CN102713499B - 用于坐标测量设备的配重 - Google Patents

用于坐标测量设备的配重 Download PDF

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CN102713499B
CN102713499B CN201180006429.6A CN201180006429A CN102713499B CN 102713499 B CN102713499 B CN 102713499B CN 201180006429 A CN201180006429 A CN 201180006429A CN 102713499 B CN102713499 B CN 102713499B
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CN102713499A (zh
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大卫·M·丹尼尔森
马克·M·巴尔伯
克拉克·H·布里格斯
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Faro Technologies Inc
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    • G—PHYSICS
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    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract

提供了一种便携式关节臂坐标测量设备。该坐标测量设备包括基部和具有至少一个臂区段的关节臂部分。偏置构件在第一端处联接于基部并且在第二端处联接于关节臂部分。偏置构件的第一端可以在第一位置和第二位置之间移动。调节器联接于基部和偏置构件之间。调节器联接成将偏置构件的第一端从第一位置移动至第二位置。

Description

用于坐标测量设备的配重
相关申请的交叉引用
本申请要求2010年1月20日提交的临时申请号61/296,555的优先权，其内容被整体结合在此，作为参考。
技术领域
本公开涉及坐标测量机，并且更特别地涉及具有可调节配重系统的便携式关节臂坐标测量机。
背景技术
已经发现在零件的制造或生产(例如：加工)的各个阶段期间，在需要快速且精确地检验零件的尺寸的零件制造或生产过程中广泛地使用便携式关节臂坐标测量机(AACMMs)。与已知静止的或固定的、高成本并且相对难以使用的测量装置相比，便携式AACMMs表现出巨大的改进，特别是，在用于执行相对复杂的零件的尺寸测量方面所花费的时间的量。通常，便携式AACMM的使用者沿待被测量的零件或物体的表面简单地引导探针。随后记录测量数据并且向使用者提供该数据。在一些情况下，以可视化的形式向使用者提供数据，例如，计算机屏幕上的三维(3-D)形式。在其它情况下，以数字的形式向使用者提供数据，例如，当测量孔的直径时，文本“Diameter＝1.0034”显示在计算机屏幕上。
在共同转让的美国专利No.5,402,582(‘582)中公开了现有技术的便携式关节臂CMM的示例，其被整体结合在此，作为参考。该‘582专利公开了3-D测量系统，其由手动操作的关节臂CMM构成，该手动操作的关节臂CMM在一端具有支承基部并且在另一端具有测量探针。共同转让的美国专利No.5,611,147(‘147)公开了类似的关节臂CMM，该专利被整体结合在此，作为参考。在‘147专利中，关节臂CMM包括许多特征，这些特征包括在探针端的附加旋转轴线，由此为臂提供了2-2-2或2-2-3轴线配置(后一情况为七轴线臂)。
关节臂可以具有各种长度，通常在例如两英尺和四英尺之间。为了易于使用该臂，可将配重装置联接于固定的基部，以抵消由关节臂的重量所施加的扭矩。配重允许使用者用很小的力移动关节臂并且当由使用者释放时防止关节臂下落。遗憾地是，在一些情况下，由于关节臂的部件、公差、构造和附件的不同，配重可能施加太多或者太少的扭矩。由此，由于所施加的太多或者太少的配重，关节臂可能下垂或者阻碍运动，而不是自由地移动。
