US5402582A — Three dimensional coordinate measuring apparatus

Claim 1

Independent Claim 227 words

A method of calibrating a three dimensional coordinate measuring system comprising (1) a movable arm 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 for housing position transducer means, said transducer means producing a position signal, said movable arm having six degrees of freedom; (2) a support base attached to said first end of said movable arm; (3) a probe attached to said second end of said movable arm; and (4) electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position and orientation of said probe in a selected volume, the calibration method including the steps of: measuring predetermined positions and orientations with said movable arm to obtain known positioning data; processing said known positioning data through an optimization program to determine the relative misalignments and dimensions of components in said arm; optimizing said arm by incorporating said relative misalignments and dimensions in kinematic formulas for generating X, Y and Z values in an absolute coordinate system with respect to both position and orientation and wherein said optimizing step further includes compiling a calibration file for said arm containing said relative misalignments and dimensions.

Claim 2

Independent Claim 227 words

A method of calibrating a three dimensional coordinate measuring system comprising (1) a movable arm 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 for housing position transducer means, said transducer means producing a position signal, said movable arm having six degrees of freedom; (2) a support base attached to said first end of said movable arm; (3) a probe attached to said second end of said movable arm; and (4) electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position and orientation of said probe in a selected volume, the calibration method including the steps of: measuring predetermined positions and orientations with said movable arm to obtain known positioning data; processing said known positioning data through an optimization program to determine the relative misalignments and dimensions of components in said arm; optimizing said arm by incorporating said relative misalignments and dimensions in kinematic formulas for generating X, Y and Z values in an absolute coordinate system with respect to both position and orientation and wherein said optimizing step further includes compiling a calibration file for said arm containing said relative misalignments and dimensions.

Claim 3

Dependent Claim 174 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; a carrier having a shaft extending therefrom; a casing having an opening therethrough for receiving said shaft of said carrier; and roller bearing means on said shaft within said opening, said roller bearing means comprising two oppositely disposed, spaced conical roller bearings with each conical roller bearing abutting a complimentary shaped conical race.

Claim 4

Dependent Claim 174 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; a carrier having a shaft extending therefrom; a casing having an opening therethrough for receiving said shaft of said carrier; and roller bearing means on said shaft within said opening, said roller bearing means comprising two oppositely disposed, spaced conical roller bearings with each conical roller bearing abutting a complimentary shaped conical race.

Claim 5

Dependent Claim 16 words

The measuring system of claim 2 wherein said conical races are permanently affixed to said casing.

Claim 6

Dependent Claim 15 words

The measuring system of claim 2 including: compression means for prestressing said conical roller bearings.

Claim 7

Dependent Claim 29 words

The measuring system of claim 4 wherein said compression means comprises: a compression nut threadably attached to said shaft of said casing and sandwiching therebetween said conical roller bearings.

Claim 8

Dependent Claim 29 words

The measuring system of claim 2 including: thrust bearing means positioned at an interface between said carrier and said casing for providing mechanical stiffening between said carrier and casing.

Claim 9

Dependent Claim 173 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; a carrier having a shaft extending therefrom; a casing having an opening therethrough for receiving said shaft of said carrier; roller bearing means on said shaft within said opening; and thrust bearing means positioned at an interface between said carrier and said casing for providing mechanical stiffening between said carrier and casing.

Claim 10

Dependent Claim 173 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; a carrier having a shaft extending therefrom; a casing having an opening therethrough for receiving said shaft of said carrier; roller bearing means on said shaft within said opening; and thrust bearing means positioned at an interface between said carrier and said casing for providing mechanical stiffening between said carrier and casing.

Claim 11

Dependent Claim 14 words

The measuring system of claim 7 including: means for adjusting said thrust bearing means.

