6 56 places rather than contiguous CMM joint 4 54 places.The manual CMM arm of conventional type CMM joint layout according to the CMM joint grouping at shoulder-ancon-wrist place is called as the 2-2-2 of 6-armshaft and the 2-2-3 of 7 armshafts, its advantage be at the volley with the more close pedestal of sound end phase specific mass; This just means that the user feels that arm is lighter and the user is not too tired.In each joint, has at least the quality from bearing and scrambler.In with the manual CMM arm of exoskeleton 800 or it is with part exoskeleton 807, extension exoskeleton 808 or protection extension exoskeleton 809 or arbitrarily in the ectoskeletal alternate embodiment of other type part; CMM joint 353 can be provided in contiguous CMM joint 252 places rather than be provided in contiguous CMMJ joint 454 places, as shown in Figure 83 C.Be respectively 3-1-2 and the 7-armshaft 3-1-3 of 6-armshaft according to the CMM joint of shoulder-ancon-wrist.In the manual CMM arm with exoskeleton 800, CMM joint 555 can be provided in contiguous CMM joint 252 places rather than contiguous CMM joint 4 54 places.This just means that the CMM joint according to shoulder-ancon-wrist is respectively the 3-2-1 of 6-armshaft and the 3-2-2 of 7-armshaft.On identical arms, be respectively the 2-2-2 of 6-armshaft and the 2-2-3 of 7-armshaft according to the exoskeleton joint of shoulder-ancon-wrist.This just means that the grouping of CMM joint is different from the grouping of exoskeleton joint and provides the manual CMM arm with exoskeleton 800 to use lighter advantage.With the manual CMM arm embodiment of exoskeleton 800 and with part exoskeleton 807, extension exoskeleton 808 or protection extension exoskeleton 809 or arbitrarily the ectoskeletal embodiment of other type part can each mobile section with a gearing or can each mobile section with being less than or more than the gearing of.
Measure and scan method
A kind of measuring method is provided, has been used in the situation that do not need operating personnel to hold inner CMM arm 5 or contact sonde 95 utilizes the manual CMM arm with exoskeleton 800 to carry out manual contact measurement, wherein hard contact sonde 95 is installed on sound end 3.Referring now to Figure 83 D,, in first step 881, operating personnel catch with the exoskeleton 801 of the manual CMM arm of exoskeleton 800 and make its motion in order to contact sonde 95 is contacted in desired location with object 9.In step 882, thereby depressing operating personnel's button 183, operating personnel trigger measurement.In step 883, with the manual CMM arm response button trigger pip of exoskeleton system 802 and location and/or the orientation of generation contact sonde 95.
A kind of measuring method is provided, has been used in the situation that do not need operating personnel to hold inner CMM arm 5 or power probe 99 utilizes the manual CMM arm with exoskeleton 800 automatically to carry out contact measurement, wherein power probe 99 is installed on sound end 3.Referring now to Figure 83 E,, in first step 891, operating personnel catch with the exoskeleton 801 of the manual CMM arm of exoskeleton 800 and make its motion so that the probe 99 of exerting all one's strength contacts in desired location with object 9.In step 892, the contact situation of power probe 99 detecting steps 881 and the automatic manual CMM arm that triggers with exoskeleton system 802.In step 893, with the manual CMM arm response signal of exoskeleton system 802 and location and or the orientation of generative power probe 99.This method is using touch trigger probe 92 replacement power probes can be suitable at 99 o'clock.Another advantage of this method is that operating personnel do not need to press button in order to extract point.
A kind of non-contact scanning method is provided, has utilized the manual CMM arm with exoskeleton 800 to carry out in the situation that do not need operating personnel to hold inner CMM arm 5 or optic probe 91, wherein exoskeleton 800 has the optic probe 91 that is installed on sound end 3.Referring now to Figure 83 F,, in first step 901, operating personnel catch with the exoskeleton 801 of the manual CMM arm of exoskeleton 800 and make its motion in order to make the surface of the object 9 that is arranged in desired location be in the measurement range of optic probe 91.In step 902, operating personnel depress the operating personnel's button 183 that is positioned at on the manual CMM arm of exoskeleton 800.In step 903, with the manual CMM arm response signal of exoskeleton system 802 and begin scanning.In step 904, operating personnel move with the manual CMM arm of exoskeleton 800 with respect to object 9 in order to make within the surface of object 9 rests on the measurement range of optic probe 91.In step 905, operating personnel depress the operating personnel's button 183 that is positioned at on the manual CMM arm of exoskeleton 800.In step 906, with the manual CMM arm response signal of exoskeleton system 802 and stop scanning.
