System for loading workpiece into coordinate positioning machine

Abstract

A system (20) for loading a workpiece (9) into a working volume (11) of a coordinate positioning machine (10) is provided. The loading system (20) comprises a support member (30) on which the workpiece (9) can be supported and which is movable relative to the machine (10) along three guides (41, 42, 43), respectively, via a plurality of guided bearing members (31, 32, 33). The support member (30) is movable between a first position, in which the workpiece (9) supported on the support member (30) is located at least partially outside the working volume (11), and a second position, in which the workpiece (9) is located inside the working volume (11). The support member (31, 32, 33) forms a kinematic coupling in the second position by engaging with corresponding coupling features (45, 46, 47) respectively associated with the three guides (41, 42, 43), and / or the support member (31, 32, 33) is in a drawer-type configuration and / or is arranged to form a cantilevered structure when the support member (30) is in the first position.

Description

[0001] This invention relates to a system for loading a workpiece (or the like) into the working volume of a coordinate positioning machine. The coordinate positioning machine includes, for example, a coordinate measuring machine (CMM) and a machine tool.

[0002] The attached image Figure 1 A coordinate measuring machine 1 of a known type is shown, having three linear axes x, y, and z arranged orthogonally in series, wherein the z-axis is aligned with gravity g. A measuring probe 3 is mounted to a vertical column 8 that can slide along the z-direction within a carriage 2; this relative movement defines the z-axis. The carriage 2 itself is supported on a horizontal beam 7 and can slide along the beam 7 in the y-direction; this relative movement defines the y-axis. Furthermore, the beam 7 can slide along a pair of guide rails 6 in the x-direction; this relative movement defines the x-axis. A computer controller 5 operates to drive each component (column 8, carriage 2, beam 7) to the appropriate position along its corresponding axis to place the measuring probe 3 at the desired position within the working volume 11 of the machine 1 and to move it in a sensing relationship with the workpiece 9 supported on a fixed platform 4. The measuring probe 3 can be mounted to the vertical column 8 in a fixed manner as shown, or the measuring probe can be mounted via... Figure 1 The illustrated portion shows a hinged probe head mounted on a vertical column 8. In addition to providing three linear axes x, y, and z, the hinged probe head also provides two rotational axes a and b.

[0003] Each axis x, y, z is driven independently of the corresponding motor (not shown). Each axis x, y, z is also encoded or sensed independently of the corresponding sensor, and the output from the sensor is used to determine the position of measuring probe 3 (or any tool attached to post 8). Each axis is provided with a length measuring transducer, which has an encoder scale (in) paired with a reading head (not shown). Figure 1 (Schematically depicted as a series of parallel lines along each axis). To measure the relative movement between two parts, an encoder scale is properly mounted on one part, while a read head is properly mounted on the other part.

[0004] The attached image Figure 2 Another type of coordinate measuring machine 10 is schematically shown. The coordinate measuring machine 10 generally comprises a movable platform 12 and a fixed platform 14, which are supported by a plurality of telescopic or extendable legs 16 disposed between them and move relative to each other. The fixed platform 12 forms part of the fixed structure of the machine 10. The movable platform 12 and the fixed platform 14 may also be referred to as worktables (or structures or parts), and the extendable legs 16 may also be referred to as supports (or actuators). When there are six such extendable legs 16 (e.g....), Figure 2As shown), machine 10 is commonly referred to as a hexapod machine.

[0005] Extendable legs 16 are typically mounted on platforms 12, 14 via ball joints 18, wherein each leg 16 has its own ball joint 18 at one or both ends (e.g., Figure 2 (as shown), or share a ball joint 18 with adjacent legs 16 at one or both ends. Each extendable leg 16 is typically formed as a pair of tubes, wherein one tube is telescopically moved within the other tube by a drive mechanism (e.g., a linear motor) to provide extension and retraction of the extendable leg 16, as indicated by the arrow within each extendable leg 16, and as described in more detail in WO 2017 / 174966.

[0006] Different relative positions between the movable platform 12 and the fixed platform 14 can be achieved by extending the legs 16 by different amounts. The relative position at any given time is monitored by a plurality of length-measuring transducers 17, one such transducer for each extendable leg 16. Each length-measuring transducer 17 may include an encoder scale paired with a reading head, wherein the encoder scale is suitably mounted on one of a pair of telescopic tubes, and the reading head is suitably mounted on the other telescopic tube. The extension of the leg 16 thus causes the encoder scale to move past the reading head, thereby allowing the measurement (or determination based on the measurement) of the length of the extendable leg 16. The computer controller 15 operates to set the length of each extendable leg 16 to provide the desired relative movement between platforms 12, 14. With six such length-measuring transducers 17, the relative position can be measured in six corresponding degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom).

[0007] A workpiece 9 is mounted on a lower (fixed) platform 14, and a measuring probe 13 is mounted on an upper (movable) platform 12. A working volume (or operating volume) 11 is defined between the upper (movable) platform 12 and the lower (fixed) platform 14, wherein the measuring probe 13 is positioned (i.e. moved to the desired position) in the working volume 11 by operating these extendable legs 16. Figure 2 This arrangement can be referred to as a "bottom-up" arrangement because the extendable leg 16 extends upward from the fixed platform 14 to the movable platform 12. Alternatively, for a "top-down" arrangement, the extendable leg 16 extends downward from the fixed structure 14 to the movable platform 12, wherein the measuring probe 13 is mounted to the lower surface of the movable platform 12, and the workpiece is mounted to another portion of the fixed structure 14 below the movable platform. These types of arrangements are discussed in more detail in WO 2019 / 073246 and WO 2021 / 074625.

[0008] The measuring probe 13 is merely one example of a manipulator that can be mounted on the movable platform 12 to enable operations to be performed on the workpiece 9. Depending on the intended application, in the case of a coordinate measuring machine, the manipulator may be adapted for measuring, probing, or scanning, or in the case of a machine tool, for machining or drilling. Alternatively, the workpiece 9 may be mounted on the movable platform 12, and the measuring probe 13 (or other manipulator) may be mounted on the fixed platform 14.

