Spatial measuring device
DCFirst Claim
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1. An articulated spatial coordinate measuring arm which comprises:
- a supporting base;
a proximal transfer member having a proximal end and a distal end;
an intermediate transfer member having a proximal end and a distal end;
a distal transfer member having a proximal end and a distal end;
a probe having a proximal end and a distal end;
a first joint assembly swivelingly connecting said proximal end of said proximal member to said base;
a second joint assembly swivelingly and hingedly connecting the distal end of said proximal member to the proximal end of said intermediate member;
a third joint assembly swivelingly and hingedly connecting the distal end of said intermediate member to the proximal end of said distal member; and
a fourth joint assembly hingedly connecting the proximal end of said probe to the distal end of said distal member;
wherein at least one of said first, second and third joint assemblies has at least one degree of freedom capable of sweeping through an unlimited arc;
wherein said at least one of said first, second and third joint assemblies comprises at least one multi-contact slip-ring sub-assembly for transmitting electrical signals therethrough; and
wherein each of said first, second and third joint assemblies has an unlimited range of swiveling motion.
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Abstract
An articulated coordinate measuring arm having swiveling joints which are unlimited by an end-stops. Power and signals are transmitted through a swiveling joint using a multi-conductor electrical slip-ring sub-assembly. Joint position transducer signal conditioners are closely located to the joint position transducers to reduce signal noise degradation. Rigid transfer members connecting the joints comprise a freely rotating shaft mounted within an outer sheath, wherein both shaft and sheath extend substantially the length of the transfer member, and the shaft outer diameter approaches that of the sheath inner diameter.
288 Citations
17 Claims
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1. An articulated spatial coordinate measuring arm which comprises:
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a supporting base; a proximal transfer member having a proximal end and a distal end; an intermediate transfer member having a proximal end and a distal end; a distal transfer member having a proximal end and a distal end; a probe having a proximal end and a distal end; a first joint assembly swivelingly connecting said proximal end of said proximal member to said base; a second joint assembly swivelingly and hingedly connecting the distal end of said proximal member to the proximal end of said intermediate member; a third joint assembly swivelingly and hingedly connecting the distal end of said intermediate member to the proximal end of said distal member; and a fourth joint assembly hingedly connecting the proximal end of said probe to the distal end of said distal member; wherein at least one of said first, second and third joint assemblies has at least one degree of freedom capable of sweeping through an unlimited arc; wherein said at least one of said first, second and third joint assemblies comprises at least one multi-contact slip-ring sub-assembly for transmitting electrical signals therethrough; and wherein each of said first, second and third joint assemblies has an unlimited range of swiveling motion. - View Dependent Claims (2)
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3. An articulated spatial coordinate measuring arm which comprises:
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a supporting base; a proximal transfer member having a proximal end and a distal end; an intermediate transfer member having a proximal end and a distal end; a distal transfer member having a proximal end and a distal end; a probe having a proximal end and a distal end; a first joint assembly swivelingly connecting said proximal end of said proximal member to said base; a second joint assembly swivelingly and hingedly connecting the distal end of said proximal member to the proximal end of said intermediate member; a third joint assembly swivelingly and hingedly connecting the distal end of said intermediate member to the proximal end of said distal member; and a fourth joint assembly hingedly connecting the proximal end of said probe to the distal end of said distal member; wherein at least one of said first, second and third joint assemblies has at least one degree of freedom capable of sweeping through an unlimited arc; and wherein each of said members comprises; an inner tubular shaft having a first end and an opposite second end; said first end being fixedly attached to a first one of said joint assemblies at a first end of said member; an outer tubular sheath co-axially surrounding said inner tubular shaft, and said sheath having a first extremity and an opposite second extremity; said second extremity being fixedly attached to a second one of said joint assemblies at a second end of said member opposite said first end; a first bearing rotatively mounting said first end of said shaft proximal to said first extremity of said sheath; and a second bearing rotatively mounting said second end of said shaft proximal to said second extremity of said sheath.
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4. An articulated spatial coordinate measuring arm which comprises:
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a supporting base; a proximal transfer member having a proximal end and a distal end; an intermediate transfer member having a proximal end and a distal end; a distal transfer member having a proximal end and a distal end; a probe having a proximal end and a distal end; a first joint assembly swivelingly connecting said proximal end of said proximal member to said base; a second joint assembly swivelingly and hingedly connecting the distal end of said proximal member to the proximal end of said intermediate member; a third joint assembly swivelingly and hingedly connecting the distal end of said intermediate member to the proximal end of said distal member; and a fourth joint assembly hingedly connecting the proximal end of said probe to the distal end of said distal member; wherein each of said first, second and third joint assemblies comprises at least one multi-contact slip-ring sub-assembly for transmitting electrical signals therethrough; wherein each of said members comprises; an inner tubular shaft having a first end and an opposite second end; said first end being fixedly attached to a first one of said joint assemblies at a first end of said shaft; an outer tubular sheath co-axially surrounding said inner tubular shaft, and said sheath having a first extremity and an opposite second extremity; said second extremity being fixedly attached to a second one of said joint assemblies at a second end of said member opposite said first end; a first bearing mounting said first end of said shaft proximal to said first extremity of said sheath; and a second bearing supporting said second extremity of said sheath proximal said second end of said shaft. - View Dependent Claims (5, 6, 7, 8)
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9. In a coordinate measuring device, having an articulated arm having at least one oblong rigid transfer member and a joint having an axis of rotation substantially in-line with a major axis of said member, an improvement comprising:
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means for allowing said joint to have an unlimited range of swiveling motion; wherein said means for allowing comprise; said member comprising; a first tubular sheath; a second tubular shaft sized and dimensioned to freely rotate within said sheath; and means for rotatively mounting said shaft within said sheath; and wherein said improvement further comprises; a first signal conditioning unit mounted within said shaft. - View Dependent Claims (10, 11, 12)
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13. An articulated coordinate measuring arm comprising:
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a plurality of rigid transfer members; means for pivotably connecting a first one of said members to an adjacent one of said members; said means comprise; a joint assembly having at least one degree of freedom capable of sweeping through an unlimited arc; and wherein said first one of said transfer members comprises; an inner tubular shaft having a first end and an opposite second end; said first end being fixedly attached to said joint assembly; an outer tubular sheath having a first extremity and an opposite second extremity; a first bearing rotatively mounting said first end of said shaft proximal to said first extremity of said sheath; and a second bearing rotatively mounting said second end of said shaft proximal to said second extremity of said sheath, and coaxial with said first bearing. - View Dependent Claims (14, 15, 16, 17)
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Specification