EP0640902A2
Expired / Lapsed
EP
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Method for programming computer controlled multi-axis devices
Assignee: Faro Technologies Inc
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Filing: 1994-08-12
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Granted: —
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Expires: 2014-08-12
Abstract
Abstract A method for programming a computer controlled multi-axis device (for example a CNC machining device) is provided. First a measurement probe (for example a simulated cutting tool (402)) of a passive three dimensional coordinate measuring machine (CMM) (10) is operated by an experienced operator manually through a selected three dimensional path (404); thus developing and storing three dimensional data of position and/or orientation of the measurement probe. These data are transferred to the controller of the multi-axis device to replicate with the multi-axis device the selected path. A preferred CMM (10) comprises a lightweight, multi jointed measuring arm (12). <IMAGE>
Inventors
- 👤 Simon Raab
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 08:46
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/4202; G05B19/4207
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
93 words
A method for programming a computer controlled multi-axis device (406), characterized by the steps of a) operating a measurement probe (402, 410) of a passive three dimensional coordinate measuring machine (10) through a selected three dimensional path or operation (404); b) developing three dimensional data of position and/or orientation from step a) and storing said data; c) transferring said data to the controller of said multi-axis device; and d) causing the multi-axis device (406) to replicate the selected path or operation (404) based on said data developed by the coordinate measuring machine (10).
Claim 2
Independent Claim
32 words
The method as claimed in 1 characterized in that said multi-axis device comprises a device having at least 3 axes and the data developed in step b) comprises position or orientation data.
Claim 3
Independent Claim
34 words
The method as claimed in 1 or 2 characterized in that said multi-axis device comprises a device having at least 5 axes and the data developed in step b) comprises position and orientation data.
Claim 4
Independent Claim
23 words
The method as claimed in 1,2 or 3 characterized in that said multi-axis device comprises a machining device including a machining tool (408).
Claim 5
Dependent Claim
25 words
The method as claimed in claim 4 characterized in that said measurement probe comprises a simulated tool (402) for emulation of said machining tool (408).
Claim 6
Independent Claim
15 words
The method as claimed in 1 characterized in that said multi-axis device comprises a robot.
Claim 7
Independent Claim
34 words
The method as claimed in any one of claims 1 to 6 characterized in that said manufacturing operation is selected from the group consisting of welding, sanding, cutting, machining, polishing, grinding, painting and cleaning.
Claim 8
Independent Claim
26 words
The method as claimed in any one of claims 1 to 7 characterized by optimizing the replicated path or operation by repeating step (a) - (b).
Claim 9
Independent Claim
21 words
The method as claimed in any one of claims 1 to 8 characterized by smoothing the data developed from step (b).
Claim 10
Independent Claim
18 words
The method as claimed in 9 characterized in that said data is smoothed using a CAD/CAM computer program.
Claim 11
Independent Claim
22 words
The method as claimed in any one of claims 1 to 10 characterized in that said CMM includes 6 degrees of freedom.
Claim 12
Independent Claim
136 words
The method as claimed in any one of claims 1 to 11 characterized in that said CMM comprises a movable arm (12) 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 (40, 42, 46, 48) for housing a position transducer (80), said transducer producing a position signal; a support base (14) attached to said first end of said movable arm (12); a probe (56) attached to said second end of said movable arm (12); and electronic circuit means for receiving said position signals from said transducer (80) and providing a digital coordinate corresponding to the position of said probe (56) in a selected volume.
Claim 13
Independent Claim
51 words
The method as claimed in 11 characterized in that said transfer housing (40, 42, 46, 48) further includes a carrier (62) having a shaft extending therefrom; a casing having an opening therethrough for receiving said shaft of said carrier (62); and roller bearings (60, 68) on said shaft within said opening.
Claim 14
Dependent Claim
35 words
The measuring method as claimed in 12 or 13 characterized in that said transfer housing (40, 42, 46, 48) includes an universal mounting plate (82) for mounting said position transducer (80) to said carrier (62).
Claim 15
Dependent Claim
45 words
The measuring method as claimed in 12, 13 or 14 characterized in that said transfer housing (40, 42, 46, 48) includes coupler means (84) attached to said position transducer and an extension shaft (86) connecting said transducer (80) to said shaft of said carrier (62).
Claim 16
Dependent Claim
52 words
The measuring method as claimed in any one of claims 12 to 15 characterized in that said position transducer (80) comprises an encoder and said transfer housing (40, 42, 46, 48) includes a preamplifier circuit (92) in a location adjacent said encoder for transmitting amplified signals externally of said movable arm (12).
Claim 17
Dependent Claim
45 words
The measuring method as claimed in any one of claims 12 to 16 characterized in that said transfer housing (40, 42, 46, 48) further includes an endstop indicator (106) for preventing mechanical overload due to mechanical stressing of said transfer housing (40, 42, 46, 48).
Claim 18
Dependent Claim
30 words
The measuring method as claimed in any one of claims 12 to 17 characterized by temperature monitoring means in said arm (12) for monitoring temperature stability of said arm (12).
Claim 19
Dependent Claim
37 words
The measuring method as claimed in any one of claims 12 to 18 characterized by EEPROM circuit board means mounted in said arm (12) and encoded with calibration and identification data specific to a particular arm (12).
Claim 20
Dependent Claim
58 words
The measuring method as claimed in any one of claims 12 to 19 characterized by a discrete serial box (16) communicating with said arm (12) and including at least a portion of said electronic circuit means, said serial box including microprocessor means for preprocessing position data prior to transfer of said position data to a host computer (18).
Claim 21
Dependent Claim
41 words
The measuring method as claimed in 20 characterized in that said serial box further includes analog-to-digital/digital counter circuit board means for simultaneous capture of data from all of said position transducers and transfer of said captured data to said microprocessor means.
Claim 22
Dependent Claim
31 words
The measuring method as claimed in any one of claims 12 to 21 characterized in that each of said rotational transfer housing (40, 42, 46, 48)s have a modular, interchangeable configuration.
Claim 23
Dependent Claim
35 words
The measuring method as claimed in any one of claims 12 to 22 characterized in that said arm (12) is comprised of substantially the same material to maintain a substantially consistent coefficient of thermal expansion.
Claim 24
Dependent Claim
31 words
The measuring method as claimed in any one of claims 12 to 23 characterized in that said arm (12) includes wiring (118) and said wiring is integral to said arm (12).
References Cited (Backward Citations)
No citation records indexed.
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