因而，尽管现有的关节臂适合于它们预定的目的，但是所需要的是下述AACMM，其具有用于关节臂的配重的改善的调节和校正。
发明内容
根据本发明的一个实施方式，提供了一种用于测量空间中的物体的坐标的便携式关节臂坐标测量设备(AACMM)。该AACMM包括基部。提供具有相对的第一端和第二端的可人工定位的关节臂部分，该臂部分旋转地联接于基部，臂区段包括多个连接的臂区段，臂区段中的每一个包括至少一个用于产生位置信号的位置转换器。测量设备附接于第一端。提供有电子电路，该电子电路用于接收来自转换器的位置信号并且提供与测量设备的位置对应的数据。旋转组件将第二端联接于基部，该旋转组件具有第一旋转轴线和基本上垂直于第一旋转轴线的第二旋转轴线。偏置构件可操作地联接在旋转组件和第二端之间，以围绕第二旋转轴线向第二端施加力，该偏置构件在其上具有至少一个突起。具有螺纹部分的调节器布置用于接合该至少一个突起，其中，由偏置构件施加于臂部分的力响应于调节器的移动而改变。
根据本发明的另一实施方式，提供了另一AACMM。该AACMM包括基部。提供了具有相对的第一端和第二端的可人工定位的关节臂部分，该臂部分包括多个连接的臂区段，臂区段中的每一个包括至少一个用于产生位置信号的位置转换器。测量设备附接于第一端。提供有电子电路，该电子电路用于接收来自转换器的位置信号并且提供与测量设备的位置对应的数据。偏置构件可操作地联接在基部和第二端之间，该偏置构件具有能够在第一位置和第二位置之间移动的至少一个突起。具有螺纹部分的调节器可操作地联接在基部和偏置构件之间，其中，螺纹部分接合于该至少一个突起，以使该至少一个突起在第一位置和第二位置之间移动。
根据本发明的另一实施方式，提供了一种用于测量空间中的物体的坐标的另一AACMM。该AACMM包括基部。提供了具有相对的第一端和第二端的可人工定位的关节臂部分，该臂部分包括多个连接的臂区段，每个臂区段包括用于产生位置信号的至少一个位置转换器。测量设备附接于第一端。提供有电子电路，该电子电路接收来自转换器的位置信号并且提供与测量设备的位置对应的数据。旋转组件使第二端围绕第一旋转轴线和第二旋转轴线旋转地联接于基部，该第二旋转轴线基本上垂直于第一旋转轴线。偏置构件布置在旋转组件内并且具有可操作地联接于第二端的第三端，偏置构件具有与第三端相对的第四端，第四端能够在第一位置和第二位置之间移动。调节构件可操作地联接于基部以便旋转并且可操作地联接于第四端，其中，第四端可以响应于调节构件的旋转在第一位置和第二位置之间移动。
附图说明
现在参照附图，示出了示例性实施方式，该示例性实施方式不应被视作关于本公开的整个范围的限定，并且其中，在几幅图中以类似的方式对元件进行标记：
图1，包括图1A和1B，是便携式关节臂坐标测量机(AACMM)的立体图，其内具有本发明的各个方面的实施方式；
图2，包括图2A-2D一起，是根据实施方式的用作图1的AACMM的一部分的电子设备的框图；
图3，包括图3A和3B一起，是根据实施方式的描述图2的电子数据处理系统的详细特征的框图；
图4是处于第一位置的图1的AACMM的局部立体图；
图5是处于第二位置的图1的第一轴承盒组件的局部立体图；
图6是图5的第一轴承盒组件的局部分解立体图；
图7是图5的第一轴承盒组件的另一局部分解立体图；
图8是在外壳遮盖移除的情况下图4的第一轴承盒组件的另一局部立体图；
图9是图4的第一轴承盒组件的局部剖视的另一局部立体图；
图10是用于图4的第一轴承盒组件的配重组件的剖视图；
图11是图9的配重组件的分解视图；以及，
图12是用于图1的坐标测量设备的配重组件的另一实施方式；
具体实施方式
便携式关节臂坐标测量机为制造商或者其他人提供了用于获得零件、部件和物体的高质量、高精度的测量的方便且灵活的方式。为了提供该灵活性，AACMM可具有多区段臂，该多区段臂具有许多自由度。本发明的实施方式提供了如下优点：偏置多区段臂的重量，从而允许操作者在省力和较高的稳定性的情况下进行测量。本发明的实施方式还提供如下优点：提供了配重，该配重可调节，以补偿与多区段臂相关联的重量、公差和附件。