[0009] Figure 1 The coordinate measuring machine 1 can be called a Cartesian coordinate measuring machine because it has three linear axes, x, y, and z, arranged orthogonally to each other. On the other hand, Figure 2 The coordinate measuring machine 10 can be called a non-Cartesian coordinate measuring machine because, for example, Figure 1 Compared to the Cartesian machine shown, its axes are not orthogonally arranged according to the Cartesian coordinate system. Figure 2 The coordinate measuring machine 10 can also be called a "parallel kinematics" coordinate measuring machine because its moving axes are arranged in parallel. This is consistent with... Figure 1 In contrast to coordinate measuring machine 1, which can be called a "serial kinematic" coordinate measuring machine because its axes of motion are arranged in series. Another type of serial kinematic machine is an inspection robot or manual articulated arm, which has multiple articulated arm components connected in series by multiple rotary joints.

[0010] refer to Figure 2 The coordinate measuring machine 10 shown has its access to the working volume 11 located between adjacent legs 16 arranged in a hexapod configuration. The applicant has recognized that the access to the working volume 11 is correspondingly quite restricted because these adjacent legs 16 generally converge at the top platform 12 to form a generally triangular opening. This can make loading and mounting the workpiece 9 onto the fixed platform 14 problematic, as it must be extended laterally into the confined space through the restricted opening. If the machine 10 is surrounded by a protective housing or enclosure, accessibility may be even more limited. Figure 2 A schematic depiction is more difficult. The same applies to... Figure 1 The coordinate measuring machine 1, because although the orthogonality of the axes of such machine 1 means that the path into the working volume 11 is generally larger than that of the coordinate measuring machine 1, the coordinate measuring machine 1 is larger than that of the working volume 11. Figure 2 Machine 10 is more spacious, but the lateral range of fixed platform 4 and the vertical constraints created by the top horizontal beam 7 may still make it difficult to load and fix the workpiece 9 in the desired position on fixed platform 4.

[0011] Therefore, it is desirable to provide a means for loading workpieces, etc., into coordinate positioning machines (e.g. Figure 1 and Figure 2Improved pathways or systems in the working volume of those coordinate positioning machines (described in the text).

[0012] According to a first aspect of the invention, a system is provided for loading a workpiece into the working volume of a coordinate positioning machine. The system includes a support member on which the workpiece is supported, and the support member is movable relative to the machine between a first position and a second position via a plurality of guided support members. In the first position, the workpiece supported on the support member is at least partially outside the working volume, and in the second position, the workpiece is inside the working volume. In the second position, the support members form a coupling that constrains the relative movement between the support member and the machine in six degrees of freedom (without over-constraint). In other words, the support members can be said to provide precise constraints on the relative movement between the support member and the machine in six degrees of freedom.

[0013] By forming a precise, yet not overly constrained, connection between the support member and the machine in six degrees of freedom when in the second position, a very stable and repeatable stop position is defined for the support member and the workpiece supported thereon. The concepts of precise constraints in six degrees of freedom and relative movement are discussed in more detail below. Therefore, the loading system embodying the invention not only overcomes the aforementioned problems by facilitating the loading of workpieces into the machine's working volume via a movable support member, but also allows the support member to be moved in and out of the machine multiple times, knowing that each time the support member reaches the second position, it will be in the same position and orientation relative to the machine as before. Furthermore, because the repeatable connection is formed by the support member itself, a very simple yet effective loading system is provided.

[0014] According to a second aspect of the invention, a system for loading a workpiece into the working volume of a coordinate positioning machine is provided. The system includes a support member on which the workpiece can be supported, and the support member is movable relative to the machine between a first position and a second position via at least three guided support members. In the first position, the workpiece supported on the support member is at least partially located outside the working volume, and in the second position, the workpiece is located inside the working volume. The support members are in a drawer configuration and / or arranged such that when the support member is in the first position, the support member forms a cantilever structure (or provides cantilever support for the support member).

[0015] The advantages of a drawer-type mechanism are its relative inexpensiveness and robustness. Another advantage lies in providing a cantilever or overhang structure when in the first (pull-out) position. By using a support member arranged to form a cantilever structure when the support member is in the first (pull-out) position, a fixed base member that remains projecting outward from the machine even when the support member is in the second (push-in) position is unnecessary, thus providing a compact machine form. This has not been previously discussed in the context of loading workpieces into coordinate positioning machines.

[0016] Features of the second aspect of the invention can be used independently of or in combination with features of the first aspect of the invention. Thus, for the second aspect of the invention, the support member can form a connection in a second position that constrains relative movement between the support member and the machine in six degrees of freedom (without over-constraint), a specific feature of the first aspect of the invention. Furthermore, for the first aspect of the invention, the support member can be in a drawer-like configuration and / or arranged such that when the support member is in the first position, it forms a cantilever structure, a specific feature of the second aspect of the invention.

[0017] Each support member can be fixed to one of the support member and the machine, and can be arranged to move along a corresponding guide member provided on the other of the support member and the machine.

[0018] The connection mentioned above (i.e., the connection formed when the support member is in the second position) can be formed between the support member and the guide member (or the connection feature of the guide member), the support member being arranged to move along the guide member. The support member can be said to form half or one side of the connection, while the guide member (or the connection feature of the guide member) forms the other half or the other side of the connection.

[0019] When not in the second position, the support member between the support member and the guide member can form three contact points (or three constraints on relative movement) between the support member and the guide member, thereby constraining the relative movement between the support member and the machine in three corresponding degrees of freedom, and enabling relative movement in unconstrained degrees of freedom, particularly lateral entry and exit from the machine. The phrase "contact point" should be interpreted broadly, as discussed further below.

[0020] When not in the second position, each support member can form a single contact point (or constraint) between the support member and the corresponding guide member.

[0021] The guiding member may include additional constraints that define (or restrict) the maximum amount of relative movement in originally unconstrained degrees of freedom. The system can be adapted such that any such additional constraints are invalid when the supporting member is in the second position, thereby maintaining the aforementioned precise constraints on the relative movement between the supporting member and the machine in the six degrees of freedom when in the second position.

[0022] When in the second position, the support member between the support member and the guide member can form six contact points (or constraints) between the support member and the guide member, thereby constraining the relative movement between the support member and the machine in six corresponding degrees of freedom without over-constraint (or thus providing precise constraints on the relative movement between the support member and the machine in six degrees of freedom).

[0023] Each guide member may include or be associated with a coupling / positioning feature, which, when in the second position, interacts with the corresponding support member to form one or more of six contact points (or constraints).

[0024] When in the second position, each connection / positioning feature can interact with the corresponding support member to form two of the six contact points (or constraints).

[0025] When in the second position, the support member can form a kinematic connection between the support member and the machine, thereby creating or defining a kinematic stop position.

[0026] When in the first position, the support members can be arranged such that the provided support is widely and / or substantially uniformly distributed on the support members, or at least distributed around the normal support position or area of ​​the workpiece.

