CN104350355A - 具有双层臂的坐标测量机 - Google Patents

具有双层臂的坐标测量机 Download PDF

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CN104350355A
CN104350355A CN201380029030.9A CN201380029030A CN104350355A CN 104350355 A CN104350355 A CN 104350355A CN 201380029030 A CN201380029030 A CN 201380029030A CN 104350355 A CN104350355 A CN 104350355A
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克拉克·H·布里格斯
布兰特·拜莱
肯尼斯·坎贝尔
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Faro Technologies Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D23/00—Producing tubular articles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B1/00—Measuring instruments characterised by the selection of material therefor
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D23/00—Producing tubular articles
    • B29D23/001—Pipes; Pipe joints

Abstract

提供了一种便携式关节臂坐标测量机(AACMM)，其包括具有相对的第一和第二末端的能手动定位的关节臂。臂包括多个连接的臂节。每个臂节具有纵向轴线。每个臂节包括基本管状的芯、围绕芯的长度的至少一部分的外部套筒、以及用于产生位置信号的至少一个位置传感器。外部套筒是圆柱管，其具有在第一末端处的第一部分以及从第一部分向相对末端延伸的第二部分。该第一部分耦接到芯的末端。第一部分短于第二部分且第二部分被配置成相对于芯运动。

Description

具有双层臂的坐标测量机
背景技术
本公开内容涉及一种坐标测量机，并且更具体地涉及一种便携式关节坐标测量机的臂。
已经发现便携式关节臂坐标测量机(AACMM)广泛用于零件的制造或生产，其中在零件的制造(例如，机械加工)或生产的各个阶段期间需要快速且准确地校验零件的尺寸。便携式AACMM代表相对于已知的静止或固定的、成本集约化的且相对难以使用的测量设施的巨大改进，尤其是在对相对复杂的零件进行尺寸测量所花费的时间量方面。通常，便携式AACMM的使用者仅沿着待测量的零件或物体的表面引导探头。然后，测量数据被记录并提供给使用者。在某些情况下，在计算机屏幕上以视觉形式，例如三维(3-D)形式将数据提供给用户。替选地，可以以数字形式将数据提供给用户，例如当测量孔的直径时，在计算机屏幕上显示文本“直径＝”。
AACMM的臂部分会因温度改变而易于产生扭转。臂节的一部分的扭转可导致耦合的编码器旋转，由此产生角度误差并降低机器的准确度。这种扭转可能是例如由臂节的外部区域上的图案化的复合材料导致的，该外部区域具有非均匀的图案。一般来说，不能通过测量温度来去除这种扭转效应，尤其是因为温度传感器通常位于臂节的内部中。需要一种方法以使臂节的扭转最小化。
发明内容
根据本发明的一个实施方式，提供了一种便携式关节臂坐标测量机(AACMM)，其包括具有相对的第一和第二末端的能手动定位的关节臂。该臂包括多个连接的臂节。每个臂节均具有纵向轴线。每个臂节包括基本管状的芯、围绕芯的长度的至少一部分的外部套筒、以及用于产生位置信号的至少一个位置传感器。外部套筒是圆柱管，其具有在第一末端处的第一部分以及从第一部分向相对的末端延伸的第二部分。第一部分被耦接到芯的末端。第一部分短于第二部分，并且第二部分被配置成相对于芯运动。便携式AACMM还包括附接到第一末端的测量设备。电子电路接收来自至少一个传感器的位置信号并且提供对应于测量设备的位置的数据。