Claim 12

Dependent Claim 72 words

The measuring system of claim 7 wherein said thrust bearing means comprises: (1) thrust adjustment ring means; (2) first annular race means adjacent said thrust adjustment ring means; (3) second annular race means; (4) roller bearing means sandwiched between said first and second annular race means; (5) thrust cover means adjacent said second annular race means; and (6) retaining means for fastening as a unit items (1), (2), (3), (4) and (5).

Claim 13

Dependent Claim 147 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said position transducer comprises an encoder and wherein said transfer housing includes; preamplifier circuit board means in a location adjacent said encoder for transmitting amplified signals externally of said movable arm.

Claim 14

Dependent Claim 147 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said position transducer comprises an encoder and wherein said transfer housing includes; preamplifier circuit board means in a location adjacent said encoder for transmitting amplified signals externally of said movable arm.

Claim 15

Dependent Claim 136 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; endstop indicator means for preventing mechanical overload due to mechanical stressing of said transfer housing.

Claim 16

Dependent Claim 136 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said transfer housing further includes; endstop indicator means for preventing mechanical overload due to mechanical stressing of said transfer housing.

Claim 17

Dependent Claim 128 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and temperature monitoring means in said arm for monitoring temperature stability of said arm.

Claim 18

Dependent Claim 128 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and temperature monitoring means in said arm for monitoring temperature stability of said arm.

Claim 19

Dependent Claim 29 words

The measuring system of claim 12 wherein said temperature monitoring means varies the length of selected components of said arm with respect to temperature to provide accurate absolute measurements.

Claim 20

Dependent Claim 33 words

The measuring system of claim 12 wherein said arm includes a location corresponding to the highest mass of said arms and wherein: said temperature monitoring means is positioned at said high mass location.

Claim 21

Dependent Claim 135 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and EEPROM circuit board means mounted in said arm and encoded with calibration and identification data specified to a particular arm.

Claim 22

Dependent Claim 135 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and EEPROM circuit board means mounted in said arm and encoded with calibration and identification data specified to a particular arm.

Claim 23

Dependent Claim 47 words

The measuring system of claim 15 including: a discrete serial box communicating with said arm 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.

Claim 24

Dependent Claim 190 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; a discrete serial box communicating with said arm 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; and wherein said position transfer means comprises an encoder and wherein said housing includes preamplifier circuit board means in a location adjacent said encoder for transmitting amplified signals from said movable arm to said serial box.

Claim 25

Dependent Claim 190 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; a discrete serial box communicating with said arm 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; and wherein said position transfer means comprises an encoder and wherein said housing includes preamplifier circuit board means in a location adjacent said encoder for transmitting amplified signals from said movable arm to said serial box.

Claim 26

Dependent Claim 38 words

The measuring system of claim 17 wherein 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 27

Dependent Claim 16 words

The measuring system of claim 17 including: serial port communications means associated with said serial box.

Claim 28

Dependent Claim 26 words

The measuring system of claim 17 wherein said serial box further includes: means for communicating with a plurality of computer formats associated with the host computer.

Claim 29

Dependent Claim 182 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; a discrete serial box communicating with said arm 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; temperature monitoring means in said arm for monitoring temperature stability in said arm; and means for transferring said monitored temperature to said microprocessor means in said serial box.

Claim 30

Dependent Claim 182 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; a discrete serial box communicating with said arm 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; temperature monitoring means in said arm for monitoring temperature stability in said arm; and means for transferring said monitored temperature to said microprocessor means in said serial box.

Claim 31

Dependent Claim 153 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and a portable base for supporting said arm, said portable base being movable along a mounting surface and including reference ball means for evaluating and calibrating measurement accuracy independently of any mounting surface on which said portable base moves.

Claim 32

Dependent Claim 153 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and a portable base for supporting said arm, said portable base being movable along a mounting surface and including reference ball means for evaluating and calibrating measurement accuracy independently of any mounting surface on which said portable base moves.

Claim 33

Dependent Claim 21 words

The measuring system of claim 22 wherein: said reference ball means is positioned on a mount detachably attached to said base.