图1A和1B以立体图示意了根据本发明的各种实施方式的便携式关节臂坐标测量机(AACMM)100，关节臂是坐标测量机的一种类型。如图1A和1B中所示，示例性AACMM 100可包括六或七轴线关节联接的测量装置，该测量装置具有测量探针外壳102，该测量探针外壳102在一端联接于AACMM 100的臂部104。臂部104包括第一臂区段106，该第一臂区段106通过第一组轴承盒110(例如，两个轴承盒)联接于第二臂区段108。第二组轴承盒112(例如，两个轴承盒)将第二臂区段108联接于测量探针外壳102。第三组轴承盒114(例如，三个轴承盒)将第一臂区段106联接于定位在AACMM 100的臂部104的另一端处的基部116。每一组轴承盒110、112、114提供了关节式运动的多条轴线。而且，测量探针外壳102可包括AACMM 100的第七轴线部的轴(例如，包括编码器系统的盒，该编码器系统判定测量装置，例如，探针118在AACMM 100的第七轴线上的运动)。在AACMM 100的使用中，基部116通常固定于工作表面。
在每个轴承盒组110、112、114内的每个轴承盒通常包含编码器系统(例如，光学角度编码器系统)。编码器系统(例如，转换器)提供相应臂区段106、108的位置的表示并且相对应的轴承盒组110、112、114一起提供探针118相对于基部116的位置的表示(并且，因此，由AACMM 100测量的物体在某一参考坐标系内，例如，局部或整体坐标系内的位置)。臂区段106、108可由适合的刚性材料制成，例如，但是不限于碳复合材料。具有六或七轴线的关节式运动(即，自由度)的便携式AACMM 100提供了如下优点：允许操作者将探针118定位在关于基部116的360°区域内的期望位置，同时提供操作者易于处理的臂部104。然而，应当理解，臂部104具有两个臂区段106、108的图示是为了示例的目的，所要求的本发明不应限于此。AACMM 100可具有由轴承盒联接在一起的任意数量的臂区段(并且，因此，多于或者少于六或七轴线关节式运动或自由度)。
探针118可拆卸地安装于测量探针外壳102，测量探针外壳102连接于轴承盒组112。柄126可通过例如快速连接接口相对于测量探针外壳102可移除。柄126可由其它设备代替(例如，激光线探针，条形码读出器)，由此提供如下优点：允许操作者利用同一AACMM 100，使用不同的测量装置。在示例性实施方式中，探针外壳102容纳可移除的探针118，该可移除的探针118是接触式测量装置并且可具有物理地接触待测量的物体的不同端头118，包括，但是不限于：球式、触敏式、弯曲式及延伸式探针。在其它实施方式中，例如由激光线探针(LLP)的非接触式设备执行测量。在实施方式中，使用快速连接接口由LLP取代柄126。其它类型的测量装置可取代可移除的柄126，以提供附加的功能。这种测量装置的示例包括但不限于：例如，一或更多个照明灯、温度传感器、热扫描仪、条形码扫描仪、投影仪、涂料喷射器、摄影机(camera)等等。
如图1A和1B中所示，AACMM 100包括可移除的柄126，其提供如下优点：允许改变附件或功能而不用将测量探针外壳102从轴承盒组112上移除。如下面关于图2详细讨论的，可移除的柄126还可以包括电连接器，该电连接器允许柄126与位于探针端的相对应的电子设备进行电功率和数据的交换。
在各种实施方式中，每个组的轴承盒110、112、114允许AACMM100的臂部104围绕多条旋转轴线运动。如所提及的，每个轴承盒组110、112、114包括对应的编码器系统，例如，诸如光学角度编码器之类，该对应的编码器系统均与例如臂区段106、108的对应的旋转轴线共轴布置。光学编码器系统检测例如臂区段106、108中的每一个的围绕对应的轴线的旋转(转动)或者横向(铰接)运动并且将信号传输至AACMM100内的电子数据处理系统，如下文中较详细地描述的。每个单独的原始编码器计数作为信号被单独地发送至电子数据处理系统，在电子数据处理系统中，其被进一步处理成为测量数据。如共同转让的美国专利No.5,402,582(‘582)中所公开的，不需要与AACMM 100本身分开的位置计算器(例如，串行盒(serial box))。