根据本发明的另一个实施方式，提供了一种便携式AACMM，其包括具有相对的第一和第二末端的能手动定位的关节臂。该臂包括多个连接的臂节。每个臂节具有纵向轴线，并且包括被外部材料围绕的芯以及用于产生位置信号的至少一个位置传感器。该外部材料包括多根第一纤维，所述多根第一纤维被布置成与多根第二纤维正交。相对于臂节的纵向轴线来定向多根第一纤维和多根第二纤维。AACMM还包括电子电路以及附接到该AACMM的第一末端的测量设备。该电子电路接收来自至少一个位置传感器的位置信号并且提供对应于测量设备的位置的数据。
根据本发明的另一个实施方式，提供了一种用于形成便携式AACMM的臂节的方法，该方法包括由第一材料形成具有纵向轴线的基本中空的圆柱形芯。该第一材料包括被布置成与多根第二纤维正交的多根第一纤维。由第二材料形成管状套筒。该第二材料包括被布置成与多根第四纤维正交的多根第三纤维。多根第三纤维和多根第四纤维处于相对于轴线的期望取向。将芯插入套筒并将该套筒的第一末端紧固到芯的第一末端。
附图说明
现在参考附图，示出了示例性实施方式，这些示例性实施方式不应被理解为关于本公开内容的整个范围是限制性的，并且其中在若干图中以同样的方式对元件进行编号。
图1包括图1A和1B，其是其中具有本发明的各个方面的实施方式的便携式关节臂坐标测量机(AACMM)的透视图；
图2总共包括图2A-2D，其是根据本发明的一个实施方式的用作图1的AACMM的一部分的电子装置的框图；
图3总共包括图3A和3B，其是根据本发明的一个实施方式的描述图2的电子数据处理系统的详细特征的框图；
图4是根据本发明的一个实施方式的臂节的末端的透视图；
图5是根据本发明的一个实施方式的臂节的一部分的顶视图；
图6是根据本发明的一个实施方式的臂节的一部分的透视图；
图7是根据本发明的一个实施方式的臂节的一部分的透视图；以及
图8是根据本发明的一个实施方式的臂节的一部分的透视图。
具体实施方式
图1A和1B示出了根据本发明的各实施方式的示例性便携式关节臂坐标测量机(AACMM)，并且关节臂是一种类型的坐标测量机。AACMM被用在各种应用中以获得物体的测量。AACMM 100可以包括六轴线或七轴线关节测量设备，该设备具有探头末端401，探头末端401包括在一端耦接到AACMM 100的臂部分104的测量探头外壳102。臂部分104包括第一臂节106，第一臂节106在第一末端106a处通过第一轴承盒(cartridge)组110(例如，两个轴承盒)而耦接到第二臂节108。第二轴承盒组112(例如，两个轴承盒)将第二臂节108耦接到测量探头外壳102。第三轴承盒组114(例如，三个轴承盒)将第一臂节106的第二末端106b耦接到基部116。本文中所使用的轴承盒允许耦接到轴承盒的部件绕轴线独立地运动。在组合成组110、112、114时，轴承盒可以形成铰接和转动型的连接器，使得邻接的部件可绕两个轴线独立地运动。应理解，可以以不同的配置将轴承盒分组在一起，以形成可绕单个轴线或者多个轴线运动的连接器。测量探头外壳102可以包括AACMM 100的附加轴线的轴(例如，包含确定AACMM 100的测量设备(例如探头118)的运动的编码器系统的盒)。在本实施方式中，探头末端401可以绕穿过测量探头外壳102的中心延伸的轴线旋转。在AACMM 100的使用中，基部116通常被固定到平坦的工作表面。
每个轴承盒组110、112、114中的每个轴承盒通常包含编码器系统(例如，光学角度编码器系统)。编码器系统提供各个臂节106、108和对应的轴承盒组110、112、114的位置的指示，它们一起提供探头118相对于基部116的位置的指示。具有多个关节运动轴线(例如像六个或七个)的便携式AACMM提供了以下优势：允许操作者在绕基部360度的区域内将探头118定位在期望位置处，同时提供了可被操作者容易操纵的臂部分104。应理解，所示出的具有耦接到第二臂节108的第一臂节106的臂部分104仅用于说明的目的，并且所要求保护的发明不应局限于此。根据本发明的AACMM 100可以包括通过轴承盒耦接在一起的任意数目的臂节，以及由此具有多于或者少于六个或七个关节运动轴或自由度。
探头118被可拆卸地安装到测量探头外壳102，测量探头外壳102被连接到轴承盒组112。例如，通过快速连接接口的方式，手柄126相对于测量探头外壳102是可移除的。可以用另一个设备(例如，激光线探头、条形码读取器等)替换手柄126，从而在允许操作者对于同一AACMM 100使用不同的测量设备方面提供了优势。在一个实施方式中，探头外壳102容纳可移除的探头118，可移除的探头118是接触测量设备并且可以具有与待测物体物理接触的任意数目的不同尖端，包括但不限于球型、触敏型、弯曲型和伸缩型探头。在其它实施方式中，例如通过诸如激光线探头(LLP)的非接触设备进行测量。可以使用快速连接接口用LLP替换手柄126。其它类型的测量设备可以替换可移除的手柄126，以提供额外的功能。这种测量设备的示例包括但不限于一个或更多个照明灯、条型码扫描仪、投影仪、喷漆器或摄像装置。