A kind of contact scanning method is provided, utilize the manual CMM arm with exoskeleton 800 to carry out in the situation that do not need operating personnel to hold inner CMM arm 5 or power probe 99, wherein exoskeleton 800 have be installed on sound end 3 places with the power probe 99 of autoscan ability as Renishaw MSP-3.Referring now to Figure 83 G,, in first step 911, operating personnel catch with the exoskeleton 801 of the manual CMM arm of exoskeleton 800 and make its motion so that the probe 99 of exerting all one's strength contacts with object 9 at desired zone and it is stayed the minimum period that the there reaches time T.In step 912, power probe 99 is in the contact situation of being longer than detecting step 911 in the minimum period of time T and automatically begin scanning.In step 913, operating personnel continue scanning with respect to the manual CMM arm that object 9 moves with exoskeleton 800 so that the probe 99 of exerting all one's strength keeps in touch while power probe 99 with the surface of object 9.In step 914, operating personnel move with the manual CMM arm of exoskeleton 800 away from object 9 in order to capable probe 99 and the surface of object 9 are disengaged.In step 915, the contact of power probe detecting step 914 breaks away from situation and automatically stops scanning.Another advantage of this method is that operating personnel need to not press button during scanning process.
The automatic calibration of manual CMM arm
Provide the novel robot correcting device for the automatic calibration of manual CMM arm in order to remove the personal error of calibration process and benefit as repeatability and the aspects such as saving cost that are associated with robotization is provided.
In the modularization embodiment of novel robot correcting device, drive unit is for be assemblied on the manual CMM arm with exoskeleton 800 temporarily.Referring now to Figure 83 H,, modular robot calibrating installation 920 comprises and utilizes seven cables 922 to be connected in seven driver element modules 921 on control enclosure 159.Driver element 921 is assemblied in quick assembling process on manual CMM arm with exoskeleton 800.Driver element 921 drives exoskeleton 801 does not have wind tunnel to put on inner CMM arm 5 in order to make.Exoskeleton 801 provides 923, one flanges 923 of at least two grip flange to be connected on each section at the adjacent joint place in each joint, and joint can receive and distribute from the torque of driver element module 921 by adjacent exoskeleton section.Combined type is effective in the interim embodiment of robot C MM arm with manual CMM arm and the modular robot calibrating installation 920 of exoskeleton 800.The preferred amount of axle is 6 or 7, but the axle of other quantity arbitrarily can be provided.Combined type can automatically perform calibration process with manual CMM arm and the modular robot calibrating installation 920 of exoskeleton 800, as previous disclosed those processes, so that calibration machine people CMM arm 1.
In the alternative interim robot C MM arm embodiment of a novel robot correcting device, inner CMM arm 5 is handled by exoskeleton 6, and exoskeleton 6 bands are useful on the automatic drive of the inner CMM arm 5 of automatic calibration.Like this, equipment is temporarily for being used for the robot C MM arm 1 of calibration purpose.
A kind of method is provided, has been used for using any one calibration of above embodiment of novel robot correcting device with the manual CMM arm of exoskeleton 800.In optional first step, manual exoskeleton 6 is removed on CMM arm 5 internally; If inner CMM arm 5 has just produced and do not have manual exoskeleton 6 to be fitted thereon, so just do not need this step.In second step, robot exoskeleton 6 is connected on inner CMM arm 5.Connection can be by disclosed process as ' coating ', ' socks ' or ' insertion ' or any realization the in other method of attachment arbitrarily.In third step, automatically perform calibration by any in previous institute discussion method.In the 4th step, robot exoskeleton 6 is removed from the inside CMM arm 5 of calibrating.In the 4th step, thereby being connected in the inside CMM arm 5 of calibrating, manual exoskeleton 6 forms with the manual CMM arm of the calibration of exoskeleton 800.Connection can be by disclosed process as ' coating ', ' socks ' or ' insertion ' or any realization the in other connection procedure arbitrarily.