基部116可包括附接装置或安装装置120。安装装置120允许AACMM 100可移除地安装于期望的位置，例如，检验台、加工中心、壁或地面。在一个实施方式中，基部116包括柄部122，在AACMM 100被移动时，该柄部122为操作者提供用于保持基部116的方便位置。在一个实施方式中，基部116还包括可移除的盖部124，该盖部124向下折叠以露出用户接口，例如，显示屏。
根据实施方式，便携式AACMM 100的基部116包括或容纳电子数据处理系统，该电子数据处理系统包括两个主要部件：基部处理系统，该基部处理系统处理来自AACMM 100内的各个编码器系统的数据以及表示其它臂参数的数据，以支持三维(3-D)位置计算；以及用户接口处理系统，该用户接口处理系统包括机载操作系统、触摸屏显示器以及驻留应用软件，该驻留应用软件在无需连接到外部计算机的情况下允许在AACMM100内实现相对完整的计量功能。
基部116中的电子数据处理系统可与编码器系统、传感器以及离开基部116定位的其它外围硬件(例如，能够安装至AACMM 100上的可移除柄126的LLP)通信。支持这些外围硬件设备的电子设备或特征可定位在位于便携式AACMM 100内的轴承盒组110、112、114中的每一个内。
图2是根据实施方式的用在AACMM 100中的电子设备的框图。图2中所示的实施方式包括电子数据处理系统210，该电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供功率的基部功率板206、蓝牙模块232和基部倾斜板208。用户接口板202包括用于执行应用软件以执行用户接口、显示和此处描述的其它功能的计算机处理器。
如图2中所示，电子数据处理系统210经由一或者更多条臂总线218与前述的多个编码器系统通信。在图2中所描述的实施方式中，每个编码器系统产生编码器数据并且包括：编码器臂总线接口214、编码器数字信号处理器(DSP)216、编码器读头接口234和温度传感器212。诸如应变传感器的其它设备可附接于臂总线218。
图2中还示出了与臂总线218通信的探针端电子设备230。探针端电子设备230包括：探针端DSP 228、温度传感器212、经由实施方式中的快速连接接口与柄126或LLP 242连接的柄/LLP接口总线240、以及探针接口226。快速连接接口允许通过柄126访问数据总线、控制线和由LLP 242使用的电源总线以及其它附件。在实施方式中，探针端电子设备230定位在AACMM 100上的测量探针外壳102中。在实施方式中，柄126可从快速连接接口移除并且可由激光线探针(LLP)242执行测量，该激光线探针(LLP)242经由柄/LLP接口总线240与AACMM 100的探针端电子设备230通信。在实施方式中，电子数据处理系统210定位在AACMM 100的基部116中，探针端电子设备230定位在AACMM 100的测量探针外壳102中，并且编码器系统定位在轴承盒对110、112、114中。探针接口226可通过任何适合的通信协议与探针端DSP 228连接，该通信协议包括来自Maxim Integrated ProductsInc.(马克西姆集成产品有限公司)的商业上可获得的产品，其具体为商标I-wire的通信协议236。
图3是描述根据实施方式的AACMM 100的电子数据处理系统210的详细特征的框图。在实施方式中，电子数据处理系统210定位在AACMM 100的基部116中并且包括基部处理器板204、用户接口板202、基部电源板206、蓝牙模块232和基部倾斜模块208。
在图3所示的实施方式中，基部处理器板204包括此处所图示的各种功能块。例如，基部处理器功能302被用于支持来自AACMM 100的测量数据的收集并且经由臂总线218和总线控制模块功能308接收原始臂数据(例如，编码器系统数据)。存储器功能304存储程序和静态臂配置数据。基部处理器板204还包括用于与诸如LLP242之类的任何外部硬件设备或附件通信的外部硬件选项端口功能310。实时时钟(RTC)和日志306、电池组接口(IF)316以及诊断端口318也包括在图3中所描述的基部处理器板204的实施方式中的功能中。