如图1A和1B中所示，AACMM 100包括可移除的手柄，该可移除的手柄在以下方面提供了优势：允许改变配件或功能，而无需从轴承盒组112移除测量探头外壳102。正如下面关于图2更详细地讨论的那样，可移除的手柄还可以包括电连接器，该电连接器允许与手柄和位于探头末端401中的相应电子装置交换电力和数据。
在各个实施方式中，每个轴承盒组110、112、114允许AACMM 100的臂部分104绕多个旋转轴线运动。如所提到的，每个轴承盒组110、112、114包括对应的编码器系统，例如像光学角度编码器，每个编码器系统与例如臂节106、108的对应的旋转轴线同轴地布置。如本文下面更详细地描述的，光学编码器系统检测例如臂节106、108中的每个臂节围绕对应的轴线的旋转(转动)或横向(铰接)运动，并且将信号传送至AACMM100内的电子数据处理系统。每个单个的原始编码器计数作为信号被分别发送至电子数据处理系统，在该系统中该信号被进一步处理成测量数据。如在共同转让的美国专利第5,402,582(‘582)号中所公开的那样，不需要独立于AACMM 100本身的位置计算器(例如，序列框(serial box))。
基部116可以包括附接设备或安装设备120。安装设备120允许AACMM 100被可移除地安装至期望位置，例如像检验台、加工中心、墙壁或者地板。在一个实施方式中，基部116包括手柄部分122，手柄部分122提供对于操作者在移动AACMM 100时握住基部116方便的位置。在一个实施方式中，基部116还包括可动盖部分124，可动盖部分124向下折叠以露出用户接口，例如像显示屏。
根据一个实施方式，便携式AACMM 100的基部116包含或容纳电子数据处理系统，该系统包括两个主要部件：基部处理系统，其处理来自AACMM 100内的各编码器系统的数据以及表示其它臂参数的数据，以支持三维(3-D)位置计算；以及用户接口处理系统，其包括板载操作系统、触摸屏显示器、以及驻留应用软件，该驻留应用软件允许在AACMM 100内实现相对完整的计量功能，而无需连接到外部计算机。
图2是根据一个实施方式的AACMM 100中所使用的电子装置的框图。图2A中示出的实施方式包括电子数据处理系统210，电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供电力的基部电源板206、蓝牙模块232、以及基部倾斜板208。用户接口板202包括计算机处理器，用以执行应用软件以实现用户接口、显示、以及本文描述的其它功能。
如图2A所示，电子数据处理系统210通过一个或更多个臂总线218与上述多个编码器系统进行通信。在图2B和2C所描绘的实施方式中，每个编码器系统生成编码器数据，并且包括：编码器臂总线接口214,、编码器数字信号处理器(DSP)216、编码器读头接口234，以及温度传感器212。诸如应变传感器的其它设备可以附接到臂总线218。
图2D中还示出了与臂总线218通信的探头末端电子装置230。探头末端电子装置230包括探头末端DSP 228、温度传感器212、手柄/LLP接口总线240、以及探头接口226，手柄/LLP接口总线240在一个实施方式中通过快速连接接口与手柄126或LLP 242连接。快速连接接口允许手柄126对由LLP 242或者其它配件使用的数据总线、控制线和电源总线的访问。在一个实施方式中，探头末端电子装置230位于AACMM 100上的测量探头外壳102中。在一个实施方式中，可以从快速连接接口移除手柄126，并由通过手柄/LLP接口总线240与AACMM 100的探头末端电子装置230通信的激光线探头(LLP)242来进行测量。在一个实施方式中，电子数据处理系统210位于AACMM 100的基部116中，探头末端电子装置230位于AACMM 100的测量探头外壳102中，并且编码器位于轴承盒组110、112、114中。探头接口226可以通过任何合适的通信协议与探头末端DSP 228连接，包括实施通信协议236的Maxim Integrated Products公司的可商购的产品。