[0027] When in the second position, the support members can be arranged such that the provided support is widely and / or substantially uniformly distributed on the support members, or at least distributed around the normal support position or area of ​​the workpiece.

[0028] When in the first position, the support member can be arranged such that the support provided is substantially only at one end of the support member (or at least within half of the support member), or at least offset from or biased to one side of the normal support position or area of ​​the workpiece. When in the first position, the support member can thus form a cantilever structure.

[0029] The first set of support members can be fixed to (or mounted on) one of the support members and the machine, and the second set of support members can be fixed to (or mounted on) the other of the support members and the machine. This can be considered as providing a drawer-type support member configuration.

[0030] When the support members move between the first position and the second position, the first set of support members can move relative to the second set of support members.

[0031] When the support member moves from the second position to the first position, the first group may not move completely past (or beyond) the second group, such that the support member is effectively interlocked with and / or attached to and / or supported by the machine (e.g., in a cantilever manner) via the support member even when it is in the first position.

[0032] When in the first position, the support components can protrude or extend outward from the main body of the machine.

[0033] The first group may include at least one of the support members, and the second group may include at least two of the other support members.

[0034] The first set can be fixed to (or mounted on) the support member, and the second set can be fixed to (or mounted on) the machine.

[0035] The first group may include a single support member fixed to the rear of a movable support member, while the second group may include two support members fixed to the front of a base member, the base member itself being attached to or forming part of the machine.

[0036] The system may include at least three such support members. One of the three support members may be fixed to a supporting member, while the other two support members may be fixed to the machine.

[0037] The system may include a base member that is fixed, mounted, or attached to a machine or forms part of the machine, wherein a support member is movable relative to the base member (and therefore also relative to the machine). The system can be mounted to the machine via such a base member, which may also be referred to as a fixing member.

[0038] The system may include a magnetic biasing arrangement that tends to hold the support member in a second position relative to the machine. The magnetic biasing arrangement may also tend to pull the support member into the second position when it is nearby. Alternatively, a spring-based biasing arrangement may be used, or a magnetic biasing arrangement may also be used.

[0039] The support member can be a rotatable support member, such as a roller, wheel, or ball bearing.

[0040] The movable support component can be in the form of a plate, platform, or tray. The base component can be in the form of a plate, platform, or tray.

[0041] The support member may include a handle for assisting manual movement of the support member between a first position and a second position.

[0042] Coordinate positioning machines can be non-Cartesian coordinate positioning machines.

[0043] A coordinate positioning machine can be a parallel kinematic coordinate positioning machine.

[0044] A coordinate positioning machine can be a six-legged coordinate positioning machine.

[0045] A coordinate positioning machine can be a coordinate measuring machine.

[0046] According to a third aspect of the invention, a coordinate positioning machine is provided, which includes a system according to the first or second aspect of the invention.

[0047] According to a fourth aspect of the invention, a facility is provided comprising a plurality of coordinate positioning machines and a system according to a first or second aspect of the invention, the facility for moving a support member (and any workpiece supported thereon) between corresponding plurality of second positions. In each of the plurality of second positions, the workpiece may be located within the working volume of the corresponding machine within the machine. In each of the plurality of second positions, the support member may form a coupling that constrains relative movement between the support member and the machine in six degrees of freedom (without over-constraint). The facility may be a production or manufacturing facility.

[0048] Now, let's refer to the attached diagram as an example, in which:

[0049] The above discussion Figure 1 This is a schematic diagram of a Cartesian coordinate positioning machine;

[0050] The above discussion Figure 2 A schematic diagram of a machine that uses non-Cartesian coordinate positioning;

[0051] Figure 3 This invention embodies the method for loading workpieces into... Figure 2 A schematic diagram of the system in the working volume of a non-Cartesian coordinate positioning machine;

[0052] Figure 4 This is a top view of the loading system embodying the present invention in the first position, showing three contact points that constrain movement in three degrees of freedom;

[0053] Figure 5 yes Figure 4 A top view of the loading system in a position between a first position and a second position, the loading system having moved via unconstrained master degrees of freedom;

[0054] Figure 6 The loading system is in Figure 5 The top view of the middle position, but the loading system has some additional motion via unconstrained secondary degrees of freedom;

[0055] Figure 7 yes Figure 4 A top view of the loading system in the second (docking) position, wherein the support members are in a kinematically defined position and orientation relative to the machine;

[0056] Figure 8 , Figure 9 and Figure 10 Showing respectively with Figure 4 , Figure 5 and Figure 7 The side view corresponding to the top view;

[0057] Figure 11 This is a top view illustrating a more compact loading system of the present invention, which allows the base components to be fully accommodated within the machine;

[0058] Figure 12 yes Figure 11 A top view of the loading system in the second (docking) position;

[0059] Figure 13 , Figure 14 and Figure 15 It shows Figure 11 The embodiments are generally similar to the previous embodiment. Figure 8 , Figure 9 and Figure 10 Corresponding side view;

[0060] Figure 16 It shows in Figure 11 Additional constraint members used to limit the tilt of the support member in the embodiment;

[0061] Figure 17 Is with Figure 3 The machine and loading system shown are similar to those of other machines and loading systems, but this machine has a housing surrounding the working parts;

[0062] Figure 18 This is a less schematic view of a machine having a loading system embodying the present invention, which generally corresponds to... Figure 17 A more schematic view of the machine is shown;

[0063] Figure 19 It shows Figure 18 A more detailed view of the movable support member in the second position;

[0064] Figure 20 It shows Figure 18 A more detailed view of the movable support member in its first position;

[0065] Figure 21 This is a close-up view of the rearmost connecting feature, viewed from above and behind the loading system;

[0066] Figure 22 It is a close-up view of the support member engaging with the corresponding connection feature when in the second position;

[0067] Figure 23 This is a view from the front and bottom of the loading system, with the support member in the second position;

[0068] Figure 24 Is in the position of with Figure 23 The plan view of the lower side of the support member at the same location also shows the foremost support member;

[0069] Figure 25 A connection feature is shown in more detail from below, representing an angled connection feature; and

[0070] Figure 26 Details of another connection feature in the angled connection features, as viewed from above, are shown.

[0071] Figure 3 This invention embodies the method for loading workpiece 9 onto the reference above. Figure 2 A schematic diagram of system 20 within the working volume of the described non-Cartesian coordinate positioning machine 10.

