Ultra-light and ultra-accurate portable coordinate measurement machine

• US 10,267,614 B2
• Filed: 10/11/2017
• Issued: 04/23/2019
• Est. Priority Date: 04/13/2017
• Status: Active Grant

• Current Assignee: SA08700334
• Original Assignee: SA08700334
• Inventors: Sajedi, Allen
• Primary Examiner(s): Fulton, Christopher W
• Application Number:
  US15/730,517
• Publication Number:
  US 20180299242A1
• Time in Patent Office: 559 Days
• Field of Search: 33503
• CPC Class Codes: G01B 1/00 Measuring instruments characterised by the selection of material therefor
• CPC Class Codes: G01B 2210/58 Wireless transmission of information between a sensor or probe and a control or evaluation unit
• CPC Class Codes: G01B 5/0004 Supports G01B5/025 takes precedence
• CPC Class Codes: G01B 5/0014 due to temperature on machine tools B23Q11/0003
• CPC Class Codes: G01B 5/0016 due to weight on machine tools B23Q11/001
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/37193 Multicoordinate measuring system, machine, cmm
• CPC Class Codes: G05B 2219/49054 Active damping of tool vibration
• CPC Class Codes: H04B 1/02 Transmitters

Abstract

A portable coordinate measurement machine (CMM) includes an articulated arm including arm segments and rotary joints. At least one of the rotary joints includes a shaft configured to rotate about an axis of rotation of at least one of the rotary joints. The shaft includes a middle portion and first and second end portions fixedly attached to ends of the middle portion. At least one of the rotary joints includes first and second housing ends, the first housing end having an inner diameter that engages an outer diameter of the first bearing and the second housing end having an inner diameter that engages an outer diameter of the second bearing. The first and second bearings are preloaded to remove play.

Claims

1. A portable coordinate measurement machine (CMM) comprising:

a manually-positionable articulated arm having first and second ends, the articulated arm including a plurality of arm segments and a plurality of rotary joints, the first end including a connector configured to connect to a measurement probe and the second end including a base;

wherein at least one of the rotary joints includes;

first and second bearings;

a shaft including a middle portion made of a material having a strength to weight ratio higher than steel and first and second discrete end portions fastened to be fixedly attached to ends of the middle portion, the first and second end portions being concentric to within one tenth of one thousands of an inch (0.0001″

), the first end portion engages an inner diameter of the first bearing and the second end portion engages an inner diameter of the second bearing, the shaft configured to rotate about an axis of rotation of the first bearing and the second bearing;

a housing including a middle portion made of a material having a strength to weight ratio higher than steel and first and second discrete housing ends fastened to be fixedly attached to ends of the middle portion, the first housing end having an inner diameter that engages an outer diameter of the first bearing and the second housing end having an inner diameter that engages an outer diameter of the second bearing, the first and second housing ends being concentric to within five tenth of one thousands of an inch (0.0005″

),

wherein the first and second bearings are preloaded to remove play; and

at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft relative to the housing about the axis of rotation.

2. The CMM of claim 1, wherein the at least one of the rotary joints includes:

a rotary damper operably coupled to the shaft and the housing and configured to provide controlled damping of rotational movement of the shaft about the axis of rotation, or

rotary damping built into the at least one of the rotary joints to provide controlled damping of rotational movement of the shaft about the axis of rotation.

3. The CMM of claim 1, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

a circuit operably connected to the at least one transducer and configured to output a speed and direction signal corresponding to the speed of the rotational movement of the shaft about the axis of rotation.

4. The CMM of claim 1, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

at least one strain gauge operably coupled to at least one of the shaft and the housing and configured to sense strain on the at least one of the shaft or the housing due to the rotational movement of the shaft about the axis of rotation and to output a strain signal.

5. The CMM of claim 1, wherein

in at least one joint of the plurality of joints a) the shaft that engages the inner diameter of at least one of the first bearing and the second bearing and b) the port of the housing that engages the outer diameter of at least one of the first bearing and the second bearing are fabricated of steel, or

a first joint, from the plurality of joints, is attached to a second joint, from the plurality of joints, by a steel structure that is in contact with the inner or outer of a bearing of the first joint or the inner or outer race of a bearing of the second joint, or

all structural portions of at least one of the plurality of rotary joints are fabricated of steel.