图3是描述根据一个实施方式的AACMM 100的电子数据处理系统210的详细特征的框图。在一个实施方式中，电子数据处理系统210位于AACMM 100的基部116中，并且包括基部处理器板204、用户接口板202、基部电源板206、蓝牙模块232、以及基部倾斜模块208。
在图3A示出的实施方式中，基部处理器板204包括其中示出的各个功能块。例如，利用基部处理器功能302以支持从AACMM 100收集测量数据并且经由臂总线218和总线控制模块功能308接收原始臂数据(例如，编码器系统数据)。存储器功能304存储程序和静态的臂配置数据。基部处理器板204还包括用于与诸如LLP 242的任何外部硬件设备或配件进行通信的外部硬件选项端口功能310。实时时钟(RTC)和日志306、电池组接口(IF)316和诊断端口318也包括在图3中描绘的基部处理器板204的实施方式中的功能中。
基部处理器板204还管理与外部设备(主计算机)和内部设备(显示处理器202)的所有有线和无线数据通信。基部处理器板204具有下述能力：经由以太网功能320(例如，采用诸如电气电子工程师学会(IEEE)1588的时钟同步标准)与以太网进行通信，经由LAN功能322与无线局域网(WLAN)进行通信，以及经由并行到串行通信(PSC)功能314与蓝牙模块232进行通信。基部处理器板204还包括至通用串行总线(USB)设备312的连接。
例如前面提到的‘582专利的序列框中所公开的那样，基部处理器板204发送并收集原始测量数据(例如，编码器系统计数、温度读数)，以在无需任何处理的情况下将该原始测量数据处理成测量数据。基部处理器204经由RS485接口(IF)326将处理后的数据发送至用户接口板202上的显示处理器328。在一个实施方式中，基部处理器204还将原始测量数据发送至外部计算机。
现在转到图3B中的用户接口板202，基部处理器接收到的角度和位置数据被在显示处理器328上执行的应用使用，以在AACMM 100中提供自主计量系统。可以在显示处理器328上执行应用以支持例如但不限于下述项的功能：特征的测量、指导和训练图形、远程诊断、温度校正、各操作特征的控制、至各网络的连接、以及被测物体的显示。连同显示处理器328和液晶显示器(LCD)338(例如，触摸屏LCD)用户接口一起，用户接口板202包括若干接口选项，若干接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、摄像装置端口340、音频/视频接口342、拨号/电话调制解调器344、以及全球定位系统(GPS)端口346。
图3A中示出的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电源板206。基部电源板206还使用AC/DC转换器358和电池充电器控制360为电子数据处理系统210供电。基部电源板206使用集成电路间(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)35而与基部处理器板204进行通信。基部电源板206经由实现在基部电源板206中的输入/输出(I/O)扩展功能364而连接到倾斜传感器和射频识别(RFID)模块208。
虽然被示出为独立的元件，但是在其它实施方式中，除了图3中示出的位置和/或功能之外，部件的全部或子集物理上可以位于不同的位置和/或以不同的方式结合功能。例如，在一个实施方式中，基部处理器板204和用户接口板202被组合为一个物理板。
现在参考图4和5，更加详细地示出了AACMM 100的臂104的示例性臂节108。每个臂节106、108包括由合适的刚性材料制成的基本圆柱形中空芯500，该刚性材料例如为但不限于碳纤维复合材料。碳纤维复合材料由于其低热膨胀系数(CTE)和其高刚度而被选择。替选地，芯可以由挤压或编织的合成材料或金属制成。在一个实施方式中，通过将至少一层浸渍的碳纤维复合材料缠绕在绕纵向轴线X可旋转的心轴来制造每个臂节106、108的管状芯500。在其它实施方式中，芯500可以由其它材料制成，例如为但不限于挤压或编织的合成材料或金属。