In the preferred outside embodiment of novel robot correcting device, manually the CMM arm is covered by the robot exoskeleton.Referring now to Figure 83 I,, external robots calibrating installation 930 comprises manual CMM arm and the robot exoskeleton 6 with exoskeleton 800, and robot exoskeleton 6 is supporting existing exoskeleton 6 with the manual CMM arm of exoskeleton 800 by another gearing 10.Robot exoskeleton 6 utilizes cable 922 to be connected on control enclosure 159.The unique of this embodiment is characterised in that inner CMM arm 5 has two exoskeletons: middle manually exoskeleton 6 and external robots exoskeleton 6.In this embodiment, the fewer robot transmission device of needs supports the manual CMM arm with exoskeleton 800, because manual exoskeleton 6 has supported best inner CMM arm 5 and robot transmission device only needs and will remain in minimum two positions in order to it is moved to arbitrary orientation with 6-axle or the manual CMM arm of 7-axle of exoskeleton 800.As previously mentioned, preferred minimum 3 or 4 positions are in order to reduce the kinematic train volume.
Can automatically perform calibration process with the manual CMM arm of exoskeleton 800 and the combination of robot exoskeleton 6, as those processes of previous disclosed the first embodiment for calibration machine people CMM arm 1, it can comprise additional axle, additional artifact, a large amount of measurement point and a large amount of dimensional orientation.The integrated embodiment of this novel robot correcting device can also be used for calibration not with the manual CMM arm of the conventional type of exoskeleton 790.
In the alternative mix embodiment of novel robot correcting device, the novel robot correcting device comprises part robot exoskeleton and part of module driver element and is used for automatic calibration with the manual CMM arm of part exoskeleton 807, extension exoskeleton 808 or protection extension exoskeleton 809.Driven by driver element 921 with ectoskeletal bottom joint, and be not with ectoskeletal upper unit to be driven by part exoskeleton 6.
Another kind of method is provided, has been used for using above-described embodiment of novel robot correcting device any in the situation that do not need to dismantle the manual CMM arm of manual CMM arm calibration.This another kind of method is applicable to calibrate manual CMM arm with exoskeleton 800, not with the manual CMM arm of the conventional type of exoskeleton 790, with the manual CMM arm of part exoskeleton 807, with the manual CMM arm of extension exoskeleton 808 and any with in the manual CMM arm of protection extension exoskeleton 809.In first step, driving arrangement is connected on manual CMM arm.Connection can be by disclosed process as ' module connection ', ' coating ', ' socks ' or ' insertion ' or any or combination in any of other connection procedure realize arbitrarily.In second step, calibration is by any the automatically performing in previous institute discussion method.In third step, driving arrangement is removed from calibrating manual CMM arm.The advantage of this another kind of method is not need to dismantle and the step of ressembling manual CMM arm.
In above-described embodiment of use novel robot correcting device, any automatic calibration is with the manual CMM arm of exoskeleton 800 or the advantage of inner CMM arm 5:
-there is no the manpower operation except connection and demolition driving arrangement; This just provides cost savings
-there is no a personal error; This has just improved degree of accuracy
-acquisition speed take the per second calibration point as unit is faster
-calibration process can continue longer period than the manual processes of equivalence, and the robot driving arrangement can operate tirelessly because operating personnel can become tired
-compare with the manual processes of utilizing equivalence and can extract more calibration points; This has just improved degree of accuracy
Situation whatsoever is with the manual CMM arm of exoskeleton 800 or will not need to be designed to consider with the manual CMM arm of exoskeleton 790 needs that connect the equipment that is used for automatic calibration.Particularly, inner CMM arm 5 will need enough firm so that no matter its have manual exoskeleton 5 still have robot exoskeleton 6 can accurate calibration.Preferably, for manual and robot exoskeleton 6, CMM arm 5 positions, inside of supporting are identical and type gearing 10 is identical.The present invention is not limited to described embodiment, but comprises that the manual CMM arm of automatic manipulation or inner CMM arm are so that all methods of calibration.