[0072] The loading system 20 includes a support member 30 on which the workpiece 9 can be supported, and the support member is laterally movable relative to a base member 40, which is mounted to a fixed platform 14 within the working volume 11 of the machine 10. The support member 30 is laterally movable between a first position and a second position, in which the workpiece 9 on the support member 30 is at least partially outside the working volume 11 (e.g., ...). Figure 3 As shown), in this second position, workpiece 9 is located inside the working volume 11. This lateral movement from the first position to the second position... Figure 3 The middle part is depicted by a block-shaped arrow at the rear of the support member 30. In this regard, the terms "rear" and "front" as used herein refer to the normal position relative to the operator of the machine, with the front being closest to the operator and the rear being furthest from the operator.

[0073] Figure 4 The image shows a view of the loading system 20 from above the movable support member 30, wherein the features of the fixed base member 40 are outlined in dashed lines, and the features of the movable support member 30 are outlined in solid lines. Figure 4 The diagram illustrates that the support member 30 is movable relative to the base member 40 via three guided support members (e.g., rollers) 31, 32, 33. In this embodiment, all three support members 31, 32, 33 are attached to the movable support member 30 and move along three corresponding guides (or tracks or guide members) 41, 42, 43 on the base member 40. A handle 34 on the front side of the movable support member 30 is configured to assist in manually pushing the support member 30 laterally into the machine 10 and pulling it back laterally.

[0074] Therefore, in this embodiment, the base member 40 extends outward from the machine 10 (and...). Figure 3 The differences are schematically shown in the diagram, where the base member 40 is fully housed within the machine 10. Reference will be made below. Figures 11 to 16 Further description is more like Figure 3 The preferred alternative (and more compact) arrangement described is, however... Figures 4 to 10 The arrangement shown is conceptually slightly simpler because all three support members 31, 32, and 33 are attached to a movable support member 30, which itself simply moves along the three corresponding guides 41, 42, and 43 on the base member 40.

[0075] Figure 4 The diagram shows a support member 30 in the aforementioned first position, in which the workpiece 9 on the support member 30 will be at least partially located outside the working volume 11. Each support member 31, 32, 33 is in the form of a roller, wherein the side profile of the first support member 31 is... Figure 4 As shown in the illustrations (other support members 32, 33 have similar side profiles). Support member 31 has a curved outer surface as depicted, such that a single point contact c1 is formed between support member 31 and the corresponding guide 41 on base member 40, which itself will have a substantially flat or planar profile. Similarly, point contacts c2 and c3 are formed between the other two support members 32, 33 and their corresponding guides 42, 43. Support members 31, 32, 33 can be formed of hardened steel, and guides 41, 42, 43 are also formed using hardened steel; therefore, even under load, the three contacts c1, c2, and c3 can be assumed to be point contacts. In practice, these points will not be points in a purely mathematical sense, but rather forms a contact within a small area; however, for the purposes of this discussion, they can still be approximated as points; in this context, the term "contact point" should be interpreted accordingly herein.

[0076] These three contact points, c1, c2, and c3, provide three corresponding constraints on the relative motion between the movable support member 30 and the base member 40. Therefore, the support member 30 is constrained relative to the base member 40 in three corresponding degrees of freedom: rotation about orthogonal axes in the plane of the support member 30 (pitch and roll axes, i.e., pitch and roll rotation are constrained) and linear motion along axes perpendicular to that plane (yaw axis, i.e., linear motion along that axis is constrained). Conversely, the support member 30 has three remaining degrees of freedom relative to the base member 40: rotation about vertical axes (yaw axis, i.e., yaw rotation is unconstrained) and lateral motion along orthogonal axes (pitch and roll axes, i.e., linear motion along those axes is unconstrained).

[0077] One of these available degrees of freedom is the master degree of freedom, which provides the main forward and backward movement of the support member 30 as it enters and exits the machine 10 along the guides 41, 42, 43. Figure 5 The diagram shows that the support member 30 has been moved a certain distance along the base member 40 (and into the machine 10) by laterally pushing the handle 34, thus utilizing the primary degree of freedom. However, the other two available degrees of freedom allow the support member 30 to make secondary movements relative to the base member 40, namely lateral movements to the side and rotations (i.e., yaws) about the aforementioned vertical axis. Therefore, it can be seen that the support members 31, 32, 33 are not tightly constrained in their corresponding guides 41, 42, 43. Figure 6 This secondary movement is shown in the diagram.

[0078] Although the guides 41, 42, and 43 are generally planar in nature, they preferably have some additional constraints (boundary constraints) that limit secondary (undesired) relative movements. For example, the guides 41, 42, and 43 may be provided with sidewalls, such as... Figure 6 As depicted, the support members 31, 32, and 33 will abut against these sidewalls, thereby restricting these undesirable movements. However, these additional constraints do not provide any additional contact points during normal forward / backward movements, so that typically only three contact points c1, c2, and c3 exist, along with three corresponding constraints on relative movements (with three constrained degrees of freedom and three unconstrained degrees of freedom).

[0079] Figure 7The diagram illustrates what occurs when the support member 30 reaches the aforementioned second position (or stop position). In the second position, the support members 31, 32, and 33 form a connection that restricts relative movement between the support member 30 and the base member 40 in all six degrees of freedom. Since the base member 40 itself is fixed relative to the machine 10, this also restricts relative movement between the support member 30 and the machine 10 in all six degrees of freedom. This is achieved by providing three connecting features (or connecting members) 45, 46, and 47 along the three guides 41, 42, and 43, respectively, which, when in the second position, position the three support members 31, 32, and 33 into, respectively, these connecting features 45, 46, and 47. Each of the connecting features 45, 46, and 47 forms a V-shaped groove internally, wherein the V-shaped groove of the connecting feature 45 is aligned with its corresponding guide 41, and the V-shaped grooves of the connecting features 46 and 47 are angled inward relative to their respective guides 42 and 43. These connecting features 45, 46, 47 are preferably slightly recessed into their respective guides 41, 42, 43, such that when in the second (stopped) position, the three support members 31, 32, 33 naturally fall into these connecting features by gravity.

[0080] like Figure 7 As shown, the curved outer surfaces and connecting features 45, 46, and 47 of the three support members 31, 32, and 33 are adapted to each other and arranged such that, when in the second (stopped) position, six contact points c are formed between the support member 30 and the base member 40. 11 c 12 (between support member 31 and connecting feature 45), c 21 c 22 (between support member 32 and connecting feature 46), and c 31 c 32 (Between support member 33 and connecting feature 47). These six contact points c 11 c 12 c 21 c 22 c 31 and c 32 This constrains the relative movement between the support member 30 and the machine 10 in six corresponding degrees of freedom. Similarly, as mentioned above, each of the contact points will be a small contact area that approximates point contact in practice.

