WO1998008050A1 - Appareil pour mesurer les coordonnees - Google Patents

Appareil pour mesurer les coordonnees Download PDF

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Publication number
WO1998008050A1
WO1998008050A1 PCT/CA1997/000103 CA9700103W WO9808050A1 WO 1998008050 A1 WO1998008050 A1 WO 1998008050A1 CA 9700103 W CA9700103 W CA 9700103W WO 9808050 A1 WO9808050 A1 WO 9808050A1
Authority
WO
WIPO (PCT)
Prior art keywords
base
micro
measuring
encoder
controller
Prior art date
Application number
PCT/CA1997/000103
Other languages
English (en)
Inventor
Nino Camurri
Original Assignee
Nino Camurri
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nino Camurri filed Critical Nino Camurri
Priority to AU15871/97A priority Critical patent/AU1587197A/en
Publication of WO1998008050A1 publication Critical patent/WO1998008050A1/fr

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Classifications

    • 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

Definitions

  • the present invention relates to an apparatus for measuring the XYZ coordinates of a point on a part to determine the position of this point in space.
  • Coordinate measuring apparatuses or machines are used to inspect products, to verify drawings specifications and tolerances and to automatically generate new drawings for reverse engineering. These machines include articulated counter balanced rigid arms with rotary position encoders at their joints that measure angular displacement from a reference point. To take a measurement, the user touches the object to be measured with a probe carried at the outer end of the articulated arm system. The 3D information provided by the encoders are digitized and transmitted to a control computer which processes the data and transforms the same into measured coordinates from a reference point. Angle measurements of the rotary encoders used on existing machines lack precision and therefore known machines have a small size and can only operate within an envelope of restricted volume; therefore known machines must be displaced several times and relocated with respect to another reference point when called upon to measure large objects.
  • Such measuring machines are often used in an environment where they are subjected to a temperature gradient.
  • Known machines of the character described include a temperature compensation system which is not capable of adequately correcting any possible distortion caused by those temperature gradients.
  • Known machines of the character described are normally connected to a control computer by a cable which on a shop floor can be damaged or can be cause of accidents and which restricts the range of movement of the machine with respect to the control computer.
  • Another object of the present invention is to provide an apparatus of the character described capable of automatic leveling independently of the floor irregularities.
  • Another object of the invention is to provide an apparatus of the character described which is equipped with an automatic device to detect any shocks and vibrations to the machine and which automatically stops machine operation if the shock loading or vibrations amplitudes exceeds a predetermined limit.
  • Another object of the invention is to provide a temperature compensation system which corrects any distortion of each arms and each joints of the machine caused by temperature gradients to which the machine would be subjected.
  • Another object of the present invention resides in an apparatus of the character described in which all the collected data are transmitted from the measuring apparatus to the control processing computer by radio transmission.
  • the apparatus of the invention is for measuring the XYZ coordinates of a point on a part to determine its position in space and comprises a movable measuring assembly and a remote processing station, said measuring assembly comprising a base, a probe for engaging said point, serially coupled rigid arm members and rotary joints coupling said base to said probe and permitting said probe to be moved in space relative to said base, each joint including to relatively rotating parts, a rotary encoder for each joint, for measuring the rotation angle of one part relative to the other part of the joint, said encoder sending an analog sinusoidal signal of N pulses per complete rotation, a micro controller for each encoder including an analogic to digital converter and a processing unit to generate a digital signal indicative of an instantaneous rotation angle, network means interconnecting all of said micro controllers and means to transmit to said remote processing station data representing the simultaneous readings of all of said encoders, said remote processing station including a computer for receiving the transmitted data and processing the same to transform the data into measured coordinates from a reference point.
  • the measuring assembly further includes a radio frequency transmitter connected to all of said micro-controllers via said network means, the latter including wire means extending along said arms and interconnecting all of said micro-controllers with said radio transmitter, said processing station including a radio receiver connected to said computer whereby a radio link is established between the station and the movable assembly through which all of the measurement data is transmitted.