Carrying case
Manual CMM arm with exoskeleton 800 is portable and usually will transports in carrying case.Inner CMM arm 5 is by pedestal 4 with unique directly connection of carrying case.In all other positions, inner CMM arm 5 is by gearing 10 and shock and vibration isolation, and gearing 10 is designed to absorb Noise and vibration.Most of quality with the manual CMM arm of exoskeleton 800 is in high density pedestal 4, and has little contact surface area with foam in carrying case.Major part with the surface in contact zone of the manual CMM arm of exoskeleton 800 is the surface of exoskeleton 801, and its respective quality and volume and pedestal are in a ratio of low-density.In impact condition, low by impacting the force density that produces around the surface of exoskeleton 801 when carrying case and when inconsistent with the acceleration between the manual CMM arm of exoskeleton 800, and high by impacting the force density that produces around pedestal 4 surfaces.Higher approximately 5-100 times on every side than the surface of exoskeleton 801 on every side on the surface of pedestal 4 by the force density of impacting generation.During colliding, the foam around pedestal 4 may be than the foam multiple pressure contracting 5-100 around the surface of exoskeleton 801 doubly.This ratio of compression is relevant along different quality and the surface area ratio of each impulsive force direction with exoskeleton 801 with pedestal 4.Pedestal 4 and exoskeleton 801 have two different retarded velocity.These two different retarded velocity are being impacted wind tunnel with inner formation of the manual CMM arm of exoskeleton 800, and this may cause its damage.In the situation that impact longitudinally downwards and carrying case and with the pedestal 4 of the manual CMM arm of exoskeleton 800 higher than exoskeleton joint 464, as when carrying case falls on its end, the quality of pedestal 4 will be accelerated and to producing significant force of compression on the exoskeleton section 2-4 32-34 between pedestal 4 and exoskeleton joint 464.Laterally stride across carrying case and to be in approximate horizontal with the manual CMM arm of exoskeleton 800 in the situation that impact, as when carrying case falls on its pedestal, pedestal 4 will and produce significant bending moment than the further downward dislocation of exoskeleton 801 on exoskeleton section 2-332-33 after pedestal 4 runs into exoskeleton section 2 32.
Referring now to Figure 84,, disclose a kind ofly for the carrying case 830 with the manual CMM arm of exoskeleton 800, it has reduced the shock and vibration that inner CMM arm 5 during transportation stands.Carrying case 830 has the upper Lower Half that connects by hinge 836 along the long side of carrying case 830.Carrying case 830 is by packing material 831 as foam-filled.Have two arm cutouts 837 in packing material 831.Arm cutout 837 accurately and wrappage 831 and manual CMM arm contact with exoskeleton 800 does not have the clearance the otch 832 in packing material 831.In this embodiment of the present invention, the extension device form 833 of light and rigidity is provided, it has significantly increased and has prolonged the surface area that required direction contacts with packing material 831.Before in carrying case 830 being positioned over the manual CMM arm of exoskeleton 800, during or afterwards, be connected on extension device form 833 by stationary installation such as bolt 838 with the pedestal 4 of the manual CMM arm of exoskeleton 800.Extension device form 833 has sizable effective surface zone that contacts with packing material 831 along all directions.In a preferred embodiment, the surface area of extension device form 833 mainly is positioned on 3 orthogonal planes.The integral body of the surface area that extension device form 833 is gone up in any direction is optimized in order to acting on the destruction wind tunnel on the manual CMM arm of exoskeleton 800 that different local deflection due to wrappage 831 causes minimized.Go up in any direction, the barycenter Cg with the pedestal 4 of the manual CMM arm of exoskeleton 800 is roughly passed in the centre of area of extension device form 833.This just means, under impact condition, because the barycenter Cg of pedestal 4 and the centre of area of extension device form 833 obviously do not line up, so almost do not have moment of inertia to generate in pedestal.In the alternate embodiment of extension device form 833, can use other shape of extension device form 833, wherein: (a) the different local deflection of packing material 831 is minimized, the barycenter Cg of pedestal 4 is roughly passed in the centre of area of (b) going up extension device form 833 in any direction.Like this, the directivity force density that acts on the impact on carrying case 830 with act on rigidly connected extension device plate 833/ pedestal 4 