Coordinate measurement machine with articulated arm and software interface

• US 6,366,831 B1
• Filed: 01/12/1999
• Issued: 04/02/2002
• Est. Priority Date: 02/23/1993
• Status: Expired due to Fees

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Raab, Simon
• Primary Examiner(s): Grant, William
• Assistant Examiner(s): Rao, Sheela S
• Application Number:
  US09/228,299
• Time in Patent Office: 1,176 Days
• Field of Search: 700/262, 335/05
• US Class Current: 700/262
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05B 2219/37193 Multicoordinate measuring system, machine, cmm
• CPC Class Codes: G05B 2219/39028 Relative to base calibrated 6-DOF device, cmm connected between wrist and base
• CPC Class Codes: G05B 2219/40233 Portable robot
• CPC Class Codes: G05B 2219/41176 Compensation control, position error with data from lookup memory
• CPC Class Codes: G05B 2219/45061 Measuring robot

Abstract

A novel, portable coordinate measuring machine comprises a multijointed (preferably six joints) manually positionable measuring arm for accurately and easily measuring a volume. In addition to the articulated measuring arm, the present invention employs a software interface which permits the arm to be used in connection with one or more applications programs.

Claims

1. A three dimensional coordinate measuring system comprising:

a movable arm having opposed first and second ends, said arm including a plurality of joints with each joint corresponding to a degree of freedom such that said arm is movable within a selected volume, each of said joints comprising a rotational transfer housing and a transducer housed in said rotational transfer housing, each of said transducers producing a position signal;

a support base attached to said first end of said movable arm;

a probe attached to said second end of said movable arm; and

an electronic circuit including an interface for receiving said position signals from said transducer and providing digital position coordinates corresponding to the position of said probe in a selected volume;

wherein said interface includes;

a communication port for a host computer running at least one application program using digital position coordinates as input data;

a memory containing data handling software specific for said at least one application program running on said host computer; and

at least one microprocessor for executing said data handling software responsive to the specific application program currently running on said host computer, so that said digital position coordinates are pre-processed to be commensurate with data input requirements of the specific application program currently running on said host computer.

2. The system of claim 1 wherein:

said memory contains data handling software specific for a plurality of application programs running on said host computer.

3. The system of claim 1 wherein:

the application program is CAD/CAM program.

4. The system of claim 2 wherein:

the application programs comprise CAD/CAM programs.

5. A device for recording three dimensional coordinates, comprising:

a movable arm having a first and a second end, said arm including a plurality of joints, each joint corresponding to a degree of freedom, such that said arm is movable within a selected volume, and each of said joints comprising a rotational transfer housing with an integrated transducer for generating position signals corresponding to the angular position of the respective joint;

a support base attached to said first end of said movable arm;

a probe attached to said second end of said movable arm; and

electronic evaluation logic for calculating on the basis of said position signals of the transducer, the position of the probe wherein said electronic evaluation logic comprises an intelligent interface with a connection port for a separate computer and wherein a processing unit is integrated onto the intelligent interface, said processing unit calculating on a continuous basis position and/or orientation data of the probe, and wherein a specific protocol is preprogrammed into the intelligent interface for at least one user program running on a computer connected to said connection port, said protocol enabling said intelligent interface to respond at its connection port to a polling request of the computer with position and/or orientation data calculated by the separate processing unit.

6. The device of claim 5 wherein:

said specific protocol is programmed into the intelligent interface for a plurality of programs running on the computer.

7. The device of claim 5 wherein:

said program is a CAD/CAM program.

8. The device of claim 6 wherein:

said programs comprise CAD/CAM programs.

9. The device of claim 5 wherein:

said intelligent interface comprises an analog-to-digital converter/digital counter circuit for simultaneous capture of data from said transducers.

10. The device of claim 9 wherein:

said specific protocol is programmed into the intelligent interface for a plurality of programs running on the computer.

11. The device of claim 9 wherein:

said program is a CAD/CAM program.

12. The device of claim 10 wherein:

said programs comprise CAD/CAM programs.