6. The CMM of claim 1, wherein any structural portions of the CMM including the plurality of arm segments and the plurality of rotary joints are fabricated of a controlled expansion alloy lighter in weight than steel and having a thermal expansion coefficient matching that of steel or stainless steel in the range of between of 9.9 to 18 μ

m/m°

C. at 25°

C.

7. The CMM of claim 1, the measurement probe including a handle mechanically but not electrically operably coupled to the first end, the handle rotatably coupled to the first end to rotate about a central axis of the measurement probe, the handle including:

a wireless transmitter; and

at least one switch button operably connected to the wireless transmitter and configured to, when pressed, cause the wireless transmitter to transmit a wireless signal that corresponds to the CMM taking a measurement.

8. The CMM of claim 1, comprising:

an electrical circuit including a serial communication circuit configured without a dedicated capture wire to receive the angle signal and other signals from other transducers in the CMM, the electrical circuit configured to output an agglomeration of the angle signal and the other signals to provide information corresponding to a position of the measurement probe relative to the base.

9. A portable coordinate measurement machine (CMM) comprising:

a manually-positionable articulated arm having first and second ends, the articulated arm including a plurality of arm segments and a plurality of rotary joints, the first end including a connector configured to connect to a measurement probe and the second end including a base;

wherein at least one of the rotary joints includes;

first and second bearings;

a shaft including a middle portion made of a material having a strength to weight ratio higher than steel and first and second discrete end portions bonded to be fixedly attached to ends of the middle portion, the first and second end portions being concentric to within one tenth of one thousands of an inch (0.0001″

), the first end portion engages an inner diameter of the first bearing and the second end portion engages an inner diameter of the second bearing, the shaft configured to rotate about an axis of rotation of the first bearing and the second bearing;

a housing having at least one port that engages at least one of an outer diameter of the first bearing and an outer diameter of the second bearing,

wherein the first and second bearings are preloaded to remove play;

at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft relative to the housing about the axis of rotation.

10. The CMM of claim 9, wherein the at least one of the rotary joints includes:

a rotary damper operably coupled to the shaft and the housing and configured to provide controlled damping of rotational movement of the shaft about the axis of rotation.

11. The CMM of claim 9, wherein rotary damping is built into the at least one of the rotary joints to provide controlled damping of rotational movement of the shaft about the axis of rotation.

12. The CMM of claim 9, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

a circuit operably connected to the at least one transducer and configured to output a speed signal corresponding to the speed of the rotational movement of the shaft about the axis of rotation based on the angle signal and time, the circuit further configured to compare the speed signal to a predetermined speed threshold to determine whether the rotational movement occurred at excessive speed or as a result of excessive torque.

13. The CMM of claim 9, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

at least one strain gauge operably coupled to at least one of the shaft and the housing and configured to sense strain on the at least one of the shaft and the housing due to the rotational movement of the shaft about the axis of rotation and to output a strain signal; and

the CMM includes;

a circuit configured to calculate location of the measurement probe based in part on the strain signal.

14. The CMM of claim 9, wherein in at least one joint of the plurality of joints a) the shaft that engages the inner diameter of at least one of the first bearing and the second bearing and b) the port of the housing that engages the outer diameter of at least one of the first bearing and the second bearing are fabricated of steel.

15. The CMM of claim 9, wherein a first joint, from the plurality of joints, is attached to a second joint, from the plurality of joints, by a steel structure that is in contact with the inner or outer of a bearing of the first joint or the inner or outer race of a bearing of the second joint.

16. The CMM of claim 9, wherein all structural portions of at least one of the plurality of rotary joints are fabricated of steel.

17. The CMM of claim 9, wherein any structural portions of the CMM including the plurality of arm segments and the plurality of rotary joints are fabricated of a controlled expansion alloy lighter in weight than steel and having a thermal expansion coefficient matching that of steel or stainless steel in the range of between of 9.9 to 18 μ

m/m°

C. at 25°

C.

18. The CMM of claim 9, the measurement probe including a handle mechanically but not electrically operably coupled to the first end, the handle rotatably coupled to the first end to rotate about a central axis of the measurement probe, the handle including:

a wireless transmitter; and

at least one switch button operably connected to the wireless transmitter and configured to, when pressed, cause the wireless transmitter to transmit a wireless signal that causes the CMM to take a measurement.