and exoskeleton 801 on identical.In the support region around sound end 3, packing material 831 can excise in order to make CMM section 8 38, sound end 3 or pop one's head in and 90 not contact with wrappage 831, because if exist, CMM section 838, sound end 3 are all supported by gearing 10 with probe 90.Can also be by being optimized in order to avoid contacting with exoskeleton 801 at one or more position excision 832 packing materials 831.Randomly, local a large amount of can be provided in the position with the manual CMM arm contact of exoskeleton 800 than low elasticity wrappage 834, its elasticity is lower than the elasticity of the main body of wrappage 831.Randomly, local a large amount of higher elasticity wrappage 835 can be provided in the position with the manual CMM arm contact of exoskeleton 800, and its elasticity is higher than the elasticity of the main body of wrappage 831.Those skilled in the art can be with optimize spreader plate 833, excision material 832, local a large amount of higher elasticity packing material 835 one or more combinations a large amount of than low elasticity packing material 834 and part for the 3D CAD analysis software of the inertia under the simulation impact condition.In order to make the minimized in size of carrying case 830, when the manual CMM arm with exoskeleton 800 is arranged in carrying case 830, will be parallel or near parallel with two long section of the manual CMM arm of exoskeleton 800.Extension device form 833, excision material 832, local a large amount of shapes than low elasticity wrappage 834 and local a large amount of higher elasticity wrappage 835 and position are optimized situation for use in vertical and side knock.The outer shell 839 of carrying case 830 become by suitable material such as ultrahigh molecular weight polyethylene and with shape facility such as rib line so that impact-absorbing and vibration.Global shape is not limited to six quadrature sides, but the side that can have the complex curve shape of any amount.The size and dimension of the shell 839 and position in carrying case 830 and layout define the shell 839 at any some place and with the distance between the manual CMM arm of exoskeleton 800 with the manual CMM arm of exoskeleton 800.The size and shape of housing 839 is optimized in order to coordinate the deflection of the packing material 831 that the impact due to all directions causes.Provide device to prevent that as tongue and recess edge and neoprene gasket moisture from entering.Heavy breech lock is provided.
The 9th embodiment
With keeping ectoskeletal manual CMM arm
In another embodiment with ectoskeletal manual CMM arm, provide holding device 811.Referring now to Figure 85,, have holding device such as the detent 811 that is provided in the exoskeleton joint 1-4 61-64 place of the manual CMM arm that keeps exoskeleton 810 with the manual CMM arm that keeps exoskeleton system 812.Holding device is preferably detent 811, and detent 811 is the electromagnetic brake of operation on disc 813, but holding device can come keeping arm by following any means, comprising:
-can manually operated mechanical connection;
-Li activates mechanical connection;
-use any power to comprise the detent of electromagnetic force, aerodynamic force and hydraulic coupling;
-use any power to comprise the clutch coupling of electromagnetic force, aerodynamic force and hydraulic coupling.
When the exoskeleton joint is in when static, detent 811 can activated.Alternatively, when the exoskeleton joint was moving, detent 811 can activated, then until the exoskeleton joint it just is braked when being still in the some place that keeps.Detent 811 can be applied to than on the more or less exoskeleton joint of exoskeleton joint 1-4 61-64.Detent 811 acts on exoskeleton 801 but not inner CMM arm 5.This does not just mean not because brake application device 811 strides across the moment that the joint of inner CMM arm 5 applies, and with the manual CMM arm that keeps exoskeleton 810 than with holding device but manually the CMM arm is more inaccurate with the equivalence of exoskeleton 801.Detent 811 can use switch to utilize wired or the actuating of remote-control radio conveyer by operating personnel.Actuatable different detents 811 combinations of different switches.In the situation that the electric power fault occurs, use the detent 811 of electric actuation can execution work in order in the situation that lose the electric power braking and prevent from falling under Action of Gravity Field with the manual CMM arm that keeps exoskeleton 810.In alternate embodiment, toothed gearing can be provided between detent 811 and exoskeleton joint in order to reduce required retarding torque, and then reduces the weight of detent; The shortcoming of doing like this has been to increase the required manual work of manual CMM arm that is used for moving with keeping exoskeleton 810.
