Articulated arm

• US 8,844,151 B2
• Filed: 02/20/2013
• Issued: 09/30/2014
• Est. Priority Date: 11/06/2009
• Status: Active Grant

• Current Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Original Assignee: Hexagon Metrology AB (Hexagon AB)
• Inventors: Ferrari, Paul, Duportal, Thibault, Shammas, Elie, Gerent, Jerry, Hong, Dongmei, Roux, Denny
• Primary Examiner(s): FULTON, CHRISTOPHER W
• Application Number:
  US13/772,120
• Publication Number:
  US 20140020255A1
• Time in Patent Office: 587 Days
• Field of Search: 335/03
• US Class Current: 33/503
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 19/00 Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators safety-devices in general F16P; protection against radiation in general G21F
• 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: G01B 7/008 using coordinate measuring machines
• CPC Class Codes: G05B 2219/39019 Calibration by cmm coordinate measuring machine over a certain volume
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

An articulated arm CMM comprises a plurality of transfer members, a plurality of articulation members connecting at least two transfer members to each other, a coordinate acquisition member at a distal end, and a base at a proximal end. At least two of the articulation members can include at least one encoder and the at least two encoders can both be enclosed within a single monoblock housing.

Claims

1. An articulated arm CMM comprising:

an articulated arm comprising a plurality of transfer members, a plurality of articulation members connecting at least two transfer members to each other, a coordinate acquisition member at a distal end, and a base at a proximal end;

wherein at least two of the articulation members each comprise at least one encoder and the at least two encoders are both enclosed within a single monoblock housing.

2. The articulated arm CMM of claim 1 wherein the monoblock housing comprises a removable cover portion.

3. The articulated arm CMM of claim 2 wherein the removable cover portion occludes an opening the housing through which an encoder can be inserted into the housing.

4. The articulated arm CMM of claim 1 wherein the housing comprises a hinge-receiving portion and a swivel receiving portion.

5. The articulated arm CMM of claim 1 wherein the at least two encoders are configured to detect rotation about at least two axes that are perpendicular to each other.

6. The articulated arm CMM of claim 1 wherein the at least two encoders can be inserted and removed independently.

7. An articulated arm CMM comprising:

an articulated arm comprising a plurality of articulated arm members, a coordinate acquisition member at a distal end, and a base at a proximal end; and

a counterbalance supporting the arm at a rotational point between adjacent articulated arm members;

wherein the counterbalance connects to an articulated arm member closer to the base at a point nearer to the rotational point than to the base.

8. The articulated arm CMM of claim 7, wherein the counterbalance comprises an integral locking mechanism.

9. The articulated arm CMM of claim 7, wherein the counterbalance comprises a gas spring counterbalance.

10. The articulated arm CMM of claim 9, wherein the gas spring counterbalance comprises nitrogen gas.

11. The articulated arm CMM of claim 7, wherein the counterbalance comprises a lock that can increase a resistance against movement of the counterbalance.

12. The articulated arm CMM of claim 11, wherein the lock comprises a lever and a pushing pin that can open and close an aperture within the counterbalance, controlling gas flow of a gas spring.

13. An articulated arm CMM comprising:

an articulated arm comprising a plurality of articulated arm members, a coordinate acquisition member at a distal end, and a base at a proximal end; and

a counterbalance supporting the arm at a rotational point between two adjacent articulated arm members;

wherein rotation at the rotational point brings one of the two adjacent articulated arm members to a substantially horizontal position when the counterbalance is also brought to a substantially horizontal position.

14. The articulated arm CMM of claim 13, wherein the counterbalance comprises an integral locking mechanism.

15. The articulated arm CMM of claim 13, wherein the counterbalance comprises a lock that can increase a resistance against movement of the counterbalance.