[0081] Because the connecting feature 45 is aligned with the guide 41 (and the support member 31), the two contact points c between the support member 31 and the connecting feature 45 11 c 12The center of the support member 31 is positioned on both sides, with the bisector between the two contact points aligned with the guide 41. On the other hand, because the connecting feature 46 is angled inward relative to its corresponding guide 42 (and support member 32), the two contact points c between the support member 32 and the connecting feature 46 are... 21 c 22 They are pushed forward and backward respectively, causing the bisector between the two contact points to be angled inward relative to the guide 42. Similarly, because the connecting feature 47 is angled inward relative to its corresponding guide 43 (and support member 33), the two contact points c between the support member 33 and the connecting feature 47 are angled inward. 31 c 32 They are pushed backward and forward respectively, so that the bisector between the two contact points forms an inward angle relative to the guide 43.

[0082] Therefore, when in the second position, support members 31, 32, and 33 form a kinematic connection between support member 30 and machine 10, thereby creating a kinematically defined stop position for support member 30. The kinematic connection is a "2-2-2" configuration, where each of the three connection positions defines two of the six contact points (constraints). What a kinematic connection means in this context will now be explained.

[0083] In the context of positioning a first body relative to a second body, kinematic design considerations are satisfied by constraining the degrees of freedom of motion of the first body relative to the second body using a minimum number of constraints (also known as precise constraints). When there are excessive constraints in the connection between the two bodies—that is, when the connection provides more than the minimum number of constraints by providing at least one redundant constraint—it is impossible to determine with any certainty which combination of constraints will determine the actual position of the first body relative to the second body. Therefore, the position of the first body relative to the second body is non-repeatable because it is unknown which of several possible positions the first body will stop at relative to the second body when they reunite.

[0084] Furthermore, in the presence of excessive constraints, the first body will not assume a stable position relative to the second body because, when a force is applied, the first body may move between two or more different possible positions. An example of this is a four-legged table, which, when placed on a flat surface, will typically wobble between two different positions. This is because, in this context, the minimum number of constraints is three to constrain relative motion in three corresponding degrees of freedom (two rotational degrees of freedom and one translational degree of freedom), while the four-legged table has four constraints (generated by the contact between each of the four legs and the flat surface), making the connection between the table and the flat surface excessively constrained.

[0085] Generally, each degree of freedom to be constrained requires a single constraint, and a single point contact between two bodies generates a single constraint. Therefore, in order to constrain the first body relative to the second body in all six degrees of freedom, the connection between them will need to define six contact points, arranged relative to each other in six corresponding degrees of freedom without any redundancy. It will be understood that these contact points need not be (and in practice will not be) purely mathematical points. Instead, in practice, each of these points is typically a small region of proximity. However, even if each contact point may not be purely mathematical, the connection can still be called a kinematic connection because it can still be considered to follow kinematic design principles. The term "kinematic" as used in this paper in the context of a connection between two bodies should be interpreted accordingly to mean kinematic or at least pseudo-kinematic, as should similar terms such as "kinematically."

[0086] Given the foregoing, it will be understood that the kinematic connection between the first and second entities provides a kinematically defined position of the first entity relative to the second entity, a position that is unique, discrete, repeatable, predictable, and stable, at least in terms of the degrees of freedom constrained by the connection (i.e., ignoring any unconstrained degrees of freedom). Unless otherwise stated, the kinematic connection referred to herein should be understood as providing relative constraints on all six degrees of freedom, where the kinematically defined position is also interpreted as relating to the relative position of the kinematically defined position on all six degrees of freedom. The kinematically defined position can also be simply referred to as the kinematic position.

[0087] Because it relies on the principle of precise constraints, the kinematic connection between two bodies is inherently easy to join and disjoint. This is because, to prevent the two bodies from deviating from the constraints defining their relative positions, it would be necessary to provide additional (and opposite) constraints (such as clamps), which themselves would lead to over-constraint and thus transform it from a kinematic connection into a non-kinematic connection. Nevertheless, kinematic connections generally do require some form of nesting force (or biasing force) to hold the joined bodies together, but without creating additional constraints. In this respect, the theoretical constraint includes not only the contact point itself but also the corresponding nesting force maintaining the contact. Nesting forces are force vectors normal to the contact surfaces and passing through the contact point, but these force vectors can be vectorarily combined into a single force. For example, gravity or magnetic force can be used as nesting forces.

[0088] With further background information, these ideas are explored in the following literature: (a) H.J. Braddick, “Mechanical Design of Laboratory Apparatus”, Chapman & Hall, London, 1960, pp. 11–30; (b) James G. Skakoon, “Exact constraint”, *Mechanical Engineering*, September 2009; (c) Alexander Slocum, “Kinematic Couplings: A Review of Design Principles and Applications”, *International Journal of Machine Tools and Manufacture*, 50.4 (2010): 310–327; and (d) Layton C. Hale, “Principles and Techniques for Designing Precision Machines”, Massachusetts Institute of Technology. Doctoral dissertation (Technology), February 1999.

[0089] In the context of embodiments of the present invention, by forming a kinematic connection between the support member 30 and the machine 10 when in the second position, a very stable and repeatable stop position is defined for the support member 30 and the supported workpiece 9. The support member 30 can be moved in and out of the machine 10 multiple times because it is known that each time the support member reaches the stop position, it will be in exactly the same position and orientation relative to the machine 10. This is very advantageous, and more importantly, because the kinematic connection is formed by the support members 31, 32, 33 themselves, a very simple yet effective loading system is provided.

[0090] Please refer to the above reference again. Figure 6Regarding the mentioned additional constraints, it should be noted that, particularly when the support member 30 is in the second position, any such additional constraints do not provide any additional contact points. In other words, when in the second position, a gap will exist between the support members 31, 32, 33 (or any other part of the support member 30) and any features used to form additional constraints (e.g., the sidewalls of the guides 41, 42, 43), such that in addition to the six contact points c mentioned above... 11 c 12 c 21 c 22 c 31 and c 32 In addition, no additional contacts are formed. This avoids excessive constraint and maintains the kinematic properties of the connection formed in the second position by the engagement of the support members 31, 32, 33 with the connecting features 45, 46, 47.

