Portable coordinate measurement machine

• US 7,174,651 B2
• Filed: 12/20/2005
• Issued: 02/13/2007
• 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): GUADALUPE, YARITZA
• Application Number:
  US11/312,282
• Publication Number:
  US 20060096108A1
• Time in Patent Office: 420 Days
• Field of Search: 33503-504, 33556-559, 33/1.PT, 33/1.N, 336/00, 336/08
• 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. At least one of the joined arm segments is comprised of a plurality of components being bonded to each other using adhesive. In addition, the jointed arm segments may include tapered and/or threaded ends.

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;

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

at least two of said jointed arm arm segments comprising a plurality of structural components, said structural components cooperating to transfer rotation along said articulated arm, at least some of said structural components being bonded to each other using adhesive, said two jointed arm segments being attached to each other at predetermined angles wherein said plurality of structural components in each of said two jointed arm segments include at least one socket joint, said structural components being adhesively attached to said socket joints; and

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

2. The CMM of claim 1 wherein said at least one of said jointed arm segments include opposed threaded ends, one of said threaded ends being a female threaded end and the other of said threaded ends being a male threaded end and wherein said at least one jointed arm segment is threadably interconnected to adjoining arm segments.

3. The CMM of claim 2 wherein:

said threaded ends are tapered.

4. The CMM of claim 3 wherein:

said extension tube comprises a fiber reinforced composite.

5. The CMM of claim 1 wherein at least one of said jointed arm segments includes complimentary male and female tapered ends and wherein said at least one jointed arm segment is interconnected to adjoining arm segments using said tapered ends.

6. The CMM of claim 5 wherein:

said tapered ends are fastened together using threadable fasteners.

7. The CMM of claim 1 wherein said socket joint includes:

a first extension having a socket therein;

at least one second extension having a socket therein, said first and second extensions being attached to each other at an angle and said sockets each being sized and configured to each receive another of said components.

8. The CMM of claim 7 wherein:

at least one of said components is captured between a pair of sockets from a pair of spaced socket joints.

9. The CMM of claim 8 wherein:

said captured component is adhesively attached to each of said pair of sockets.

10. The CMM of claim 7 including:

threading in at least one of said sockets.

11. The CMM of claim 10 including:

a threaded component extending outwardly from at least one of said components, said threaded component threadably mating with threading in said socket.

12. The CMM of claim 1 including:

an extension tube over said at least one jointed arm segment.

13. The CMM of claim 1 wherein:

at least two of said jointed arm segments are threadably interconnected to each other.

14. The CMM of claim 1 wherein:

at least two of said jointed arm segments are fastened to each other using threadable fasteners.

15. The CMM of claim 14 wherein:

said at least two of said jointed arm segments include complimentary tapered portions which are fastened together with said fasteners.

16. The CMM of claim 1 wherein said jointed arm segments comprise long jointed arm segments for swiveling motion and short jointed arm segments for hinged motion.

17. The CMM of claim 16 including three jointed arm segment pairs, each jointed arm segment pair comprising a long joint and a short joint.

18. The CMM of claim 17 wherein said long jointed arm segment is about 90 degrees to said short jointed arm segment in each pair.

19. The CMM of claim 18 including a seventh jointed arm segment in said measurement probe.

20. The CMM of claim 1 wherein said jointed arm segments arranged in the jointed arm segments configurations selected from the group consisting of 2-2-2, 2-1-2, 2-2-3, and 2-1-3.

21. The CMM of claim 1 wherein said arm has at least five degrees of freedom.

22. The CMM of claim 21 wherein said at least one of said jointed arm segments comprises at least three of said jointed arm segments.

23. The CMM of claim 21 wherein said at least one of said jointed arm segments comprises at least four of said jointed arm segments.

24. The CMM of claim 21 wherein said at least one of said jointed arm segments comprises at least five of said jointed arm segments.

25. The CMM of claim 21 including at least six jointed arm segments such that said articulated arm has at least six degrees of freedom and wherein said at least one of said jointed arm segments comprises at least six jointed arm segments.

26. The CMM of claim 21 including at least seven jointed arm segments such that said articulated arm has at least seven degrees of freedom and wherein said at least one of said jointed arm segments comprises at least seven jointed arm segments.

27. The CMM of claim 21 wherein said at least one of said jointed arm segments comprises all of said jointed arm segments.

28. The CMM of claim 1 wherein said at least one of said jointed arm segments comprises at least three of said jointed arm segments.

29. The CMM of claim 1 wherein said at least one of said jointed arm segments comprises at least four of said jointed arm segments.

30. The CMM of claim 1 wherein said at least one of said jointed arm segments comprises at least five of said jointed arm segments.

31. The CMM of claim 1 wherein said at least one of said jointed arm segments comprises at least six jointed arm segments.

32. The CMM of claim 1 wherein said at least one of said jointed arm segments comprises all of said jointed arm segments.