JP6085513B2 - 装置を移動させる方法 - Google Patents
装置を移動させる方法 Download PDFInfo
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- JP6085513B2 JP6085513B2 JP2013080647A JP2013080647A JP6085513B2 JP 6085513 B2 JP6085513 B2 JP 6085513B2 JP 2013080647 A JP2013080647 A JP 2013080647A JP 2013080647 A JP2013080647 A JP 2013080647A JP 6085513 B2 JP6085513 B2 JP 6085513B2
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- 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
- G01B5/012—Contact-making feeler heads therefor
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39179—Of movement after lock stop by small movement against load, stop again
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41048—Relieve backlash by stepping back a little and verify position
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41081—Approach position from same direction
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position Or Direction (AREA)
Description
(b)所望の位置に隣接する位置に到達するまで他方に対し二つの物体の一方を移動させ、
(c)所望の位置に隣接する位置から所望の位置まで他方に対し二つの物体の一方を移動させ、それにより、特定条件下で移動が生じ、
(d)二つの物体が相対的に固定されるように二つの物体を再拘束することを含む。
Claims (5)
- 位置誤差の影響下にある複数の画定された各割り出し位置において相対的に移動可能である二つの物体と、前記物体ごとに一組で、二組の移動止め部品であって、前記二つの物体を前記画定された割り出し位置で固定するために互いに係合され、前記二つの物体がアンロックされた場合、解放される移動止め部品と、該二つの物体の相対位置を測定する手段であって、位置誤差のために各割り出し位置で信号の値の範囲にある信号の値を示す測定する手段と、を含み、測定装置用関節機構を位置決めする方法において、
前記複数の割り出し位置それぞれに、前記関節機構を移動させ、
互いに係合された前記移動止め部品により各割り出し位置に前記二つの物体を固定し、
二つの物体が各割り出し位置で固定される間、各割り出し位置で、前記信号の値の範囲内で前記相対位置を示す信号の値を各割り出し位置について記録し、
前記記録された信号の値により、割り出し位置への次の移動の間、前記相対位置を示す信号の値が前記測定する手段から得られ、該信号が前記対応する記録された信号の値と比較され、前記関節機構は、該示される信号が該記録された信号の値に一致するまで移動されることを可能にする方法。 - 前記複数の画定された割り出し位置について前記記録された複数の信号の値は、表に記
録される請求項1記載の方法。 - 測定用プローブを移動するための装置において、
位置誤差の影響下にある複数の画定された各割り出し位置に、相対的に移動可能な二つの物体を有する関節機構と、
前記物体ごとに一組で、二組の移動止め部品であって、前記二つの物体を前記画定された割り出し位置で固定するために互いに係合され、前記二つの物体がアンロックされた場合、解放される移動止め部品と、該二つの物体の相対位置を測定する手段であって、位置誤差のために各割り出し位置で信号の値の範囲にある信号の値を示す測定する手段と、
前記測定する手段からの現在の前記二つの物体の相対位置と所望の位置を示す記録された信号の値とを比較するための比較器を含むコントローラーであって、前記関節機構を前記所望の位置に移動させるコントローラーと、を含み、
互いに係合された前記移動止め部品により各割り出し位置に前記二つの物体が固定される間、各信号の値が、前記複数の画定された割り出し位置のそれぞれについて記録され、
各記録された信号の値は、対応する割り出し位置で前記相対位置を示し、前記信号の値の範囲内にある装置。 - 前記複数の画定された割り出し位置それぞれについての記録された複数の信号の値は、
表に記録される請求項3記載の装置。 - 請求項3または請求項4に記載の装置を含む測定機。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GBGB0501690.2A GB0501690D0 (en) | 2005-01-27 | 2005-01-27 | Articulating device |
GB0501690.2 | 2005-01-27 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007552709A Division JP5341355B2 (ja) | 2005-01-27 | 2006-01-25 | 関節装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013210371A JP2013210371A (ja) | 2013-10-10 |
JP6085513B2 true JP6085513B2 (ja) | 2017-02-22 |
Family
ID=34259754
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007552709A Active JP5341355B2 (ja) | 2005-01-27 | 2006-01-25 | 関節装置 |
JP2013080647A Active JP6085513B2 (ja) | 2005-01-27 | 2013-04-08 | 装置を移動させる方法 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007552709A Active JP5341355B2 (ja) | 2005-01-27 | 2006-01-25 | 関節装置 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7350310B2 (ja) |
