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CMM arm with exoskeleton

A technology of equipment and components, applied in the field of CMM arms, can solve the problems of the system stopping function, unusable, and reducing the accuracy of photogrammetry system.

Active Publication Date: 2006-08-02
ニコンメトロロジーエンフェー
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The rigid structure of conventional CMMs and stationary optical probes both have the following disadvantages: they use up cell space on the production line, they are usually only used for measurement and not production operations, they are usually located at the end of the production line, and cannot feed forward data to downstream processes , and the price is expensive, it is difficult to guarantee the return on investment
This limits the applicability of this system and makes it unusable for many applications
Second, ambient lighting conditions must remain close to ideal, otherwise the accuracy of the photogrammetry system will decrease or the system will stop functioning
In practice, this is difficult to establish and often contradicts other lighting requirements for positioning
Third, in such applications, photogrammetric systems often do not have the resolution and speed needed to provide sufficient accuracy for the application
Fourth, such photogrammetric cameras and robots must be rigidly mounted relative to each other
Existing designs of Manual CMM Arms have sophisticated measurement systems that are susceptible to shocks, moments, and violations of operating procedures during use and transport
The existing design of the shipping container is relatively simple and leaves the Manual CMM Arm vulnerable to damage, especially from impact

Method used

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Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0196] Portable Robot CMM Arm

[0197] A first embodiment of such an Internal CMM Arm with Exoskeleton is a Portable Robotic CMM Arm. This Portable Robot CMM Arm embodiment includes an Internal CMM Arm guided by an Exoskeleton. The Exoskeleton supports and steers the Internal CMM Arm through actuators so that it can be accurately measured. The present invention can follow many robot CMM arm articulated arm layouts picture Implementation. There are two preferred layouts for the Robot CMM Arm according to the first embodiment of the invention picture : 6-axis with 6 joints and 7-axis layout with 7 joints picture .

[0198] Robot CMM Arm Joint and Segment Layout picture

[0199] Figure 1A and 1B respectively show preferred 6-axis and 7-axis layouts of the Robot CMM Arm 1 according to the first embodiment of the invention picture of picture Show. An Articulated Robot CMM Arm 1 has a base end 2 and a probe end 3 and includes a set of segments and swivel joints between t...

no. 2 example

[0586] Industrial Robot CMM Arm

[0587] In this second embodiment, the disclosed Industrial Robot CMM Arm is used to provide accurate robot motion. In this second embodiment, a seven-axis industrial robot CMM arm with a common base section and a common probe section 8 is provided. The common probe section can carry heavy probes or tools and is subject to significant forces while providing precise position information. The industrial robot CMM arm is not only more reproducible than existing industrial robots, but also about 10 times more accurate. see now Figure 53, the industrial robot CMM arm 450 has a common base 4 , and the common base 4 includes the CMM segment 31 , the transmission device 1 71 and the robot exoskeleton segment 1 41 . Industrial Robot CMM Arm 450 also has Common Probe Section 8 451 , which includes CMM Section 8 38 , Transmission 8 78 and Exoskeleton Section 8 48 . In effect, it provides a rigid transmission 8 78 . The CMM segment 2-7 32-37 of the C...

no. 3 example

[0654] In this third embodiment, a movably supported Robot CMM Arm is disclosed which significantly reduces the forces and moment.

[0655] Forces and moments acting on the Robot CMM Arm of the first embodiment

[0656] At some spatial layouts of the Robot CMM Arm 1 there are considerable loads acting on the Internal CMM Arm 5 such that the provided seven motors acting through the seven Exoskeleton Joints 1-761-67 of the Exoskeleton 6 The 176 setup does not provide enough control output to reduce these loads. In some spatial arrangements, all the weight of the following segments of the Internal CMM Arm 5 acts on the joints. For example, the total weight of the CMM Segment 2-8 32-38 falls directly on the CMM Joint 151 when the Internal CMM Arm 5 is in a vertical spatial layout. Similarly, the total weight of CMM Segments 3-8 33-38 falls directly on CMM Joint 2 52, and the same goes for CMM Joint 3 53 through CMM Joint 7 57 up to the arm. The seven drive trains in the exoske...

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Abstract

Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.

Description

technical field [0001] The present invention relates to apparatus and methods for a CMM arm with an exoskeleton for performing precise measurements and manipulations. Background technique [0002] Existing methods for automated measurements [0003] Automatic measurement of medium to large objects requires a measuring machine with an accuracy of 0.05mm (+ / -2 Sigma), typically 0.025mm (+ / -2 Sigma) or better. 'Sigma' means one standard deviation. It is currently done in two main ways: (i) large, expensive conventional computer numerically controlled coordinate measuring machines (CNCCMMs) with 3 or more axes; (ii) dedicated Rigid structure of the stationary optical probe in the cell. With a conventional CMM, an optical probe is moved in a highly controlled manner around a stationary object in order to generate accurate data. In the second case, both the optical probe and the object are stationary and positioned in a calibrated manner allowing accurate data to be calibrated...

Claims

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Application Information

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IPC IPC(8): B25J13/08G01B5/008G01B11/03
CPCB25J13/088G01B5/008G01B11/03G05B2219/37274G05B2219/40305
Inventor 斯蒂芬·詹姆斯·克兰普顿
Owner ニコンメトロロジーエンフェー
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