[0091] Figure 8 , Figure 9 and Figure 10 Showing respectively with Figure 4 , Figure 5 and Figure 7 The side views corresponding to the plan view clearly show how the support member 30 (and the supported workpiece 9) is supported by multiple guided support members 31, 32, 33 (support member 33 in...). Figure 8 , Figure 9 and Figure 10 (Hidden behind the support member 32) in the first position relative to the base member 40 ( Figure 8 ) and the second position ( Figure 10 The workpiece 9, supported on the support member 30, moves between the two locations. In the first position, the workpiece 9 is at least partially outside the working volume, and in the second position, the workpiece 9 is inside the working volume. In the second position, the support members 31, 32, and 33 form a connection that constrains the relative movement between the support member 30 and the machine 10 in six degrees of freedom without over-constraint.

[0092] Figures 8 to 10 A magnetic bias arrangement is also shown, which is configured to help hold the support member 30 in a second position relative to the machine 10 (or equivalently, the base member 40), and also to pull the support member into the second position when the support member 30 is in the vicinity. The magnetic bias arrangement includes magnetic features 38 (permanent magnets or magnetic materials) on the support member 30 and relative magnetic features 48 (magnetic materials or permanent magnets) on the base member 40.

[0093] A magnetic bias arrangement is optional and provides an effect similar to the gravity effect described above, which causes the support member to slightly sink into the recessed connection features 45, 46, 47. The gravity effect also helps to pull the support member 30 into a second position when it is nearby and to hold it in that position, as movement away from that position would require a force to lift the support member 30 (and workpiece 9) against gravity. It should be understood that the connection features 45, 46, 47 do not need to be recessed within their respective guides 41, 42, 43, and can actually be convex, such that each support member 31, 32, 33 is pushed upward along the ramp surface and then engages (and optionally sinks into) its corresponding connection feature 45, 46, 47. Alternatively, a spring-based bias arrangement, or a magnetic bias arrangement, can be used. A spring flexure with grooves on the underside of the support member 30 can also be provided, providing both downward force and lateral restraint.

[0094] It should be noted that the inward angle of the connecting features 46 and 47 is not only used to form a “2-2-2” kinematic connection arrangement when in the second position, thereby forming precise constraints on six contact points and six degrees of freedom, but also to apply torsion to the support of the rotatable support members 32 and 33 (which may be rollers, wheels or balls), which helps to prevent additional “playback” (and corresponding movement of support member 30) when in the second (seated) position.

[0095] As mentioned above, in Figure 4 In this embodiment, the base member 40 extends outward from the machine 10, which is consistent with... Figure 3 The difference is schematically shown in the diagram, in which the base member 40 is fully housed within the machine 10. Figure 11 A more compact arrangement is shown that allows the base member 40 to be fully accommodated within the machine 10, wherein, when in the first (extended) position, only the support member 30 extends outward from the base member 40. Figure 11 In this embodiment, the foremost support members 32, 33 are attached to the fixed base member 40 instead of the support member 30, while the rearmost support member 31 remains fixed to the movable support member 30. Accordingly, the guides 42, 43 and the foremost connecting features 46, 47 are now on the underside of the movable support member 30, instead of on top of the fixed base member 40. Similarly, the features of the movable support member 30 are... Figure 11 The features of the fixed base member 40 are shown in solid outline, while the features of the fixed base member 40 are shown in dashed outline.

[0096] Figure 12 The movable support member 30 is shown being pushed to the second (seated or stopped) position, and... Figure 7Compared to the equivalent positions shown, the movable support member generally exhibits a more compact footprint. Despite the different arrangements, the support members 31, 32, and 33 form kinematic connections with their corresponding connection features 45, 46, and 47 in a completely equivalent manner, and therefore require no further description. Figure 13 , Figure 14 and Figure 15 A side view of this more compact arrangement is shown, and it generally corresponds to the previous embodiment. Figure 8 , Figure 9 and Figure 10 .

[0097] In this embodiment, the lateral distance between the rearmost support member 31 and the frontmost support members 32 and 33 is no longer constant. Figure 13 , Figure 14 and Figure 15 This is most evident in the sequence shown. When in... Figure 13 In the first (fully extended) position shown, there is a risk that the movable support member 30 will tilt by pivoting around the foremost support members 32, 33, especially when the workpiece 9 is loaded. To prevent this, the intermediate guide member 41 may be provided with an upper restraint member 49, such as... Figure 16 As shown, the upper constraint member will limit the tilt and prevent the support member 30 and the workpiece 9 from completely detaching from the machine 10.

[0098] Figures 11 to 16 The arrangement of the support members 31, 32, 33 (and the corresponding guides 41, 42, and 43) in the embodiment can be referred to as a drawer-type support member configuration because it is similar to the type of support configuration used to slidably support drawers (e.g., kitchen drawers) in furniture commonly used in homes or offices. For known types of drawer-type support arrangements, there are typically two supports on each side (two at the rear of the moving part and two at the front of the fixed part, making a total of four).

[0099] It should also be noted that when the support member 30 is in the first position, the support members 31, 32, and 33 are arranged such that the support provided is substantially only at one end of the support member (or at least within half of it), or at least offset from or biased towards one side of the normal support position or area of ​​the workpiece 9 supported on the support member 30. Thus, the support member 30, in the first position, forms a cantilever structure through the support members 31, 32, and 33. On the other hand, when the support member 30 is in the second position, the support provided by the support members 31, 32, and 33 is more widely and / or substantially uniformly distributed on the support member 30, or at least distributed around the normal support position or area of ​​the workpiece 9.

[0100] Using this drawer-type or cantilever arrangement to load workpieces into coordinate positioning machines would not be obvious, because loading systems used in a coordinate positioning context are generally considered to require overhanging supports to provide robust and accurate linear support, such as a reference. Figures 4 to 10 The described embodiments.

[0101] The advantage of a drawer-type mechanism is its relative inexpensiveness and robustness, while also providing overhangs or cantilever arms without requiring support at one end (support is only needed at the other end). This in itself is an advantage that has not been previously mentioned in the context of loading workpieces into coordinate positioning machines. Therefore, such a drawer-type or cantilever support arrangement can be used independently of the aforementioned kinematically defined stop positions, and should therefore be considered as relating to the second (and independent) aspect of the invention.