基部处理器板204还管理与外部(主机)和内部(显示处理器202)设备通信的所有有线和无线数据。基部处理器板204具有经由以太功能(Ethernet function)320(例如，使用时钟同步标准，诸如美国电气和电子工程师协会(IEEE)1588)与以太网(Ethernet network)，经由局域网功能(LAN function)322与无线局域网(WLAN)以及经由并行-串行通信(PSC)功能314与蓝牙模块232通信的能力。基部处理器板204还包括到通用串行总线(USB)设备312的连接。
基部处理器板204传输并且收集原始测量数据(例如，编码器系统计数、温度读数)，以便在无需任何预处理的情况下处理成测量数据，例如前述‘582专利的串行盒中所公开的。基部处理器204将处理的数据经由RS485接口(IF)326发送至用户接口板202上的显示处理器328。在实施方式中，基部处理器204还将原始测量数据发送至外部计算机。
现在转向图3中的用户接口板202，通过基部处理器接收的角度和位置数据由在显示处理器328上执行的应用程序来使用，以提供AACMM 100内的独立计量系统。可以在显示处理器328上执行应用程序以支持例如，但不限于，如下功能：特征的测量、引导和训练绘图、远程诊断、温度校正、各个操作特征的控制、到各个网络的连接、测量物体的显示。连同显示处理器328和液晶显示器(LCD)338(例如，触摸屏LCD)用户接口一起，用户接口板202包括几个接口选项，该几个接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、摄影机端口340、音频/视频接口342、拨号/单元调制解调器344和全球定位系统(GPS)端口346。
图3中所示的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电源板206。该基部电源板206还利用交流/直流(AC/DC)转换器358和电池充电器控制器360向电子数据处理系统210提供功率。基部电源板206使用内置集成电路(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)356与基部处理器板204通信。基部电源板206经由在基部电源板206中实现的输入/输出(I/O)扩展功能364连接于倾斜传感器和射频识别(RFID)模块208。
尽管示出为分开的部件，但在其它实施方式中，所有部件或者部件的子集可以物理地定位在不同的位置处和/或可以是与图3中所示不同的方式组合的功能。例如，在一个实施方式中，基部处理器板204和用户接口板202组合成一个物理板。
现在参照图4-11，示出了具有可调节配重系统的AACMM 100的实施方式。该AACMM 100包括第一旋转组件402，该第一旋转组件402包括设置在基部116和第一臂区段106之间的一对轴承盒402。该第一旋转组件402构造用于围绕第一轴线404和第二轴线406旋转。在一个实施方式中，第一轴线404基本上垂直于第二轴线406。第一轴线404由设置在基部116内的旋转轴承盒405(图7)限定，其允许通信和动力线管从第一壁区段106通过进入基部116内。
第一旋转组件402包括第一部分408和第二部分410。第一部分408相对于第二轴线406固定。第一部分408包括第一外壳构件412和第二外壳构件414。第二外壳构件414包括具有止挡构件418的突起416。在示例性实施方式中，止挡构件418是弹性材料，当第一臂区段106旋转至与第一轴线404基本上共线的位置时，该弹性材料能够阻尼第二部分410的碰撞，如下面将较详细讨论的，配重系统至少部分地定位在第一部分408内。
第二外壳构件414包括第一开口434(图7)，该第一开口434定尺寸成容纳轴436。第二外壳构件414还包括第二开口438(图9)，该第二开口438定尺寸成容纳偏置构件，例如，诸如扭力弹簧440之类。在示例性实施方式中，第一开口434和第二开口438基本上共线。第三开口442邻近第二开口438布置在第二外壳构件414中。如此处将更详细地讨论的，第三开口442设置成与第二开口438相交，以允许布置在扭力弹簧440的一端上的至少一个突起444与蜗轮446接合。在一个实施方式中，该至少一个突起444包括形成轮齿的多个突起。在示例性实施方式中，扭力弹簧440具有设置在140度的弧长上的28-30个齿。在示例性实施方式中，蜗轮446具有单头螺纹和大约0.45英寸的节距以及大约1英寸的长度。蜗轮446由扭力弹簧440施加的力保持在适当的位置。