  • a radio frequency transmitter connected to all of said micro-controllers via said network means, the latter including wire means extending along said arms and interconnecting all of said micro-controllers with said radio transmitter
  • said processing station including a radio receiver connected to said computer whereby a radio link is established between the station and the movable assembly through which all of the measurement data is transmitted.
  • each micro-controller further includes sinusoidal signals sampling and holding means and means to calculate sinusoidal signal averages of successive data inputs and feeding said averages to said analogic to digital converter.
  • the base is mounted on wheels for displacement on a floor or the like and further including base levelling legs carried by said base and means for automatically actuating said legs to level said base.
  • the apparatus further includes temperature sensors for each arm member connected to each micro-controller, said micro-controller is programmed to be capable of calculating temperature correction factors of each member and furthermore transmitty the adjusted valves to the central computer unit through the said radio transmitter.
  • the base is equipped with an alarm system sensitive to shock loading of said base and stopping the operation of said measuring assembly when shock loading exceeds a predetermined maximum.
  • the shock loading system includes three accelerometers mounted on said base along XYZ axes.
  • Modified figure 1 is an elevation of the apparatus of the invention with the base partially in section to show the internal parts.
  • Modified figure 2 is top view of the intermediate arm with its end joints.
  • Figure 3 is a partial side elevation of the outer arm, the end joint and the probe.
  • Figure 4 is a partial vertical section of the wheel mounted base.
  • Modified figure 5 is a vertical section of the rotary joint between the base and the horizontal portion of the L-shaped arm.
  • Modified figure 6 shows the assembly of the horizontal portion of the L-shaped arm fitted with the joint of figure 5.
  • Modified figure 7 is a longitudinal section of the vertical portion of the L-shaped arm together with the rotary joints associated therewith.
  • Modified figure 8 is an elevation, partially in longitudinal section, of the stabilizing system for the intermediate arm.
  • Modified figure 9 is top view of the intermediate arm fitted with rotary joints at its two ends.
  • Figure 10 is a side elevation partially in section of the arm of figure 10.
  • Figure 11 and modified figure 12 are longitudinal sections of consecutive portions of the outer arm together with the probe and the rotary joints.
  • Figure 13 is a flow diagram showing the network in which the several rotary encoders are connected and showing the data transmitted by radio frequency to a control computer;
  • Modified figure 14 is a flow diagram of the micro-controller associated with each rotary encoder.
  • the apparatus of the invention includes a remote processing station 2, see figure 13, comprising the computer 4 and the radio receiver and transmitter 6.
  • the apparatus further includes a measuring assembly generally indicated at 8, the mechanical parts of which are shown in figures 1 to 11 and the electronic parts of which are shown in figures 13 and 14.
  • the measuring assembly includes a base 10 mounted on caster wheels 12 which are disposed underneath a rigid framework 14 to the four corners of which are secured vertical levelling legs 16 each actuated for up and down movement by a linear actuator 18, driven by a reversible electric motor 20.
  • the four motors 20 are interconnected in a circuit including level measuring transducers (not shown) to automatically level base 10 once the base 10 has been moved to a position ready to start measuring a part such as an aircraft wing or the like.
  • the leveling command can be given by the operator at the remote station 2 or at the measuring assembly 8.
  • L shaped arm 22 On top of base 10 is mounted a rigid L shaped arm 22 which includes a horizontal portion 24 and a vertical portion 26.
  • L shaped arm 22 is rotatably mounted on top of the base 10 for rotation about a vertical axis by means of a rotary joint 28 which includes an outer cylindrical housing 30 having a top flange 32 and secured by bolts 34 to the top of the framework 14.
  • a tubular shaft 36 made of two sections, 37 and 37a welded together, the latter within the former, is located within housing 30 and two sets of ball bearings 38 and 40 respectively rotatably support shaft 36 within cylindrical housing 30.
  • Each set of ball bearings consists of two superposed angular bearings resisting radial and axial thrusts.
  • the outer races of the two ball bearings 38 are firmly retained between a shoulder 42 of cylindrical housing 30 and a retainer ring 44 secured to flange 32 by bolts 46.
  • the outer races are axially spaced by a spacer ring 48.
  • the inner race of the two ball bearings 38 are spaced from each other by a spacer ring 50 and are pressed together by a top disk 52 secured to the tubular shaft 36 by bolts 54 and by a flanged sleeve 56 surrounding and slidable relative to smaller tubular shaft section 37a and which exerts an axial action on the inner race of the two ball bearings 40 of the lower pair and which are retained in position by a washer 58 and a nut 60 screwed around the lower end of tubular shaft section 37a.
