Portable coordinate measurement machine with improved counter balance

• US 6,904,691 B2
• Filed: 02/13/2003
• Issued: 06/14/2005
• Est. Priority Date: 02/14/2002
• Status: Expired due to Term

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Hasloecher, Kenneth J., Raab, Simon, Barber, Marc, Sajedi, Seyed Ali
• Primary Examiner(s): Fulton, Christopher W.
• Assistant Examiner(s): Gonzalez, Madeline
• Application Number:
  US10/366,591
• Publication Number:
  US 20030172536A1
• Time in Patent Office: 852 Days
• Field of Search: 335/03, 335/56, 335/58, 335/59, 335/61, 901/15, 901/48, 901/28, 744/900.1, 744/900.5
• US Class Current: 33/503
• CPC Class Codes: B23Q 35/04 using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
• CPC Class Codes: B25J 17/025 mounted in series
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 9/0012 making use of synthetic construction materials, e.g. plastics, composites
• CPC Class Codes: B25J 9/023 Cartesian coordinate type
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G01B 11/005 coordinate measuring machines
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence
• CPC Class Codes: G01B 5/004 for measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: Y10S 33/01 Magnetic

Abstract

A portable coordinate measurement machine comprises an articulated arm having jointed arm segments. The articulated arm includes an integrated, internal counter-balance in one of its hinge joints. This counter-balance utilizes a coil spring having relatively wide end rings and narrower internal rings machined from a metal cylinder. The spring further includes at least two posts for locking into the hinge structure of the arm as well as a spring adjustment mechanism.

Claims

1. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal, two of said jointed arm segments having a hinge joint therebetween, said hinge joint being positioned within a housing component of said articulated arm, said housing component constituting a structural component of said arm such that said housing component comprises a load bearing skeletal component of said arm;

a spring counter-balance comprising a spring coaxially mounted around said hinge joint and within said housing component, wherein said spring counter-balance is an integral and internally mounted component of said articulated arm;

a measurement probe attached to a first end of said articulated arm;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume.

2. The CMM of claim 1 wherein:

said spring is machined from a metal cylinder.

3. The CMM of claim 2 wherein:

said spring includes a pair of opposed wider end rings and narrower internal rings.

4. The CMM of claim 3 wherein said hinge joint comprises a substantially cylindrical component having a recessed interior portion defined by a pair of shoulders and a smaller diameter cylindrical surface between said shoulders and wherein:

said spring is positioned on said recessed portion and said end rings are captured between said shoulders.

5. The CMM of claim 3 including:

at least one locking post on one of said end rings and at least one locking post on the other of said end rings, said posts mating with complimentary locking grooves in said two arm segments.

6. The CMM of claim 5 including:

at least two locking posts on one of said end rings.

7. The CMM of claim 1 wherein:

said spring includes a pair of opposed wider end rings and narrower internal rings.

8. The CMM of claim 7 wherein said hinge joint comprises a substantially cylindrical component having a recessed interior portion defined by a pair of shoulders and a smaller diameter cylindrical surface between said shoulders and wherein:

said spring is positioned on said recessed portion and said end rings are captured between said shoulders.

9. The CMM of claim 7 including:

at least one locking post on one of said end rings and at least one locking post on the other of said end rings, said posts mating with complimentary locking grooves in said two arm segments.

10. The CMM of claim 9 including:

at least two locking posts on one of said end rings.

11. The CMM of claim 9 including:

an adjustment device in contact with said at least one post for urging said post circumferentially and thereby adjusting the wind-up of said spring.

12. The CMM of claim 11 wherein said adjustment device comprises a screw.

13. The CMM of claim 1 wherein:

said spring counter balance is mountable around said hinge joint in a first direction to facilitate mounting said articulated arm on a ceiling or the like and in a second direction to facilitate mounting on a floor or the like.

14. The CMM of claim 1 wherein said housing component comprises a pair of mating socket members, said hinge joint being captured in said socket members.

15. The portable coordinate measurement machine of claim 1 wherein:

said hinge joint comprises a substantially cylindrical component having a recessed interior portion defined by a pair of shoulders and a smaller diameter cylindrical surface between said shoulders and wherein;

said spring counter-balance is positioned on said recessed portion between said shoulders.