The tenth embodiment
With endoskeletal manual CMM arm
In this tenth embodiment, provide with endoskeletal manual CMM arm.Referring now to Figure 86 A,, show the not manual CMM arm of supporting, it is with vertical pedestal axle and be in CMM section 3 33 in the horizontal space orientation, and it is an embodiment of the manual CMM arm of prior art.In this horizontal space orientation, CMM section 3 33 utilizes power Fn1 to be supported on CMM joint 2 52 places.Internal compensation device 210 is provided in CMM joint 2 52 places, and this CMM joint 2 52 provides the trimming moment Mn that acts on CMM section 3 33 so that the power Fn2 of the residuals weight of the manual CMM arm of compensation after CMM joint 3 53.In the prior art field, CMM section 3 33 shown in the horizontal space orientation in stand the 10Nm magnitude than macrobending moment.This just makes CMM section 3 33 that significantly crooked and deflection occur.This deflection can not be measured and cause losing measuring accuracy by CMM scrambler 178.This deflection can have more rigidity and reduced by CMM section 3 33 is made, but weight and sectional dimension that cost is CMM section 3 33 increase.Referring now to Figure 86 B,, the CMM arm with exoskeleton 800 is provided, and has shown with vertical pedestal axle and be in CMM section 3 33 in the horizontal space orientation.CMM section 3 33 just utilizes power Fx1 to be supported on CMM joint 2 52 places, and the power Fx2 of utilization is supported on gearing 3 73 places.Any deflection in CMM section 3 33 is all the residuals weight due to Action of Gravity Field or inner CMM arm 5.For the manual CMM arm invention with exoskeleton 800, the deflection of CMM section 3 33 is less 30 times than the manual CMM arm of the prior art in Figure 86 A at least.Referring now to Figure 86 C,, the manual CMM arm with endoskeleton 840 is disclosed.Outside CMM arm 841 is in the outside of endoskeleton 842.Endoskeleton section 1-3 41-43 is arranged at the inside of outside CMM arm 841.Endoskeleton 842 also comprises endoskeleton joint 1-2 61-62.Endoskeleton 842 is rigidly connected on pedestal 4 and utilizes gearing 373 supporting outside CMM arm 841 at the far-end of CMM section 333.Do not have other significant power to transmit the contact between endoskeleton 842 and outside CMM arm 841.Endoskeleton joint 262 has connection compensation system 210 thereon, and it is preferably the machine work spring but can is the compensation system of any other type; Compensation system can also be with impact damper 211.Exoskeleton section 1-3 41-43 presents significant deflection, and it can be the magnitude of some mms.If the inside contact of the outside CMM arm of the endoskeleton Duan Buyu of deflection section, these deflections are just inessential so.Should be pointed out that due to deflection, significantly motion may occur with respect to pedestal 4 in endoskeleton section joint 1,2 61,62 during use, and wherein the dimensional orientation of arm changes.CMM section 3 33 just utilizes power Fd1 to be supported on CMM joint 2 52 places, and the power Fd2 of utilization is supported on gearing 3 73 places.All that residuals weight due to gravity or outside CMM arm 841 produces with any deflection in the CMM section 3 33 in the manual CMM arm of endoskeleton 840.For the manual CMM arm invention with endoskeleton 840, the deflection of CMM section 3 33 is compared to when young 30 times with the manual CMM arm of the prior art situation of Figure 86 A.Should be appreciated that based on the whole disclosures in this instructions, those skilled in the art can provide the manual CMM arm with endoskeleton 840.
In another embodiment of this tenth embodiment, endoskeleton 842 is shorter, it comprise two endoskeleton sections rather than three and at one end be connected in CMM section 2 22 rather than pedestal 4 on.It also utilizes the far-end of gearing 3 73 supporting CMM sections 3 33.The shorter embodiment of this endoskeleton 842 comprises a joint rather than two: endoskeleton joint 2 62.
The 11 embodiment
With endoskeletal robot C MM arm
In this 11 embodiment, provide with endoskeletal robot C MM arm.This outside CMM arm that is guided by inner endoskeleton that comprises with endoskeletal robot C MM arm embodiment.Endoskeleton supports and is handling outside CMM arm in order to make it to measure exactly by gearing.The present invention can be according to many layout specific implementations with robot C MM arm of endoskeleton articulated jib.With endoskeletal robot C MM arm, two kinds of preferable layout figure are arranged according to eleventh embodiment of the invention: with the 6-axle of 6 joints with 7 axle layouts of 7 joints.Can be for portable or use in fixed equipment with endoskeletal robot C MM arm.This 11 embodiment is in fact opposite with the first embodiment of the present invention.