19. The CMM of claim 9, comprising:

an electrical circuit including a serial communication circuit configured without a dedicated capture wire to receive the angle signal and other angle signals from other transducers in the CMM, the electrical circuit configured to output an agglomeration of the angle signal and the other angle signals to provide information corresponding to a position of the measurement probe relative to the base.

20. A portable coordinate measurement machine (CMM) comprising:

a manually-positionable articulated arm having first and second ends, the articulated arm including a plurality of arm segments and a plurality of rotary joints, the first end including a connector configured to connect to a measurement probe and the second end including a base;

wherein at least one of the rotary joints includes;

first and second bearings;

a shaft including a middle portion made of a material having a strength to weight ratio higher than steel and first and second discrete end portions fastened to be fixedly attached to ends of the middle portion, the shaft engages an inner diameter of the first bearing and an inner diameter of the second bearing, the shaft configured to rotate about an axis of rotation of the first bearing and the second bearing;

first and second housing ends, the first housing end having an inner diameter that engages an outer diameter of the first bearing and the second housing end having an inner diameter that engages an outer diameter of the second bearing, the first and second housing ends being concentric to within five tenth of one thousands of an inch (0.0005″

),

wherein the first and second bearings are preloaded to remove play; and

at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft relative to the housing about the axis of rotation.

21. The CMM of claim 20, wherein the at least one of the rotary joints includes:

a rotary damper operably coupled to the shaft and the housing and configured to provide controlled damping of rotational movement of the shaft about the axis of rotation.

22. The CMM of claim 20, wherein rotary damping is built into the at least one of the rotary joints to provide controlled damping of rotational movement of the shaft about the axis of rotation.

23. The CMM of claim 20, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

a circuit operably connected to the at least one transducer and configured to output a speed signal corresponding to the speed of the rotational movement of the shaft about the axis of rotation based on the angle signal and time, the circuit further configured to compare the speed signal to a predetermined speed threshold to determine whether the rotational movement occurred at excessive speed or as a result of excessive torque.

24. The CMM of claim 20, wherein

the at least one of the rotary joints includes:

a rotary damping mechanism configured to provide controlled damping of rotational movement of the shaft about the axis of rotation; and

at least one strain gauge operably coupled to at least one of the shaft and the housing and configured to sense strain on the at least one of the shaft and the housing due to the rotational movement of the shaft about the axis of rotation and to output a strain signal; and

the CMM includes;

a circuit configured to calculate location of the measurement probe based in part on the strain signal.

25. The CMM of claim 20, wherein in at least one joint of the plurality of joints a) the shaft that engages the inner diameter of at least one of the first bearing and the second bearing and b) the port of the housing that engages the outer diameter of at least one of the first bearing and the second bearing are fabricated of steel.

26. The CMM of claim 20, wherein a first joint, from the plurality of joints, is attached to a second joint, from the plurality of joints, by a steel structure that is in contact with the inner or outer of a bearing of the first joint or the inner or outer race of a bearing of the second joint.

27. The CMM of claim 20, wherein all structural portions of at least one of the plurality of rotary joints are fabricated of steel.

28. The CMM of claim 20, wherein any structural portions of the CMM including the plurality of arm segments and the plurality of rotary joints are fabricated of a controlled expansion alloy lighter in weight than steel and having a thermal expansion coefficient matching that of steel or stainless steel in the range of between of 9.9 to 18 μ

m/m°

C. at 25°

C.

29. The CMM of claim 20, the measurement probe including a handle mechanically but not electrically operably coupled to the first end, the handle rotatably coupled to the first end to rotate about a central axis of the measurement probe, the handle including:

a wireless transmitter; and

at least one switch button operably connected to the wireless transmitter and configured to, when pressed, cause the wireless transmitter to transmit a wireless signal that causes the CMM to take a measurement.

30. The CMM of claim 20, comprising:

an electrical circuit including a serial communication circuit configured without a dedicated capture wire to receive the angle signal and other angle signals from other transducers in the CMM, the electrical circuit configured to output an agglomeration of the angle signal and the other angle signals to provide information corresponding to a position of the measurement probe relative to the base.