[0102] Drawer-type or cantilever arrangements are often overly constrained and / or unstable (e.g., prone to movement or bending), while for coordinate positioning applications such as those described herein, a known and stable ending position is advantageous. Therefore, the kinematic characteristics described above with respect to the first aspect are preferably used in conjunction with the drawer-type or cantilever support arrangement of this second aspect, so that a repeatable and stable resting position is provided for the workpiece even if the movable support member is overly constrained or slightly lacks positional stability when not in a stationary position.

[0103] It should be understood that, although reference Figures 11 to 16 Description (and actually in) Figure 3 The cantilever or drawer-type embodiment (illustrated schematically) has a single support member 31 at the rear of the movable member 30 and a pair of support members 33, 34 at the front of the fixed member 40; however, this can be alternatively reversed, with the pair of support members at the rear of the movable member 30 and the single support member at the front of the fixed member 40. Alternatively, particularly where a known and stable stop position is not required, a pair of support members can be present at the rear of the movable member 30 and a pair of support members at the front of the fixed member 40, i.e., more like a known support arrangement used in kitchen drawers. However, even when using two pairs of support members, excessive constraint in the static position can still be avoided (thus ensuring precise or kinematic constraint) by ensuring that there are still only six contact points in this position, for example by ensuring that one of the supports in one pair does not make any contact with the other side when in the static position (e.g., by positioning it in the gap), and the other support in that pair forms two contact points as described above (thus forming six contact points on three supports in a “2-2-2” arrangement), or by ensuring that each support in one pair forms a single contact point (thus forming six contact points on four supports in a “2-2-1-1” arrangement).

[0104] It should also be understood that, although reference Figures 4 to 10 The described embodiment has a single support member 31 at the rear of the movable member 30 and a pair of support members 32, 33 at the front of the movable member 30; however, this can be alternatively reversed, with the pair of support members at the rear of the movable member 30 and the single support member at the front. Again, note that the terms “rear” and “front” as used herein are relative to the normal position of the machine operator, or alternatively relative to the position from which the workpiece is typically loaded into the machine, wherein the front is closest to this position and the rear is furthest from it; in other words, corresponding to positions considered to be at the front and rear of the machine. Furthermore, similar to the above-mentioned cantilever or drawer-type embodiments, there may also be two pairs of supports respectively fixed to the rear and front of the movable support member 30. These two pairs of supports move, for example, along the side guides 42, 43 without the intermediate guide 41. Although this would provide four contact points during movement between the first and second positions (and thus over-restraint, with the risk of swaying), in the stopped position, it is still possible (via a properly adapted coupling feature) to ensure that there are still six contact points to produce the same precise restraint as before in the stationary position.

[0105] Figure 17 Is with Figure 3 The schematic diagram is similar to that of machine 10 and loading system 20. Figure 3 Compared to machine 10 shown, Figure 17 The machine 10 shown includes a protective housing or enclosure 50 surrounding its working parts (e.g., a hexapod arrangement of extendable legs 16 and movable platform 12 and fixed platform 14). The housing 50 also includes one or more observation windows 52. For simplicity only, Figure 17 The middle part is omitted Figure 3 The controller is 15, but it will actually exist. From Figure 17 It is evident that, due to the outer casing 50, the passageway into the working volume 11 is greater than that of the outer casing 50. Figure 3 The schematic depiction in the text is more limited, while the following references... Figure 18 This is especially true in the case of the described embodiments. This more restricted access to the working volume 11 makes the use of the loading system 20 embodying the invention even more desirable.

[0106] The above-mentioned Figures 3 to 17 Essentially illustrative, this is to clearly illustrate the basic principles of embodiments of the invention. To demonstrate how the loading system embodying the invention can be incorporated into practical machine designs, Figures 18 to 26 More realistic embodiments of the invention are shown in the figures. The embodiments illustrated in these figures closely correspond to those that differ in implementation details but generally share the same operating principles. Figure 3 and Figures 11 to 17 A more compact embodiment is shown schematically, where the same reference numerals are used for the same parts. Therefore, it is not necessary to further elaborate on the embodiments shown. Figures 18 to 26 The embodiments shown are described in detail below.

[0107] Figure 18 The loading system 20 is shown in an extended configuration, i.e., the movable support member 30 is in a first position, extending outward from the machine 10, and the workpiece 9 is loaded on the support member 30. Figure 19 A more detailed view of the movable support member 30 in the second position is shown, which is pushed into the machine 10 and docked in the seated or stopped position. Figure 20 A more detailed view of the movable support member 30 in its first position, extending outward from the machine 10, is shown. Figure 20 A damping element 51 on the base member 40 is also shown. This damping element is used to slow the movement of the movable support member 30 as it approaches the second position from the first position. This helps prevent the movable support member 30 from hitting the stop behind the second position when it passes the second position, and also makes it generally easier to position it to the desired position even with relatively uncontrolled pushing of the handle 34.

[0108] Figure 21 This is a close-up view of the rearmost connecting feature 45, viewed from above and behind the system 20, clearly showing the shape of the V-shaped groove. Figure 21 It is also shown that, when mating in the second position, at which point on the V-groove, a contact point c will be formed between the support member 31 and the connecting feature 45. 11 c 12 .from Figure 21 The upper constraint member 49 is also clearly visible, as was previously seen in Figure 16 As shown in the image. Figure 22 A similar close-up view of the rearmost connecting feature 45 is shown, but also a movable support member 30 in a second (buttock) position is shown, wherein the support member 31 engages with the connecting feature 45 to form two of the six contact points defining the aforementioned kinematic connection.

[0109] Figure 23 This is a view from the front and bottom of system 20, where support member 30 is mated in the second position, showing the foremost support member 3, 33 of the foremost connecting features 46, 47 attached to fixed base member 40 and engaged to the underside of movable support member 30 (thereby forming four of the six contact points defining the aforementioned kinematic connection), with guides 42, 43 at the rear. Figure 24 Is in the position of with Figure 23A plan view of the lower side of the support member 30 in the same location, wherein the base member 40 is hidden in the view, but support members 32, 33 attached to the fixed base member 40 are shown, which engage with the connection features 46, 47 on the support member 30 at the ends of the respective guides 42, 43.

[0110] exist Figure 25 The image shows details of a connecting feature 46, one of the angled connecting features at the foremost point, as viewed from below the support member 30. This view reveals how the V-shaped groove is slightly recessed below the horizontal plane of the corresponding guide 42. Figure 26 This is a view of another connecting feature 47 among the foremost angled connecting features, viewed from above the support member 30, but in which the support member 30 itself is hidden to expose the connecting feature 47 and reveal how the connecting feature engages with the support member 33 in the seated position to form a pair of angled contact points with the curved outer surface of the support member 33.