  • the degree of pre-loading of the top pair of ball bearings 38 can be precisely adjusted by using rings 48 and 50 of precisely selected differential height.
  • a photo electric scanning incremental rotary encoder 62 is secured to the lower end of cylindrical housing 30 through bolts 64 and collar 66 such that the rotatable tubular shaft 68 of the encoder 62 be co-axial with shaft 36, the latter being fitted with an extension 70 inserted with a tight fit within encoder shaft 68 and rotatably secured thereto by a spacer 72 and nut 74.
  • Encoder 62 measures precisely the angle of rotation of shaft 36 with respect to a zero reference which can be selected.
  • Top disk 52 has a central hole 53 which communicates with the inside of tubular shaft 36 and also with the inside of tubular extension 70 for the passage of electric wires interconnecting the several rotary encoders and also the temperature sensors to the electronic circuits within base 10 as will be described hereinafter.
  • the horizontal portion 24 of L-shaped arm 22 forms a tubular beam of approximately square cross section and its radially inner end is secured to the top disk 52 by bolts 76 with the intermediary of a pad 78.
  • the connection between the top disk 52 and arm horizontal portion 24 is further reinforced by an I beam 80 (See figure 6) .
  • the vertical portion 26 of the L shaped arm 22 is tubular, is inserted within the outer end of horizontal portion 24 and is rigidly secured thereto by means of a sleeve 82 and bolts 84.
  • a tubular shaft 86 is mounted co-axial within vertical arm portion 26 for rotation about a vertical axis by means of vertically spaced upper and lower pairs of ball bearings 88 and 90 respectively, thereby, constituting a second rotary joint 87.
  • a second rotary encoder 92 is secured to the lower end of vertical arm portion 26 and its rotatable tubular shaft 94 surrounds and is rigidly secured to an extension 96 secured to tubular shaft 86.
  • tubular shaft 86 carries a top disk 98 which is secured to a superposed cylindrical support 100.
  • the intermediate arm 102 (see figures 1, 7, 9 and 10) is connected to the upper end of the vertical arm portion 26 by means of a third rotary joint generally indicated at 104 and which has a rotation axis perpendicular to the rotation axis of the second rotary joint constituted by the shaft 86 and ball bearings 88, 90.
  • Third rotary joint 104 includes a transverse shaft 106 extending across support 100 and mounted in ball bearings 108. Shaft 106 is tighly fitted within the tubular shaft of a third rotary encoder 110, the casing of which is secured to support 100.
  • Intermediate arm 102 is tubular and fitted at its inner end with a solid insert 112 through which extends shaft 106 which is keyed therein by means of a tapered key 114.
  • the opposite end of shaft 106 carries a crank arm 116 to which is attached a counter balancing coil spring 118 (see figure 8) the opposite end of which is adjustably attached by means of the threaded telescopic part 120 to the outer end of a downward extension 124 fixed to support 100.
  • the outer end of intermediate arm 102 carries a fourth rotary joint 126, see figure 11, which is similar to the third rotary joint 104 and which is an articulation for an outer arm 128 with respect to the intermediate arm 102 about an axis transverse to both arms.
  • the fourth rotary joint 126 is fitted with a fourth rotary encoder 129 which is mounted as encoder 110.
  • the fourth rotary joint 126 can be equipped with a counter balancing system including a crank arm 116, a coil spring 118, a telescopic threaded attachment 120 and an extension 124 (See figure 7 and 8) .
  • outer arm 128 comprises an inner section 128a and an outer section 128b which are coaxial and join at a fifth rotary joint 130.
  • Inner section 128a includes concentric inner and outer tubes 132 and 134 secured to stirrup or support 100a of fourth joint 126 and to a spacer ring 135 and fifth joint 130.
  • Inner tube 132 has an inner tube extension 136 secured to inner tube 132 by a coupling collar 138.
  • Outer tube 140 of outer arm section 128b is rotatable around inner tube extension 136 by means of longitudinaly spaced ball bearings assemblies 142.
  • Inner tube extension 136 is terminated by a stud shaft 144 (see figure 12) which is connected by a flexible joint 146 to the shaft 148 of the fifth encoder 150 the casing of which is fixed to axially rotatable outer tube 140 which is extended by an outer tube extension 140a which carries a sixth rotary joint 152 by means of which a probe holder 154 is pivoted to outer tube extension 140a for rotation about a transverse axis.
  • Probe holder 154 carries a touch probe 156 and is secured to a collar 158 which is keyed onto a transverse shaft 160 rotatably mounted by ball bearings 162 in a holder assembly 164 secured to outer tube extension 140a.
  • This holding assembly 164 carries the stator of a sixth encoder 166.
  • Probe holder 154 is of known construction, it includes a pressure switch which closes to send a signal when probe 156 is lightly pressed against a part being measured. Probe holder 154 and encoders 166, 150, 129, 110 and 92 each require a single data transmitting wire which extends through the hollow arms 128,102 and 22 and through passages in the joints to be connected to micro-controllers 172.