Claim 34

Dependent Claim 141 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said probe includes a pair of first and second switches, said first switch corresponding to data "take" and said second switch corresponding to data "acceptance".

Claim 35

Dependent Claim 141 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said probe includes a pair of first and second switches, said first switch corresponding to data "take" and said second switch corresponding to data "acceptance".

Claim 36

Dependent Claim 23 words

The measuring system of claim 24 wherein said transfer housing includes: universal mounting plate means for mounting said position transducer to said carrier.

Claim 37

Dependent Claim 31 words

The measuring system of claim 24 wherein said transfer housing includes: coupler means attached to said position transducer; and an extension shaft connecting said transducer to said shaft of said carrier.

Claim 38

Dependent Claim 62 words

The measuring system of claim 24 including: a base for supporting said arm; calibration means for calibrating said system, said calibration means interacting with a semi-spherical mount on said base and including; a bar having opposed first and second ends; a conical recess on said first end of said bar; and a first spherical ball on said second end of said bar.

Claim 39

Dependent Claim 25 words

The measuring system of claim 27 further including: a second ball extending laterally from a mount attached to said bar adjacent to said second end.

Claim 40

Dependent Claim 13 words

The measuring system of claim 27 including: a bent section in said bar.

Claim 41

Dependent Claim 15 words

The measuring system of claim 27 wherein: said first spherical mount comprises a magnetic mount.

Claim 42

Dependent Claim 18 words

The measuring system of claim 24 wherein: each of said rotational transfer housings have a modular, interchangeable configuration.

Claim 43

Dependent Claim 25 words

The measuring system of claim 24 wherein: said arm is comprised of substantially the same material to maintain a substantially consistent coefficient of thermal expansion.

Claim 44

Dependent Claim 11 words

The measuring system of claim 32 wherein: said material comprises aluminum.

Claim 45

Dependent Claim 30 words

The measuring system of claim 24 wherein said arm includes wiring between the first end and the second end and wherein: all of said wiring is internal to said arm.

Claim 46

Dependent Claim 68 words

The measuring system of claim 24 including: a base for supporting said arm; a first spherical mount on said base; a second spherical mount on said probe; calibration means for calibrating said system, said calibration means including; a bar having opposed first and second ends; a first spherical ball on said first end of said bar; and a second spherical ball on said second end of said bar.

Claim 47

Dependent Claim 16 words

The measuring system of claim 35 wherein: said first and second spherical mounts comprise magnetic mounts.

Claim 48

Dependent Claim 127 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said probe includes option port means for attachment to external transducers.

Claim 49

Dependent Claim 127 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and wherein said probe includes option port means for attachment to external transducers.

Claim 50

Dependent Claim 125 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and spring counter balance means for facilitating movement of said arm.

Claim 51

Dependent Claim 125 words

A three dimensional coordinate measuring system comprising: a movable arm 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 for housing position transducer means, said transducer means producing a position signal; a support base attached to said first end of said movable arm; a probe attached to said second end of said movable arm; electronic circuit means for receiving said position signals from said transducer means and providing a digital coordinate corresponding to the position of said probe in a selected volume; and spring counter balance means for facilitating movement of said arm.

Claim 52

Dependent Claim 24 words

The measuring system of claim 38 further including: shock absorber support means for limiting shocks received by said arm during movement of said arm.

Claim 53

Dependent Claim 50 words

The measuring system of claims 2, 7, 10, 11, 12, 15, 17, 21, 22, 24, 37 or 38 wherein said movable arm has six degrees of freedom and wherein: said electronic circuit means provides a digital coordinate corresponding to the position and orientation of said probe in a selected volume.

Claim 54

Dependent Claim 16 words

The method as claimed in claim 1 wherein said calibration file is stored in said arm.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1998-04-03	1998-10-03	1999-04-04	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2002-04-03	2002-10-03	2003-04-04	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2006-04-03	2006-10-03	2007-04-04	$7700.00	Window Closed / Lapsed

Three dimensional coordinate measuring apparatus

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