JP2005517908A - 携帯型座標測定器用の関節型アーム - Google Patents
携帯型座標測定器用の関節型アーム Download PDFInfo
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
- B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- 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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
-
- 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
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S33/00—Geometrical instruments
- Y10S33/01—Magnetic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (45)
- 選択した体積の対象物の位置を測定する携帯型座標測定器(CMM)であって、
対向する第1端および第2端と、複数の継手と、前記継手のうち少なくとも1つのベアリング/変換器カートリッジを含む少なくとも1つの継手と、を備えた手動位置決め可能な関節型アームと、
前記関節型アームの第1端に取付けた測定プローブと、
前記アーム中の変換器からの位置信号を受信して、選択体積中の前記プローブの位置に対応するディジタル座標を提供する電子回路と、
を有し、
前記カートリッジは、さらに、
回転可能なシャフトと、
前記シャフト上の少なくとも1つのベアリングと、
測定可能な特性の周期的パターンと、
前記パターンと間隔を空けて設置し、かつ前記パターンと連絡した少なくとも1つの読取ヘッドと、
前記少なくとも1つのベアリングと、パターンと、読取ヘッドと、前記シャフトの少なくとも一部とを囲み、独立した構成要素を規定するハウジングと、
を含み、前記ハウジングは間に外表面を有する一対の端部を有し、前記外表面は前記少なくとも1つの継手の構造要素を規定し、
前記パターンおよび前記読取ヘッドは、相対的に回転可能となるように前記シャフトおよび前記ハウジングに関連付けられるCMM。 - 請求項1に記載のCMMであって、
前記ハウジングは円筒形ハウジングであるCMM。 - 請求項1に記載のCMMであって、
前記少なくとも1つのベアリングは、少なくとも1つの予荷重をかけたベアリングを含むCMM。 - 請求項3に記載のCMMであって、
前記少なくとも1つの予荷重をかけたベアリングは、
第1ベアリングと、
第2ベアリングと、
前記第1ベアリングと前記第2ベアリング間の内スペーサスリーブと、
前記第1ベアリングと前記第2ベアリング間の外スペーサスリーブと、
を含み、
前記内スペーサスリーブと前記外スペーサスリーブは、異なる所定長さをもち、
前記内スペーサスリーブと前記外スペーサスリーブは、前記第1ベアリングおよび前記第2ベアリングに対して圧縮されて所定の予荷重を規定するCMM。 - 請求項1に記載のCMMであって、
前記少なくとも1つのベアリングは封止されるCMM。 - 請求項1に記載のCMMであって、
少なくとも2つの読取ヘッドを含むCMM。 - 請求項6に記載のCMMであって、
前記2つの読取ヘッドは180°離れて配置するCMM。 - 請求項1に記載のCMMであって、
少なくとも3つの読取ヘッドを含むCMM。 - 請求項8に記載のCMMにおいて、
前記3つの読取ヘッドは互いに120°離れて配置するCMM。 - 請求項1に記載のCMMであって、
少なくとも4つの読取ヘッドを含むCMM。 - 請求項10に記載のCMMであって、
前記4つの読取ヘッドは互いに90°離れて配置するCMM。 - 請求項1に記載のCMMであって、
前記パターンは光干渉縞パターンを含み、
前記少なくとも1つの読取ヘッドは光学読取ヘッドを含むCMM。 - 請求項12に記載のCMMであって、
前記光干渉縞パターンは光学エンコーダディスク上に配置されるCMM。 - 請求項12に記載のCMMであって、
光通信は、回折オーダ間の干渉を検出して、前記干渉縞パターン中に挿入した読取ヘッドから正弦信号を生成する前記読取ヘッドを含み、前記正弦信号は電子的に補間されて変位を検出するCMM。 - 請求項14に記載のCMMであって、
前記各読取ヘッドは、レーザ、コリメータ、およびアパーチャを含み、
これにより前記レーザがビームを発射し、これを前記コリメータがコリメートし、アパーチャが大きさを決定し、前記干渉縞パターンは光を個別オーダに回折する回折格子を含むCMM。 - 請求項15に記載のCMMであって、
前記各読取ヘッドは光検出器アレイをさらに含み、
前記光検出器アレイは、前記干渉縞パターンと前記読取ヘッド間に相対移動があると4本のほぼ純粋な正弦出力を生成するCMM。 - 請求項1に記載のCMMであって、