  • Thermic sensors 174 are located in the various arms and connected to the micro-controllers 172.
  • a shock loading alarm system 176 is located in base 10. This alarm system is of known construction. It stops the operation of the measuring assembly when shock loading exceeds a predetermined maximum. It includes three accelerometers mounted on the base along XYZ axes.
  • Each encoder sends two sinusoidal signals which are out of phase to indicate the direction of rotation.
  • each micro-controller 172 has a sinusoidal signal amplifier 182 which is connected to the associated angular sensor.
  • the two out- of-phase sinusoidal signals of repeatetivity are cleaned by a signal cleaner 184, then compared by a signal comparator 186, the output of which is sent to a left- right rotation discriminator 188.
  • the output of the latter is sent to an encoder steps counter 190, the output of which is converted from analog to digital in a converter 192.
  • the resulting signal is sent to an arithmetic and processing unit 194 which also receives data from the associated thermic sensor 174.
  • the output of counter 190 is also sent to a state function register 196, the output of which is connected to unit 194.
  • the whole micro-controller is fed with regulated tensions through tension stabilizer 198.
  • the output of unit 194 is sent to the network adapter 178 (see also Figure 13) .
  • An analogic interface module 200 of converter 192 is connected to signal cleaner 184. This interface is a “sample and hold module” that continuously calculates the average oscillations of the angular sensors.
  • Three types of standard converters 192 can divide one pulse by 256, 512 or 1024 meaning that for instance, 256 instantaneous values per pulses are stored and converted to a digital value.
  • the resulting digital signals can be averaged in the processing unit 194 or in computer 4 and converted to an angle measurement. Therefore, supposing there are 36,000 pulses sent by one encoder during one complete rotation of 360°, the resulting precision or resolution of the measured angle is multiplied by 256, 512 or 1024 depending on the selected converter 192.
  • the measuring apparatus is on wheels, this facilitates its manoeuverability and the accessibility to the part being measured.
  • the apparatus can be automatically levelled its measuring precision is not affected by floor irregularities .
  • each micro-controller is capable of recording at any time several instanteneous angular position values per pulse emitted by the associated encoder and is programmed to calculate the average of said several values, this minimezes any erroneous reading which could be produced by possible mechanical vibrations.
  • each micro-controller can be selectively set to zero by the operating software and be given a predetermined value that suits any potential application. This way, proper values can be given to each angular sensor which can be properly converted, resulting in extensive calculating time saving in the arithmetic processing unit 194, and also in the computer 4.
  • each micro-controller reads and transmits the temperature of at least one of the two arms interconnected by a rotary joint where the angle is read whereby proper temperature compensation corrections can be made even if the arms of the measuring machine are subjected to a large temperature gradient.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'appareil mesure les coordonnées XYZ d'un point sur une pièce de façon à déterminer sa position dans l'espace. Il est constitué d'un ensemble de mesure mobile et d'un poste de télétraitement. L'ensemble comprend des éléments bras rigides disposés en série, fixés par des articulations rotatives à une base pourvue de roues et à une sonde permettant d'immobiliser la pièce. Un codeur rotatif, fixé sur chaque articulation, permet de mesurer l'angle de rotation d'un élément bras par rapport à l'autre; chaque codeur envoie un signal sinusoïdal analogique à un microcontrôleur associé comprenant un numériseur et une unité de traitement, de façon à générer un signal numérique indiquant un angle de rotation instantané. Tous les contrôleurs sont connectés en réseau et la résultante des lectures simultanées de tous les codeurs est envoyée, par un émetteur RF fixé sur la base, à la station de télétraitement équipée d'un récepteur radio et d'un ordinateur qui traite les données transmises de façon à les transformer en coordonnées de mesure. Pour augmenter la précision des mesures, chaque microcontrôleur est capable de faire plusieurs lectures instantanées de l'impulsion sinusoïdale émise par le codeur et de faire une moyenne desdites lectures. La base comporte un dispositif de mise à niveau automatique, et chaque bras porte un capteur de température permettant d'effectuer la compensation de température. L'enregistrement des données s'arrête automatiquement si l'appareil est soumis à des vibrations ou des chocs excessifs.
PCT/CA1997/000103 1996-08-23 1997-02-14 Appareil pour mesurer les coordonnees WO1998008050A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU15871/97A AU1587197A (en) 1996-08-23 1997-02-14 Coordinate measuring apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA 2183004 CA2183004A1 (fr) 1996-08-23 1996-08-23 Machine de mesure a bras articule
CA2,183,004 1996-08-23