Referring now to Figure 87,, comprise outside CMM arm 841 and inner endoskeleton 851 with the robot C MM arm of endoskeleton 850.Should be appreciated that based on the whole disclosures in this instructions, the particularly disclosure of the first embodiment, those skilled in the art can provide with endoskeletal robot C MM arm.
Other embodiment
This CMM arm with the exoskeleton invention is not limited to the device of disclosed embodiment, but can comprise the CMM arm with ESD of the arbitrary form that is applied to following application scenario kind:
-with the expanded range of ectoskeletal CMM arm from be as short as very much very long application,
-service load is from tens of grams until the application of hundreds of kilograms,
-degree of accuracy from the pinpoint accuracy of current industrial robot to the application of the current mach degree of accuracy of conventional type CMM,
-be arranged on the earth and application than low-gravity environment such as space,
-preferably have in the application with the supporting of the endoskeleton of outside CMM arm,
Whenever the object of measuring can moving and can or measure among during measuring in the application of moving along 6 degree of freedom simultaneously with ectoskeletal CMM arm and object along 6 degree of freedom during measuring or between measuring.
Claims (27)
1. equipment of be used for measuring object comprises:
(a) robot C MM arm (1) comprising:
Movable link with pedestal end, opposed sound end and the section more than three or three, it is separated at described pedestal end and the axle that rotatablely moves between described sound end by two or more, and wherein at least two described axles that rotatablely move can be not parallel;
The movable position annunciator, the rigid section that has pedestal end, opposed sound end and be connected in series by articulated joint more than three or three, it is separated at described pedestal end and the axle that rotatablely moves between described sound end by two or more, and wherein at least two described axles that rotatablely move can be not parallel;
Driver contacts with described movable position annunciator with described movable link, and the contact of wherein said driver and described movable link is in any position between axle of rotatablely moving of described sound end and the most close described pedestal end; In order to make the motion of described movable link cause the motion of described movable position annunciator,
Wherein said driver comprises a plurality of separate type gearings, and wherein all described separate type gearings are not all rigidity, and perhaps at least one described separate type gearing is that rigidity and at least one described separate type gearing are not rigidity;
(b) movable structure, be configured to translation and/or orientation robot CMM arm, and wherein said robot C MM arm (1) is arranged on this movable structure,
And/or
(c) object displacement is configured to measure position and the orientation of object mounted thereto.
2. equipment according to claim 1, the Structural Tectonics of wherein said activity becomes according to 6 degree of freedom translations or orientation robot CMM arm.
3. equipment according to claim 1, the structure of wherein said activity comprises axis of an orbit (124), wherein the pedestal end of robot C MM arm is installed on this axis of an orbit (124), makes this robot C MM arm to pass through along this axis of an orbit (124).
4. equipment according to claim 3, wherein the quantity of axis of an orbit (124) is two, a robot C MM arm is installed each axis of an orbit (124) is upper, and axis of an orbit (124) is parallel to each other and arrange opposed to each other.
5. equipment according to claim 3, wherein the quantity of robot C MM arm is two, two robot C MM arms all are arranged on an axis of an orbit and are configured to move independently.
6. equipment according to claim 3, wherein the quantity of robot C MM arm is four, the quantity of axis of an orbit is two, two robot C MM arms is installed on each axis of an orbit and two robot C MM arms are configured to move independently.
7. equipment according to claim 3, the pedestal of wherein said robot C MM arm (1) is installed on vertical shaft (133), vertical shaft (133) can make robot C MM arm (1) vertical ground motion up and down, and vertical shaft (133) is configured to move along axis of an orbit (124).
8. equipment according to claim 3, the quantity of robot C MM arm is two, two robot C MM arms all are installed on the movable multi-arm pedestal (134) of the upper motion of an axis of an orbit (124), and wherein two robot C MM arms separate suitable distance (S) operation is overlapping is enough to eliminate the gap that can not arrive between robot in working volume in order to make.
9. equipment according to claim 3, wherein said axis of an orbit (124) is linear.
10. equipment according to claim 3, wherein said axis of an orbit (124) are arranged on top, ground (119), in order to make it can be removed and be reinstalled in different positions.
11. equipment according to claim 3, wherein said axis of an orbit (124) is for good and all inserted ground (119).
12. equipment according to claim 3, wherein said axis of an orbit (124) are by manual drives, by motor-driven, perhaps CNC drives in response to manual activation.
