Portable coordinate measurement machine

• US 7,051,450 B2
• Filed: 10/12/2005
• Issued: 05/30/2006
• 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): Gutierrez, Diego
• Assistant Examiner(s): REIS, TRAVIS M
• Application Number:
  US11/248,407
• Publication Number:
  US 20060026851A1
• Time in Patent Office: 230 Days
• Field of Search: 335/03, 33/1.PT, 33/1.N, 335/34
• 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 arm includes joint assemblies which include at least two read heads in communication with a periodic pattern of a measurable characteristic, the pattern and read heads being positioned within the joint so as to be rotatable with respect to each other.

Claims

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

an articulated arm having opposed first and second ends, said arm including at least five rotary joints such that said articulated arm has at least five degrees of freedom, each degree of freedom corresponding to a rotational axis such that said articulated arm travels through at least five rotational axes;

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

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

wherein at least one of said rotary joints further comprise;

a periodic pattern of a measurable characteristic;

at least two read heads spaced from and in communication with said pattern; and

said pattern and said at least two read heads being positioned within said rotary joint so as to be rotatable with respect to each other and wherein said at least two read heads cooperate to decrease error in rotary measurement which is due to applied loads affecting the relative position between said read heads and said pattern.

2. The CMM of claim 1 wherein said at least one joint includes:

at least one bearing.

3. The CMM of claim 2 wherein:

said at least one bearing is sealed.

4. The CMM of claim 1 wherein:

said at least one bearing comprises at least one preloaded bearing.

5. The CMM of claim 4 wherein said at least one preloaded bearing comprises:

a first bearing;

a second bearing;

an inner spacer sleeve between said first and second bearings;

an outer spacer sleeve between said first and second bearings;

said inner and outer spacer sleeves having different predetermined lengths; and

said inner and outer spacer sleeves being compressed against said first and second bearings to define a predetermined preload.

6. The CMM of claim 1 wherein said two read heads are positioned 180 degrees apart.

7. The CMM of claim 1 including at least three read heads.

8. The CMM of claim 7 wherein said three read heads are 120 degrees apart.

9. The CMM of claim 1 including at least four read heads.

10. The CMM of claim 9 wherein said four read heads are 90 degrees apart.

11. The CMM of claim 1 wherein:

said pattern comprises an optical fringe pattern; and

said at least one read head comprises an optical read head.

12. The CMM of claim 11 wherein:

said optical fringe pattern is disposed on an optical encoder disk.

13. The CMM of claim 11 wherein said communication comprises:

said read head detecting the interference between diffraction orders to produce sinusoidal signals from said read head inserted in said fringe pattern, said sinusoidal signals being electronically interpolated to detect displacement.

14. The CMM of claim 13 wherein each said read head comprises a laser, a collimator, and an aperture, whereby said laser emits a beam which is collimated by said collimator, and then sized by the aperture, said fringe pattern includes a grating that diffracts light into discrete orders.

15. The CMM of claim 14 wherein each said read head further comprises a photodetector array, said photodetector array producing four channels of nearly pure sinusoidal output when there is relative motion between said fringe pattern and said read head.

16. The CMM of claim 1 including means for averaging the cancellation effects caused by said at least two read heads.

17. The CMM of claim 1 wherein:

said pattern of a measurable characteristic is at least one of the characteristics selected from the group consisting of reflectivity, opacity, magnetic field, capacitance, inductance and surface roughness.

18. The CMM of claim 1 including:

a slip ring assembly in said at least one joint.

19. The CMM of claim 1 wherein said at least one of said joints has infinite rotation.

20. The CMM of claim 1 wherein:

at least two of said joints are threadibly interconnected to each other.

21. The CMM of claim 1 wherein:

at least two of said joints are fastened to each other using threadable fasteners.

22. The CMM of claim 1 wherein at least two joints include complimentary tapered portions which are fastened together.

23. The CMM of claim 1 wherein said joints comprise long joints for swiveling motion and short joints for hinged motion.

24. The CMM of claim 23 including three joint pairs, each joint pair comprising a long joint and a short joint.

25. The CMM of claim 24 wherein said long joint is about 90 degrees to said short joint in each joint pair.

26. The CMM of claim 1 wherein said plurality of joints includes six joints and further includes a seventh rotary joint in said measurement probe.

27. The CMM of claim 1 wherein said joints are arranged in the joint configurations selected from the group consisting of 2-2-2, 2-1-2, 2-2-3, and 2-1-3.

28. The CMM of claim 1 including:

an electronic identification chip associated with said joint for uniquely identifying said joint.

29. The CMM of claim 1 wherein:

said pattern is rotatable with respect to said read heads; and

said two read heads are stationary with respect to said pattern.

30. The CMM of claim 1 wherein:

said pattern is stationary with respect to said read heads; and

said two reads heads are rotatable with respect to said pattern.

31. The CMM of claim 1 wherein said joint further comprises:

a first and second housing, and a rotatable shaft extending from said second housing into said first housing;

a bearing disposed between said shaft and said first housing permitting said rotatable shaft to rotate within said first housing;

said pattern being attached to said rotatable shaft;

said at least two read heads being fixed within said first housing such that rotation of the first housing with respect to the second housing causes said at least two read heads to move relative to said pattern.

32. The CMM of claim 31 wherein:

said pattern is attached directly to said shaft.

33. The CMM of claim 31 wherein said read heads are positioned approximately 180°

apart around an axis of said rotatable shaft.

34. The CMM of claim 31 including means for averaging the cancellation effects caused by said two read heads.

35. The CMM of claim 1 wherein said at least one joint comprises:

a first housing;

a second housing;

a rotatable shaft fixed to said second housing and extending into said first housing;

at least one bearing supported within said first housing and supporting said rotatable shaft for rotation about its axis;

wherein one of said pattern and said at least two read heads are fixed to an end of said shaft and the other of said pattern and said at least two read heads are fixed within said first housing.

36. The CMM of claim 35 wherein said read heads are positioned approximately 180°

apart around said axis of said rotatable shaft.

37. The CMM of claim 35 including means for averaging the cancellation effects caused by said at least two read heads.

38. The CMM of claim 1 wherein said at least one of said rotary joints comprises at least two of said rotary joints.

39. The CMM of claim 1 wherein said at least one of said rotary joints comprises at least three of said rotary joints.

40. The CMM of claim 1 wherein said at least one of said rotary joints comprises at least four of said rotary joints.

41. The CMM of claim 1 wherein said at least one of said rotary joints comprises at least five of said rotary joints.

42. The CMM of claim 1 including at least six rotary joints such that said articulated arm has at least six degrees of freedom and wherein said at least one of said rotary joints comprises at least six rotary joints.

43. The CMM of claim 1 including at least seven rotary joints such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said rotary joints comprises at least seven rotary joints.

44. The CMM of claim 1 wherein said at least one of said rotary joints comprises all of said rotary joints.