Publications (1)

Publication Number Publication Date
WO1998008050A1 true WO1998008050A1 (fr) 1998-02-26

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AU (1) AU1587197A (fr)
CA (1) CA2183004A1 (fr)
WO (1) WO1998008050A1 (fr)

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FR2781045A1 (fr) * 1998-07-08 2000-01-14 Faro Tech Inc Systeme de mesure de coordonnees tridimensionnelles
DE19831945A1 (de) * 1998-07-16 2000-02-03 Zett Mess Technik Gmbh Höhenmeß- und Anreißgerät
WO2001013060A1 (fr) * 1999-08-13 2001-02-22 Advanced Sensor Technologies Llc Systeme de detection de la position d'une sonde a utiliser dans une machine de mesure des coordonnees
GB2375026A (en) * 1998-07-08 2002-10-30 Faro Tech Inc Moveable articulated arm for coordinate measuring machine with position transducers connected to a controller via a serial network
WO2005017451A1 (fr) * 2003-08-15 2005-02-24 Faro Technologies, Inc. Procede de retroaction destine a l'operateur d'une machine portative de mesure de coordonnees
US6920697B2 (en) 2002-02-14 2005-07-26 Faro Technologies, Inc. Portable coordinate measurement machine with integrated touch probe and improved handle assembly
US7006084B1 (en) 2000-09-26 2006-02-28 Faro Technologies, Inc. Method and system for computer aided manufacturing measurement analysis
WO2007033273A2 (fr) * 2005-09-13 2007-03-22 Romer Incorporated Véhicule muni d’un dispositif d’articulation
US7546689B2 (en) 2007-07-09 2009-06-16 Hexagon Metrology Ab Joint for coordinate measurement device
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US7743524B2 (en) 2006-11-20 2010-06-29 Hexagon Metrology Ab Coordinate measurement machine with improved joint
US7774949B2 (en) 2007-09-28 2010-08-17 Hexagon Metrology Ab Coordinate measurement machine
US7779548B2 (en) 2008-03-28 2010-08-24 Hexagon Metrology, Inc. Coordinate measuring machine with rotatable grip
US7805854B2 (en) 2006-05-15 2010-10-05 Hexagon Metrology, Inc. Systems and methods for positioning and measuring objects using a CMM
USRE42082E1 (en) 2002-02-14 2011-02-01 Faro Technologies, Inc. Method and apparatus for improving measurement accuracy of a portable coordinate measurement machine
US20110178753A1 (en) * 2010-01-20 2011-07-21 Faro Technologies, Inc. Portable Articulated Arm Coordinate Measuring Machine and Integrated Environmental Recorder
US8122610B2 (en) 2008-03-28 2012-02-28 Hexagon Metrology, Inc. Systems and methods for improved coordination acquisition member comprising calibration information
US8127458B1 (en) 2010-08-31 2012-03-06 Hexagon Metrology, Inc. Mounting apparatus for articulated arm laser scanner
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US8931182B2 (en) 2002-02-14 2015-01-13 Faro Technologies, Inc. Portable coordinate measurement machine having a handle that includes electronics
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US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
US9594250B2 (en) 2013-12-18 2017-03-14 Hexagon Metrology, Inc. Ultra-portable coordinate measurement machine
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CN107014331A (zh) * 2017-05-31 2017-08-04 中国计量大学 一种关节臂测量力误差辨识装置及误差辨识校正方法
US9759540B2 (en) 2014-06-11 2017-09-12 Hexagon Metrology, Inc. Articulating CMM probe
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US10281259B2 (en) 2010-01-20 2019-05-07 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features

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Cited By (92)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2339370A (en) * 1998-07-08 2000-01-19 Faro Tech Inc Moveable articulated arm for a coordinate measuring machine with position transducers connected to a controller via a serial network
US6219928B1 (en) 1998-07-08 2001-04-24 Faro Technologies Inc. Serial network for coordinate measurement apparatus
GB2375026A (en) * 1998-07-08 2002-10-30 Faro Tech Inc Moveable articulated arm for coordinate measuring machine with position transducers connected to a controller via a serial network
GB2339370B (en) * 1998-07-08 2002-12-18 Faro Tech Inc Serial network for coordinate measurement apparatus
GB2375026B (en) * 1998-07-08 2002-12-18 Faro Tech Inc Serial network for coordinate measurement apparatus
DE19928716B4 (de) * 1998-07-08 2011-08-18 Faro Technologies, Inc., Fla. Vorrichtung zur Übermittlung von Positionsdaten in einer Koordinatenmessvorrichtung
FR2781045A1 (fr) * 1998-07-08 2000-01-14 Faro Tech Inc Systeme de mesure de coordonnees tridimensionnelles
DE19831945A1 (de) * 1998-07-16 2000-02-03 Zett Mess Technik Gmbh Höhenmeß- und Anreißgerät
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