EP (2) | EP1844371B1 (ja) |
JP (2) | JP5341355B2 (ja) |
CN (1) | CN101107580B (ja) |
GB (1) | GB0501690D0 (ja) |
WO (1) | WO2006079794A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1666832B1 (fr) * | 2004-12-01 | 2012-08-29 | Tesa Sa | Tête de mesure orientable motorisée |
DE602004011794T2 (de) * | 2004-12-01 | 2009-02-05 | Tesa Sa | Motorisierter und orientierbarer Messkopf |
EP1666833B1 (fr) * | 2004-12-01 | 2008-01-23 | Tesa SA | Tête de mesure orientable motorisée |
GB0501690D0 (en) * | 2005-01-27 | 2005-03-02 | Renishaw Plc | Articulating device |
GB0707720D0 (en) * | 2007-04-23 | 2007-05-30 | Renishaw Plc | Apparatus and method for controlling or programming a measurement routine |
GB0716218D0 (en) | 2007-08-20 | 2007-09-26 | Renishaw Plc | Measurement path generation |
CN102859316B (zh) | 2010-04-30 | 2016-08-31 | 瑞尼斯豪公司 | 计量仪器 |
DE202013012759U1 (de) * | 2013-01-30 | 2019-04-23 | Jenoptik Industrial Metrology Germany Gmbh | Tastkörper-Halteanordnung |
EP2889573B1 (en) | 2013-12-24 | 2016-06-15 | Tesa Sa | Motorized inclinable measuring head |
US9840968B2 (en) | 2015-09-16 | 2017-12-12 | Hamilton Sundstrand Corporation | Topologies and methods for turbine engine start inverters |
JP6470854B2 (ja) * | 2018-01-10 | 2019-02-13 | 株式会社東京精密 | 3次元測定機 |
GB202102201D0 (en) | 2021-02-17 | 2021-03-31 | Renishaw Plc | Metrology apparatus |
EP4295108A1 (en) | 2021-02-17 | 2023-12-27 | Renishaw PLC | Articulated head |
GB202102199D0 (en) | 2021-02-17 | 2021-03-31 | Renishaw Plc | Articulated joint |
GB202102200D0 (en) | 2021-02-17 | 2021-03-31 | Renishaw Plc | Articulated member |
EP4321834A1 (en) | 2022-08-10 | 2024-02-14 | Renishaw PLC | Indexed articulated joint comprising a sensor for establishing a state of engagement and associated metrology apparatus |
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-
2005
- 2005-01-27 GB GBGB0501690.2A patent/GB0501690D0/en not_active Ceased
-
2006
- 2006-01-25 WO PCT/GB2006/000235 patent/WO2006079794A1/en active Application Filing
- 2006-01-25 EP EP06703199A patent/EP1844371B1/en active Active
- 2006-01-25 JP JP2007552709A patent/JP5341355B2/ja active Active
- 2006-01-25 EP EP10004149.0A patent/EP2221691B1/en active Active
- 2006-01-25 CN CN2006800027830A patent/CN101107580B/zh active Active
- 2006-01-27 US US11/340,609 patent/US7350310B2/en not_active Ceased
-
2010
- 2010-03-31 US US12/662,143 patent/USRE43250E1/en active Active
-
2013
- 2013-04-08 JP JP2013080647A patent/JP6085513B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
WO2006079794A1 (en) | 2006-08-03 |
US20060196066A1 (en) | 2006-09-07 |
EP2221691B1 (en) | 2013-09-18 |
EP1844371B1 (en) | 2013-03-20 |
JP2008534916A (ja) | 2008-08-28 |
CN101107580B (zh) | 2010-11-10 |
EP1844371A1 (en) | 2007-10-17 |
GB0501690D0 (en) | 2005-03-02 |
JP5341355B2 (ja) | 2013-11-13 |
USRE43250E1 (en) | 2012-03-20 |
US7350310B2 (en) | 2008-04-01 |
EP2221691A2 (en) | 2010-08-25 |
JP2013210371A (ja) | 2013-10-10 |
CN101107580A (zh) | 2008-01-16 |
EP2221691A3 (en) | 2011-04-06 |
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