应当理解，尽管实施方式描述了轮齿设置在扭力弹簧的端部上，但所要求保护的本发明应不限于此。在一个实施方式中，扭力弹簧包括两个反向缠绕的扭转弹簧，围绕中间部分形成有轮齿。
轮齿444被构造用于响应于蜗轮446的旋转来旋转扭力弹簧440的端部。轮齿444和蜗轮446配合，以形成用于施加在第一臂区段106的扭矩的调节器组件。应当理解，蜗轮446的旋转使得扭力弹簧440的端部以如下方式移动或旋转，即，导致由扭力弹簧440施加的扭矩发生改变。
在一个实施方式中，第一孔开口448从第三开口442的一端延伸。第一孔开口448定尺寸成容纳工具(未示出)，该工具联接，以旋转蜗轮446。在另一实施方式中，第二外壳构件414包括壁450。在该实施方式中，第二孔开口452布置成与孔开口448共线，以允许工具接近蜗轮446。
第二部分410设置在第一部分408和第一臂区段106之间。第二部分包括第三外壳构件420和第四外壳构件422。第二部分410围绕第二轴线406旋转。具有表面426的突起424从第三外壳构件420延伸。突起424布置成：当第一臂区段旋转至与第一轴线404基本上共线的位置(“初始位置”)时，表面426接触止挡构件418。在示例性实施方式中，第二部分410可相对于初始位置旋转至少165度。第二部分410还包括逐渐变细的部分428，该逐渐变细的部分428联接于第一臂区段106。突起430从逐渐变细的部分428延伸。支架432联接于突起430。支架432被构造用于当第一臂区段106和第二臂区段108平行定位时，支承第二臂区段108。
第三外壳420联接于第二轴454。第二轴454具有外部部分470、中间部分472和内部部分474。外部部分470具有定尺寸成接合和联接到第三外壳420的直径。外部部分470在凸缘476处过渡至中间部分472。在示例性实施方式中，凸缘476提供止挡特征，在第三外壳420上的相应的特征接触抵靠该止挡特征。中间部分的直径定尺寸成容纳扭力弹簧440的内径。第二轴454从中间部分472向内部部分474逐渐变细。内部部分474具有小于扭力弹簧440的内径的直径，以便当第一臂区段106旋转时提供间隙以适应扭力弹簧440的内径的改变。
第二轴454具有基本上中空的内部部分，该内部部分设置成围绕第一轴436。第二轴454通过一对轴承456、458连接于第一轴436，例如诸如球轴承或滚柱轴承之类。轴承456、458允许第二部分410相对于第一部分408围绕第二轴线406旋转。还可以包括例如隔环478、轴环480和垫圈482的附加部件，以提供组件的预定的间隔和支承。在一个实施方式中，光学编码器组件464联接于第二轴454且布置用于测量第一轴436和第二轴454之间的旋转运动。
扭力弹簧440设置成围绕轴436、454。在示例性实施方式中，扭力弹簧包括邻近蜗轮446的第一端460和联接于第二部分410的第二端462。在示例性实施方式中，第二端462通过至少一个紧固件466(图6)联接于第四外壳构件422。紧固件466将第二端462联接于第二部分410，从而使得当第一臂区段106围绕第二轴线406旋转时，通过扭力弹簧440向第一臂区段106施加扭矩。扭力弹簧440被选择用于当臂区段106、108关节式移动至预定的位置时，基本上配平臂部104的重量。在示例性实施方式中，扭力弹簧440被构造用于：当操作者释放测量设备102时，提供允许第一臂区段保持在预定的角位置而不下垂(例如，在重力作用下向下运动)或者回弹(例如，朝向初始位置)的扭矩水平。
应当理解，臂部104的部件的制造过程的变化可导致由扭力弹簧440产生的扭矩或太大(造成回弹)或太小(造成下垂)。为了补偿部件的变化，AACMM 100包括调节器，该调节器提供用于改变扭矩的手段。在示例性实施方式中，通过将工具插入穿过第一孔开口448并且接合蜗轮446的端部上的特征468来旋转第三开口442内的蜗轮446，提供了扭矩的调节。特征468可是适于接合工具的任何适合的特征，例如，诸如但不限于直槽、Philips槽(飞利浦槽)、Frearson槽、六边形插槽、Allen(艾伦)插槽、星形插槽或者Torx(梅花头)插槽之类。通过顺时针或逆时针旋转蜗轮446，扭力弹簧440的第一端460从第一位置移动至第二位置。