平均可能な相殺効果を生じる複数の読取ヘッドを含むCMM。 - 請求項1に記載のCMMであって、
前記測定可能な特性のパターンは、反射率、透明度、磁場、静電容量、インダクタンス、および表面粗さからなるグループから選択される少なくとも1つの特性であるCMM。 - 請求項1に記載のCMMであって、
前記カートリッジ中にスリップリングアセンブリを含むCMM。 - 請求項19に記載のCMMであって、
前記シャフトはシャフトを貫通する軸方向の開口を含み、
前記スリップリングアセンブリは前記軸方向の開口中に配置されるCMM。 - 請求項1に記載のCMMであって、
前記シャフトはその一方端から外向きに延びるフランジを含み、
前記フランジは環を規定し、
前記ハウジングの一方端は前記環に収容されるCMM。 - 請求項21に記載のCMMであって、
前記ハウジングの他方端は開放端を含み、
前記開放端を覆う少なくとも1つのキャップを含むCMM。 - 請求項1に記載のCMMであって、
前記継手の前記少なくとも1つは無制限の回転をもつCMM。 - 請求項1に記載のCMMであって、
前記継手の少なくとも2つは、それぞれ少なくとも1つのカートリッジを含み、
前記カートリッジは互いに所定角度で取付けられるCMM。 - 請求項24に記載のCMMであって、
前記カートリッジ同士はソケット継手を用いて取付けられるCMM。 - 請求項25に記載のCMMであって、
前記ソケット継手は、
内部にソケットを有する第1延長部と、
内部にソケットを有する少なくとも1つの第2延長部と、
を含み、
前記第1延長部および前記第2延長部同士はある角度で取付けられ、
前記各ソケットは各カートリッジを収容するようなサイズおよび構成であるCMM。 - 請求項26に記載のCMMであって、
前記カートリッジの少なくとも1つは、一対の間隔を空けて設けたソケット継手の一対のソケット間に捕足されるCMM。 - 請求項27に記載のCMMであって、
前記捕足されたカートリッジは、前記ソケット対のそれぞれに接着剤で取付けられるCMM。 - 請求項26に記載のCMMであって、
前記ソケットの少なくとも1つの内側にネジ山を含むCMM。 - 請求項29に記載のCMMであって、
前記カートリッジの少なくとも1つから外向きに延びるネジ山を設けた構成要素を含み、
前記ネジ山を設けた構成要素は前記ソケット中のネジ山と噛合するCMM。 - 請求項1に記載のCMMであって、
前記ハウジング上に延長チューブを含むCMM。 - 請求項31に記載のCMMにおいて、
前記延長チューブはファイバ補強された複合材を含むCMM。 - 請求項25に記載のCMMにおいて、
前記カートリッジは前記ソケット継手に接着剤で取付けられるCMM。 - 請求項1に記載のCMMにおいて、
前記継手の少なくとも2つは互いにネジ山で相互接続されるCMM。 - 請求項1に記載のCMMにおいて、
前記継手の少なくとも2つは互いにネジ係合できる留め具で締められるCMM。 - 請求項1に記載のCMMにおいて、
前記継手の少なくとも2つは、前記留め具で一つに締められる相補型のテーパ付けされた部分を含むCMM。 - 請求項1に記載のCMMにおいて、前記継手は、旋回動作用の長継手とヒンジ動作用の短継手とを含むCMM。
- 請求項32に記載のCMMであって、それぞれ長継手と短継手とを含む3つの継手対を含むCMM。
- 請求項38に記載のCMMにおいて、前記各継手対において、前記長継手は前記短継手に対して約90°の角度に配置されるCMM。
- 請求項39に記載のCMMであって、前記測定プローブ中に第7の継手を含むCMM。
- 請求項1に記載のCMMにおいて、前記継手は2−2−2、2−1−2、2−2−3、および2−1−3からなるグループから選択される継手構成に配置されるCMM。
- 請求項1に記載のCMMであって、
前記カートリッジに関連付けられて前記カートリッジを固有に識別する電子識別チップを含むCMM。 - 請求項1に記載のCMMにおいて、
前記パターンは前記シャフトとともに回転可能であり、
前記読取ヘッドは前記シャフトに対して静止しているCMM。 - 請求項43に記載のCMMにおいて、
前記パターンは前記シャフトに直接取付けられるCMM。 - 請求項1に記載のCMMにおいて、
前記読取ヘッドは前記シャフトとともに回転可能であり、
前記パターンは前記シャフトに対して静止しているCMM。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US35759902P | 2002-02-14 | 2002-02-14 | |
US39490802P | 2002-07-10 | 2002-07-10 | |
PCT/US2003/004319 WO2003069266A2 (en) | 2002-02-14 | 2003-02-13 | An articulated arm for a portable coordinate measurement machine |
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JP2005517908A true JP2005517908A (ja) | 2005-06-16 |