16. The CMM of claim 15 wherein:

said spring is machined from a metal cylinder.

17. The CMM of claim 16 wherein:

said spring includes a pair of opposed wider end rings and narrower internal rings.

18. The CMM of claim 15 wherein:

said spring includes a pair of opposed end rings.

19. The CMM of claim 18 including:

at least one locking post on one of said end rings and at least one locking post on the other of said end rings, said posts mating with complimentary locking grooves in said two arm segments.

20. The CMM of claim 19 including:

at least two locking posts on one of said end rings.

21. The CMM of claim 19 including:

an adjustment device in contact with said at least one post for urging said post circumferentially and thereby adjusting the wind-up of said spring.

22. The CMM of claim 21 wherein said adjustment device comprises a threaded member.

23. The CMM of claim 18 wherein:

said end rings are captured between said shoulders.

24. The CMM of claim 15 wherein:

said spring counter balance is mountable around said hinge joint in a first direction to facilitate mounting said articulated arm on a ceiling or the like and in a second direction to facilitate mounting on a floor or the like.

25. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a counter-balance mounted as an integral and internal component of said articulated arm, said counter-balance comprising a spring which is machined from a metal cylinder, said spring having a pair of opposed end rings and a plurality of internal rings therebetween;

at least one locking post on one of said end rings and at least one locking post on the other of said end rings, said posts mating with complimentary locking grooves in said two arm segments;

a measurement probe attached to a first end of said articulated arm;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume.

26. The CMM of claim 25 wherein:

said pair of opposed end rings are wider relative to said internal rings which are narrower.

27. The CMM of claim 25 including:

at least two locking posts on one of said end rings.

28. The CMM of claim 25 including:

an adjustment device in contact with said at least one post for urging said post circumferentially and thereby adjusting the wind-up of said spring.

29. The CMM of claim 28 wherein said adjustment device comprises a screw.

30. The CMM of claim 25 wherein:

said spring is mountable in said articulated arm in a first direction to facilitate mounting said articulated arm on a ceiling or the like and in a second direction to facilitate mounting on a floor or the like.

31. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal, two of said jointed arm segments having a hinge joint therebetween, said hinge joint being positioned within a structural housing component of said articulated arm wherein said structural housing component comprises a pair of mating socket members, said hinge joint being captured in said socket members;

a spring counter-balance comprising a spring coaxially mounted around said hinge joint and within said structural housing component, wherein said spring counter-balance is an integral and internally mounted component of said articulated arm;

a measurement probe attached to a first end of said articulated arm;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume.

32. The CMM of claim 31 wherein:

said spring is machined from a metal cylinder.

33. The CMM of claim 32 wherein:

said spring includes a pair of opposed end rings and internal rings between said end rings.

34. The CMM of claim 33 wherein said hinge joint comprises a substantially cylindrical component having a recessed interior portion defined by a pair of shoulders and a smaller diameter cylindrical surface between said shoulders and wherein:

said spring is positioned on said recessed portion and said end rings are captured between said shoulders.

35. The CMM of claim 34 wherein:

said end rings are wider relative to said internal rings.

36. The CMM of claim 33 wherein:

said end rings are wider relative to said internal rings.

37. The CMM of claim 33 including:

at least one locking post on one of said end rings and at least one locking post on the other of said end rings, said posts mating with complimentary locking grooves in said two arm segments.

38. The CMM of claim 37 including:

at least two locking posts on one of said end rings.

39. The CMM of claim 37 including:

an adjustment device in contact with said at least one post for urging said post circumferentially and thereby adjusting the wind-up of said spring.

40. The CMM of claim 32 wherein:

said spring includes a pair of opposed end rings and internal rings between said end rings.

41. The CMM of claim 40 wherein:

said end rings are wider relative to said internal rings.

42. The CMM of claim 40 wherein said hinge joint comprises a substantially cylindrical component having a recessed interior portion defined by a pair of shoulders and a smaller diameter cylindrical surface between said shoulders and wherein:

said spring is positioned on said recessed portion and said end rings are captured between said shoulders.

43. The CMM of claim 31 wherein:

said spring counterbalance is mountable around said hinge joint in a first direction to facilitate mounting said articulated arm on a ceiling or the like and in a second direction to facilitate mounting on a floor or the like.