外部材料550被定位为邻接芯500的外表面506，以增强每个臂节106、108的美学感染力。外部材料550可以包括至少一层复合材料，例如像铝覆的玻璃纤维环氧树脂预浸料。在一个实施方式中，外部材料550是由Hexcel公司制造的在某些实施方式中，外层中的材料的热膨胀系数(CTE)的绝对值比内部芯500的复合材料的CTE大得多。图6和7详细地示出了外部材料550的组成。外部材料550包括在第一方向上取向的多根第一纤维560以及在不同的第二方向上取向的多根第二纤维562。在一个实施方式中，第一方向与第二方向彼此正交。可以以任意数目的取向布置外部材料550的每层的纤维560、562，包括但不限于例如编织式配置、编结式配置或者单向配置。在一个实施方式中，外部材料550的多根第一纤维560和多根第二纤维562之一大致与纵向轴线X同轴地取向(参见图6)。在这样的实施方式中，多根第一纤维560和多根第二纤维562中的另一者圆柱状地取向，使得纤维沿绕着管状外部材料550的外围的方向和纵向轴线X延伸。在图7中示出的另一实施方式中，可以布置多根第一纤维560和多根第二纤维562，使得第一纤维560和第二纤维562以与纵向轴线X成大致45度角取向。
例如在从心轴移除芯500之前，通过在碳纤维芯500周围缠绕外部材料550来形成图4中示出的示例性臂节108的横截面。在第一实施方式中，通过将来自真空的压力和热施加于臂节108来将外部材料550粘合到芯500的外表面506。围绕芯500缠绕外部材料550，使得多根第一纤维560和多根第二纤维562处于相对于彼此以及相对于纵向轴线X的期望取向。通过在外部材料550中正交地布置纤维560、562并且通过相对于纵向轴线X对纤维560、562进行定向，使扭转效应最小化并限制扭动效应。像这样，外部材料550不太可能响应于温度改变而相对于芯500扭转。减小或消除了由于环境温度的变化而导致的置于臂104的编码器214、216、234上的产生的转矩，从而提高AACMM 100的准确度。
如图8所示，外部材料550替选地可以被形成为可滑动地接合芯500的独立的部件570，例如像管状套筒或壳体。套筒570可以在内部芯500的一部分或者替选地整个长度上延伸。在外部材料550是套筒570的实施方式中，使芯500的外表面506平滑，从而对芯500给出均匀的外直径。外部材料套筒570具有比芯500的外直径更大的内直径，以形成松配合。外部材料套筒570可以包括邻近第一末端572的第一部分574、以及从第一部分574延伸直至邻近相对的第二末端578的第二部分576。在一个实施方式中，套筒570的第一部分574被耦接到芯500的第一末端502(参见图5)。通过仅将套筒570的第一部分574耦接到芯500，来自套筒570的扭动力仅在套筒570与芯500耦接的位置处传递给芯500，而不是在芯500的全部长度上。在一个实施方式中，套筒570耦接到与轴承盒110、112、114相对而不是邻近的芯500的末端502。可以利用诸如紧固件、焊接、粘合剂、扩散压合、超声波焊接或任何其它已知的连接方式将套筒570的第一部分574耦接到芯500的第一末端502。在一个实施方式中，第一部分574从套筒570的末端572延伸预定的长度，其中第一部分574显著小于套筒570的其余部分。在图1的实施方式中，臂节108上的套筒570被耦接到轴承盒对112附近的臂节108的复合芯。臂节106上的套筒被耦接到轴承盒对110附近的臂节106的复合芯。短节107具有外部套筒，该外部套筒覆盖诸如铝或钢的金属元件。应理解，套筒570与芯500耦接的位置可以是颠倒的或其组合。
将外部材料550形成为与芯500分离的套筒570进一步使臂节106、108的芯500与由非正交的纤维定向引起的外部材料500的扭转隔离。套筒570还使芯500与用户操作AACMM 100时所引起的转矩隔离，从而进一步提高机器的准确度。另外，可以将套筒570可移除地连接到芯500，以允许在外部材料套筒570被损坏的情况下进行容易的替换。还可以改变套筒570的颜色以与AACMM 100的期望模型相关。
尽管已经参考示例实施方式描述了本发明，但是本领域的技术人员将理解在不偏离本发明的范围的情况下可以做出各种改变以及可以用等同物代替其元件。另外，在不偏离本发明的实质范围的情况下，可以做出许多修改以使具体情况和材料适应本发明的教示。因此，其意图是，本发明不限于作为设想用于实施本发明的最佳模式而公开的具体实施方式，而是本发明将包括落在所附权利要求的范围内的所有实施方式。此外，词语第一、第二等的使用不表示任何顺序或者重要性，而是使用词语第一、第二等来区分一个元件和另一个元件。另外，词语一个(a)、一种(an)等的使用不表示数量的限制，而是表示存在至少一个所提及的项。

Claims (26)

1.一种便携式关节臂坐标测量机(AACMM)，包括：