13. equipment according to claim 3, wherein said robot C MM arm are configured to not measure when along the axis of an orbit translation.
Be installed on ground bridge 14. equipment according to claim 1, the structure of wherein said activity comprise, this bridge passes through the perform region that the object that will measure is positioned at.
15. equipment according to claim 1, the Structural Tectonics of wherein said activity become to make it moving at any time during measurement of being undertaken by robot C MM arm or between measuring.
16. equipment according to claim 1, the Structural Tectonics of wherein said activity becomes measure the position of robot C MM arm mounted thereto and randomly measure the orientation.
17. equipment according to claim 16, the structure of wherein said activity are conventional type CMM.
18. equipment according to claim 16, wherein said CMM are 3 axle CMM.
19. equipment according to claim 1, wherein said object displacement comprise the rotating disk that is used for making the object rotation that will measure that is equipped with the angle position recording device.
20. equipment according to claim 1, wherein said object displacement comprise be used to making the object that will the measure linear work platform of dislocation linearly.
21. equipment according to claim 1, wherein said equipment are configured to make robot C MM arm and object to move simultaneously when carrying out measurement.
22. equipment according to claim 1, wherein said equipment are configured to only make object motion when carrying out measurement.
23. equipment according to claim 1, wherein said equipment are configured to only make the motion when carrying out measurement of robot C MM arm.
A 24. method that is used for using device measuring object according to claim 1, the structure of wherein said activity and/or object displacement motion during measuring or between measuring.
25. method according to claim 24 comprises the following steps:
A) object that will measure is arranged on described object displacement;
B) measure object during and object of which movement static when robot C MM arm; And
C) thus realize the measurement of object.
26. method according to claim 24 comprises the following steps:
A) object that will measure is arranged on described object displacement;
B) when moving simultaneously, robot C MM arm and object measure object;
C) use control algolithm to convert the coordinate system of the structure of object displacement and activity to common coordinate system; And
D) thus realize the measurement of object.
27. method according to claim 24 comprises the following steps:
A) object that will measure is arranged on described object displacement;
B) measure object when static when robot C MM arm motion and object; And
C) thus realize the measurement of object.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0309662A GB0309662D0 (en) | 2003-04-28 | 2003-04-28 | Robot CMM arm |
| GB0309662.5 | 2003-04-28 | ||
| GB0312963.2 | 2003-06-05 | ||
| GB0312963A GB0312963D0 (en) | 2003-04-28 | 2003-06-05 | Robot CMM arm |
| GB0327503.9 | 2003-11-26 | ||
| GB0327503A GB0327503D0 (en) | 2003-04-28 | 2003-11-26 | Cmm arm with exoskeleton |
| GB0405396A GB0405396D0 (en) | 2003-04-28 | 2004-03-10 | CMM arm with exoskeleton |
| GB0405396.3 | 2004-03-10 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200480018401.4A Division CN1812868B (en) | 2003-04-28 | 2004-04-26 | CMM arm with exoskeleton |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101907440A CN101907440A (en) | 2010-12-08 |
| CN101907440B true CN101907440B (en) | 2013-05-08 |
Family
ID=9957273
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200480018401.4A Expired - Lifetime CN1812868B (en) | 2003-04-28 | 2004-04-26 | CMM arm with exoskeleton |
| CN 201010225081 Expired - Lifetime CN101907440B (en) | 2003-04-28 | 2004-04-26 | CMM arm with exoskeleton |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200480018401.4A Expired - Lifetime CN1812868B (en) | 2003-04-28 | 2004-04-26 | CMM arm with exoskeleton |
Country Status (3)
| Country | Link |
|---|---|
| JP (2) | JP4868235B2 (en) |
| CN (2) | CN1812868B (en) |
| GB (2) | GB0309662D0 (en) |
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|---|---|
| JP2007527323A (en) | 2007-09-27 |
| JP2012024920A (en) | 2012-02-09 |
| CN1812868B (en) | 2010-09-08 |
| JP4868235B2 (en) | 2012-02-01 |
| CN101907440A (en) | 2010-12-08 |
| JP5291158B2 (en) | 2013-09-18 |
| GB0312963D0 (en) | 2003-07-09 |
| GB0309662D0 (en) | 2003-06-04 |
| CN1812868A (en) | 2006-08-02 |
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