JP2005517908A5 JP2005517908A5 (ja) | 2005-12-22 |
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JP2003568352A Expired - Fee Related JP4576002B2 (ja) | 2002-02-14 | 2003-02-13 | 内蔵ラインレーザスキャナを備えた携帯可能な座標測定装置 |
JP2003568341A Pending JP2005517908A (ja) | 2002-02-14 | 2003-02-13 | 携帯型座標測定器用の関節型アーム |
JP2003568342A Pending JP2005517909A (ja) | 2002-02-14 | 2003-02-13 | 多関節アームを有する可搬式座標測定器 |
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US (13) | US6904691B2 (ja) |
EP (3) | EP1474649B1 (ja) |
JP (3) | JP4576002B2 (ja) |
CN (3) | CN100473942C (ja) |
AT (2) | ATE365903T1 (ja) |
AU (3) | AU2003209143A1 (ja) |
DE (2) | DE60314598T2 (ja) |
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Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102445172A (zh) * | 2011-10-23 | 2012-05-09 | 江苏阳明船舶装备制造技术有限公司 | 一种用于空间物体位置关系的测量方法 |
JP2012233913A (ja) * | 2009-11-06 | 2012-11-29 | Hexagon Metrology Aktiebolaget | 改良された関節式アーム |
JP2013517497A (ja) * | 2010-01-20 | 2013-05-16 | ファロ テクノロジーズ インコーポレーテッド | 座標測定機用取付けデバイス |
US8533967B2 (en) | 2010-01-20 | 2013-09-17 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US8537374B2 (en) | 2010-01-20 | 2013-09-17 | Faro Technologies, Inc. | Coordinate measuring machine having an illuminated probe end and method of operation |
US8615893B2 (en) | 2010-01-20 | 2013-12-31 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine having integrated software controls |
US8630314B2 (en) | 2010-01-11 | 2014-01-14 | Faro Technologies, Inc. | Method and apparatus for synchronizing measurements taken by multiple metrology devices |
US8638446B2 (en) | 2010-01-20 | 2014-01-28 | Faro Technologies, Inc. | Laser scanner or laser tracker having a projector |
US8677643B2 (en) | 2010-01-20 | 2014-03-25 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US8832954B2 (en) | 2010-01-20 | 2014-09-16 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US8875409B2 (en) | 2010-01-20 | 2014-11-04 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
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- 2003-02-13 JP JP2003568341A patent/JP2005517908A/ja active Pending
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