能手动定位的关节臂，其具有相对的第一和第二末端，所述臂包括多个连接的臂节，所述臂节中的至少一个具有纵向轴线并且包括基本管状的复合芯、围绕所述复合芯的长度的至少一部分的外部套筒、以及用于产生位置信号的至少一个位置传感器，其中所述外部套筒是圆柱管，所述圆柱管包括在所述外部套筒的第三末端处的第一部分以及在所述第一部分和与所述第三末端相对的第四末端之间延伸的第二部分，以使得所述第一部分耦接到所述复合芯的第五末端，所述第一部分具有比所述第二部分更短的长度，并且其中所述第二部分被配置成相对于所述复合芯自由运动；
测量设备，其附接到所述AACMM的第一末端；以及
电子电路，其用于接收来自所述至少一个传感器的所述位置信号以及用于提供对应于所述测量设备的位置的数据。
2.根据权利要求1所述的便携式AACMM，其中所述复合芯包括碳纤维复合材料。
3.根据权利要求2所述的便携式AACMM，其中所述复合芯包括十一层。
4.根据权利要求1所述的便携式AACMM，其中所述外部套筒的所述第一部分利用粘合剂耦接到所述复合芯的所述第五末端。
5.根据权利要求1所述的便携式AACMM，其中所述外部套筒围绕所述复合芯的整个长度。
6.根据权利要求1所述的便携式AACMM，其中所述外部套筒由包括铝覆的玻璃纤维环氧树脂预浸料的复合材料制成。
7.根据权利要求6所述的便携式AACMM，其中所述外部套筒包括两层。
8.根据权利要求6所述的便携式AACMM，其中所述外部套筒包括多根第一纤维，所述多根第一纤维被布置成与多根第二纤维基本正交。
9.根据权利要求8所述的便携式AACMM，其中所述多根第一纤维和所述多根第二纤维以与所述纵向轴线成约45度角取向。
10.根据权利要求8所述的便携式AACMM，其中所述多根第一纤维与所述纵向轴线基本平行地取向。
11.根据权利要求10所述的便携式AACMM，其中所述多根第二纤维围绕所述外部套筒基本圆柱状地取向。
12.一种便携式关节臂坐标测量机(AACMM)，包括：
能手动定位的关节臂，其具有相对的第一和第二末端，所述臂包括多个连接的臂节，所述臂节中的至少一个具有纵向轴线并且包括外部套筒围绕的复合芯、以及用于产生位置信号的至少一个位置传感器，其中所述外部套筒包括多根第一纤维，所述多根第一纤维被布置成与多根第二纤维基本正交，并且相对于所述臂节的纵向轴线布置所述多根第一纤维和所述多根第二纤维；
测量设备，其附接到所述AACMM的第一末端；以及
电子电路，其用于接收来自所述至少一个传感器的所述位置信号以及用于提供对应于所述测量设备的位置的数据。
13.根据权利要求12所述的便携式AACMM，其中所述多根第一纤维和所述多根第二纤维以与所述纵向轴线成约45度角取向。
14.根据权利要求12所述的便携式AACMM，其中所述多根第一纤维与所述纵向轴线基本平行地取向。
15.根据权利要求14所述的便携式AACMM，其中所述多根第二纤维围绕所述纵向轴线基本圆柱状地取向。
16.根据权利要求12所述的便携式AACMM，其中所述外部套筒是包括铝覆的玻璃纤维环氧树脂预浸料的复合材料。
17.根据权利要求16所述的便携式AACMM，其中所述外部套筒包括两层纤维。
18.根据权利要求12所述的便携式AACMM，其中所述外部套筒包括第一部分和第二部分，并且所述第一部分耦接到所述复合芯的末端。
19.根据权利要求18所述的便携式AACMM，其中所述外部套筒使用粘合剂耦接到所述复合芯的所述末端。
20.根据权利要求12所述的便携式AACMM，其中所述复合芯包括碳纤维复合材料。
21.根据权利要求12所述的便携式AACMM，其中所述复合芯包括多根第三纤维，所述多根第三纤维与多根第四纤维基本正交地取向。
22.一种形成用于便携式AACMM的臂节的方法，包括：
由第一材料形成具有纵向轴线的基本中空的圆柱形芯；
由第二材料形成管状套筒，所述管状套筒具有多根第一纤维，所述多根第一纤维被布置成与多根第二纤维正交，以使得所述多根第一纤维和所述多根第二纤维处于相对于所述轴线的期望取向；
将所述芯插入所述套筒；以及
将所述套筒的第一部分耦接到所述芯的第一末端。
23.根据权利要求22所述的方法，其中使用粘合剂将所述套筒的所述第一部分耦接到所述芯的所述第一末端。
24.根据权利要求22所述的方法，其中所述多根第一纤维与所述轴线基本平行地取向，并且所述多根第二纤维围绕所述轴线基本圆柱状地取向。
25.根据权利要求22所述的方法，其中所述多根第一纤维和所述多根第二纤维以与所述轴线成约45度角取向。
26.根据权利要求22所述的方法，其中所述芯包括碳纤维复合材料。
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