[0111] from Figure 25 and Figure 26 It will also be clear that guides 42 and 43 do not have any lateral constraints (e.g., sidewalls) to prevent excessive lateral movement and yaw, as referenced. Figure 6 As described. Alternatively, these movements are via Figure 26 as well as Figure 19 , Figure 20 , Figure 23 and Figure 24 The lateral restraint member 53 shown is used for limitation. From Figure 19 and Figure 20 The lieutenant general can particularly clearly see how these lateral restraint members 53 prevent excessive lateral movement and yaw by providing bounded channels through which the sides of the support member 30 can pass. Again, it should be noted that, particularly when the support member 30 is in the second (seated) position, there is no contact between the support member 30 and these lateral restraint members 53 to avoid over-restraint and to maintain the kinematic properties of the connection formed by the engagement of the support members 31, 32, 33 with the connecting features 45, 46, 47 in this position.

[0112] Although the embodiments of this application have been described in the context of a hexapod non-Cartesian coordinate positioning machine, it can also be used to load workpieces into, for example, Figure 1 Cartesian coordinate measuring machines of the type shown, or in fact, any type of coordinate positioning machine, such as comparators, scanning machines, machine tools, robots, positioning devices (e.g. for optical components), and prototyping machines.

[0113] The loading system embodying the invention is not limited to moving workpieces into and out of a single machine. It can also be used as a conveyor, track, or transport system to move a carrier (support member 30) between a series of machines (e.g., measuring machines and / or machine tools) in a factory or facility. The carrier (support member 30) is pushed along a base member 40 extending from one machine to the next, allowing workpiece 9 to be sequentially transferred to each working volume. In the case of using cantilever or drawer-type support member configurations (see...), Figures 11 to 16 (where at least one of the support members is fixed to the machine itself), a set of fixed support members can be provided for each machine, wherein the fixed support member of the next machine in the series is in contact with the current machine in the series before losing contact with the current machine in the series, so that the movable support member is always adequately supported; or a set of fixed support members can be provided along the extended base member 40 or even between machines at appropriate intervals to similarly ensure that the movable support member is always adequately supported.

[0114] It should also be understood that although the aforementioned support member 30 relies on manual movement via handle 34, a motor (e.g., a rotary motor) can also be used to drive the support member 30 relative to the base member 40 to drive the support members 31, 32, and 33.

Claims

1. A system for loading a workpiece into the working volume of a coordinate positioning machine, the system comprising a support member on which the workpiece is supported, and the support member being movable relative to the machine between a first position and a second position via a plurality of guided support members, wherein in the first position the workpiece supported on the support member is at least partially located outside the working volume, and in the second position the workpiece is located inside the working volume, wherein: (a) In the second position, the support member forms a connection that restricts relative movement between the support member and the machine in six degrees of freedom; and / or (b) the support member is in a drawer configuration and / or is arranged such that when the support member is in the first position, the support member forms a cantilever structure.

2. The system as claimed in claim 1, wherein, Each support member is fixed to one of the support member and the machine, and is arranged to move along a corresponding guide member disposed on the other of the support member and the machine.

3. The system as described in claim 2, wherein, When not in the second position, the support member forms three contact points between the support member and the guide member, thereby constraining the relative movement between the support member and the machine in three corresponding degrees of freedom.

4. The system as described in claim 3, wherein, When not in the second position, each support member forms a single contact point between the support member and the corresponding guide member.

5. The system as described in claim 2, 3, or 4, wherein, The guiding member includes additional boundary constraints that limit the maximum relative movement over the originally unconstrained degrees of freedom.

6. The system as claimed in any one of claims 2 to 5, wherein, When in the second position, the support member creates six contact points between the support member and the guide member, thereby constraining the relative movement between the support member and the machine in six corresponding degrees of freedom.

7. The system of claim 6, wherein, Each guide member includes a coupling / positioning feature that, when in the second position, interacts with a corresponding support member to form one or more of the six contact points.

8. The system of claim 7, wherein, When in the second position, each connection / positioning feature interacts with the corresponding support member to form two of the six contact points.

9. The system as claimed in any of the preceding claims, wherein, When in the second position, the support member forms a kinematic connection between the support member and the machine.

10. The system as claimed in any of the preceding claims, wherein, When in the first position, the support member is arranged such that the support provided is substantially uniformly distributed on the support member, or at least distributed around the normal support position or area of ​​the workpiece.

11. The system as described in any of the preceding claims, wherein, When in the second position, the support member is arranged such that the support provided is substantially uniformly distributed on the support member, or at least distributed around the normal support position or area of ​​the workpiece.

12. The system as described in any of the preceding claims, wherein, When in the first position, the support member is arranged such that the support provided is substantially only at one end of the support member or at least within half of the support member, or at least offset from or biased to one side of the normal support position or area of ​​the workpiece.

13. The system as described in any of the preceding claims, wherein, The first set of support members is fixed to one of the support member and the machine, and the second set of support members is fixed to the other of the support member and the machine.

14. The system as claimed in any of the preceding claims, comprising three such support members.

15. The system of claim 14, wherein, One of the three support members is fixed to the support member, while the other two support members are fixed to the machine.

16. The system of any of the preceding claims, comprising a magnetic biasing arrangement that tends to hold the support member relative to the machine in the second position.

17. The system as claimed in any of the preceding claims, wherein, The support member is a rotatable support member, such as a roller, wheel, or ball bearing.

18. The system as claimed in any of the preceding claims, wherein, The movable support component is in the form of a plate, platform, or tray.

19. The system as claimed in any of the preceding claims, wherein, The support member includes a handle for assisting manual movement of the support member between the first position and the second position.

20. The system of any preceding claim, comprising a base member fixed, mounted, or attached to the machine or forming part of the machine, wherein, The support member is movable relative to the base member.

21. The system as claimed in any of the preceding claims, wherein, The machine in question is a six-legged coordinate positioning machine.

22. The system as described in any of the preceding claims, wherein, The machine in question is a coordinate measuring machine.

23. A coordinate positioning machine, the coordinate positioning machine comprising the system as described in any of the preceding claims.

24. A facility comprising a plurality of coordinate positioning machines and a system as claimed in any one of claims 1 to 22 for moving the support member between corresponding plurality of second positions.

25. The facility as claimed in claim 24, wherein, In each of the second positions, the workpiece is located inside the working volume of the corresponding machine among the plurality of machines.

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