当移动第一端460时，由扭力弹簧440施加在第二部分410以及因此第一臂区段106上的扭矩将增加或减小。其提供了如下优点：调节对于在特定臂部104内的部件的配重扭矩。在示例性实施方式中，在蜗轮446和轮齿444接合旋转的70度的范围内，扭矩可以从0英尺/磅调节至63英尺/磅。在一个实施方式中，在制造组件期间执行扭力弹簧440的校准，且帽或插头(未示出)插入第一孔开口448或第二孔开口452内以防止被改动。在一个实施方式中，使用调节螺钉来锁定蜗轮446，以防止移动。
图12中示出了调节器组件的另一实施方式。在该实施方式中，第二外壳构件414具有由壁450、486和488限定的基本上中空的内部部分484。螺纹构件490布置在内部部分484内，例如，诸如螺纹杆之类。螺纹构件490联接成在壁450、486之间旋转。螺纹构件490可包括允许使用者插入工具以旋转螺纹构件的例如类似于特征486的特征(未示出)。轴环492联接于螺纹构件490。轴环492包括内螺纹，该内螺纹与螺纹构件490的螺纹接合，从而使得当螺纹构件490旋转时，轴环492沿螺纹构件490的纵向轴线平移。臂494在轴环492和扭力弹簧440之间延伸。臂494可以是与扭力弹簧440分开的或者一体的构件。同样地，当轴环沿着螺纹构件平移时，扭力弹簧440的第一端460从第一位置移动至第二位置。如上文中所描述的，第一端460的移动允许校准扭力弹簧440的扭矩输出，以提供期望水平的配重。
应当理解，尽管本发明的实施方式描述了手动调节的调节器，但是所要求保护的发明应不限于此。在一个实施方式中，例如步进马达的马达可被联接，用于使转动调节器。在一个实施方式中，步进马达与控制器联接，该控制器基于臂的位置调节扭力弹簧的扭矩。
尽管已经参照示例性实施方式描述了本发明，但是本领域的技术人员应当理解，在不偏离本发明的范围的情况下，可以进行各种改进并且可以用等同物替换其元件。此外，在不偏离本发明的实质范围的情况下，可以对本发明的教导进行各种改进以适应特定情形或者材料。因此，意在本发明不被限定到作为用于执行本发明的预期的最佳模式公开的特定实施方式，而是本发明将包括落入所附权利要求范围内的所有实施方式。而且，术语第一、第二等的使用不表示任何顺序或者重要性，而是术语第一、第二等用于区别一个元件与另一个。此外，术语一等的使用不表示数量限定，而是表示存在至少一个所提及的项目。

Claims (20)

1.一种用于测量空间中的物体的坐标的便携式关节臂坐标测量设备，包括：
基部；
可人工定位的关节臂部分，所述可人工定位的关节臂部分具有相对的第一端和第二端，所述臂部分旋转地联接于所述基部，臂区段包括多个连接的臂区段，所述臂区段中的每一个包括至少一个用于产生位置信号的位置转换器；
附接于所述第一端的测量设备；
电子电路，所述电子电路用于接收来自所述转换器的所述位置信号并且提供与所述测量设备的位置对应的数据；
旋转组件，所述旋转组件将所述第二端联接于所述基部，所述旋转组件具有第一旋转轴线和基本上垂直于所述第一旋转轴线的第二旋转轴线；
偏置构件，所述偏置构件可操作地联接在所述旋转组件和所述第二端之间，以围绕所述第二旋转轴线向所述第二端施加力，所述偏置构件在其上具有至少一个突起；以及
具有螺纹部分的调节器，所述螺纹部分布置用于接合所述至少一个突起，其中，由所述偏置构件施加于所述臂部分的力响应于所述调节器的移动而改变。
2.根据权利要求1所述的关节臂坐标测量设备，其中，
所述偏置构件是扭力弹簧；以及
所述力向所述臂部分施加第一扭矩。
3.根据权利要求2所述的关节臂坐标测量设备，其中，
所述至少一个突起包括多个设置在第三端的轮齿；以及
所述调节器是蜗轮，所述蜗轮可接合地联接于所述多个轮齿。
4.根据权利要求3所述的关节臂坐标测量设备，其中，所述蜗轮可旋转地设置在外壳内，所述外壳可旋转地联接于所述基部，以围绕所述第一旋转轴线旋转。
5.根据权利要求4所述的关节臂坐标测量设备，其中，所述蜗轮包括在第四端的槽，所述槽定尺寸以容纳工具，所述蜗轮响应于由所述工具施加于所述槽上的第二扭矩来旋转。
6.根据权利要求5所述的关节臂坐标测量设备，其中，所述外壳包括开口，所述开口与所述蜗轮轴向对准且具有邻近所述槽的第五端，所述开口定尺寸以容纳所述工具。
7.根据权利要求6所述的关节臂坐标测量设备，其中，所述扭力弹簧在与所述多个轮齿相对的第六端联接于所述第一端。
8.根据权利要求2所述的关节臂坐标测量设备，其中：
所述至少一个突起是在第三端联接于所述扭力弹簧的臂；以及
所述调节器包括轴环，所述轴环联接在所述螺纹部分和所述臂之间，其中，所述轴环响应于所述调节器的旋转而使所述臂从第一位置移动到第二位置。
9.一种用于测量空间中的物体的坐标的便携式关节臂坐标测量设备，包括：
基部；
可人工定位的关节臂部分，所述可人工定位的关节臂部分具有相对的第一端和第二端，所述臂部分包括多个连接的臂区段，所述臂区段中的每一个包括至少一个用于产生位置信号的位置转换器；
附接于所述第一端的测量设备；
电子电路，所述电子电路用于接收来自所述转换器的所述位置信号并且提供与所述测量设备的位置对应的数据；
偏置构件，所述偏置构件可操作地联接在所述基部和所述第二端之间，所述偏置构件具有至少一个能够在第一位置和第二位置之间移动的突起；以及
具有螺纹部分的调节器，所述调节器可操作地联接在所述基部和所述偏置构件之间，其中，所述螺纹部分接合到所述至少一个突起，以使所述至少一个突起在所述第一位置和所述第二位置之间移动。
10.根据权利要求9所述的关节臂坐标测量设备，其中：
所述调节器是蜗轮；以及
所述至少一个突起包括多个轮齿，所述多个轮齿布置用于接合所述蜗轮。
11.根据权利要求10所述的关节臂坐标测量设备，其中，所述偏置构件是扭力弹簧。
12.根据权利要求11所述的关节臂坐标测量设备，其中，当所述多个轮齿处于所述第一位置时，所述扭力弹簧将第一扭矩施加在所述关节臂上，并且当所述多个轮齿处于所述第二位置时，所述扭力弹簧将第二扭矩施加在所述关节臂上。
13.根据权利要求12所述的关节臂坐标测量设备，还包括联接于所述基部的外壳构件，所述外壳构件限定：第一开口，所述第一开口定尺寸成容纳且保持所述蜗轮；和第二开口，所述第二开口从所述第一开口延伸并且定尺寸以容纳工具。
14.根据权利要求9所述的关节臂坐标测量设备，其中：
所述调节器包括可操作地联接于所述螺纹部分的轴环；并且
所述至少一个突起是联接于所述轴环的臂。
15.一种用于测量空间中的物体的坐标的便携式关节臂坐标测量设备，包括：
基部；
可人工定位的关节臂部分，所述可人工定位的关节臂部分具有相对的第一端和第二端，所述臂部分包括多个连接的臂区段，每个臂区段包括至少一个用于产生位置信号的位置转换器；
附接于所述第一端的测量设备；
电子电路，所述电子电路用于接收来自所述转换器的所述位置信号并且提供与所述测量设备的位置对应的数据；
旋转组件，所述旋转组件将所述第二端围绕第一旋转轴线和第二旋转轴线可旋转地联接于所述基部，所述第二旋转轴线基本上垂直于所述第一旋转轴线；
偏置构件，所述偏置构件布置在所述旋转组件内且具有可操作地联接于所述第二端的第三端，所述偏置构件具有与所述第三端相对的第四端，所述第四端能够在第一位置和第二位置之间移动；以及
调节构件，所述调节构件可操作地联接于所述基部以便旋转并且可操作地联接于所述第四端，其中，所述第四端响应于所述调节构件的旋转在所述第一位置和所述第二位置之间移动。
16.根据权利要求15所述的关节臂坐标测量设备，其中，所述旋转组件还包括外壳，所述外壳限定第一开口，所述第一开口定尺寸成容纳所述调节构件。
17.根据权利要求16所述的关节臂坐标测量设备，其中，所述偏置构件是扭力弹簧，所述扭力弹簧在所述第四端上具有多个轮齿，并且所述调节构件可操作地联接于所述轮齿。
18.根据权利要求17所述的关节臂坐标测量设备，其中，
所述调节构件包括蜗杆部分；并且
所述外壳包括第二开口，所述第二开口从所述第一开口的第五端延伸，所述第二开口定尺寸以容纳工具。
19.根据权利要求15所述的关节臂坐标测量设备，其中，所述调节器包括螺纹构件以及设置在所述螺纹构件和所述第四端之间的轴环，所述轴环具有与所述螺纹构件接合的螺纹部分。
20.根据权利要求19所述的关节臂坐标测量设备，还包括联接在所述轴环和所述第四端之间的臂，其中，所述臂响应于所述螺纹构件的旋转使所述第四端在所述第一位置和所述第二位置之间移动。
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