US20090243532A1 - Vehicle having an articulator - Google Patents
Vehicle having an articulator Download PDFInfo
- Publication number
- US20090243532A1 US20090243532A1 US12/419,593 US41959309A US2009243532A1 US 20090243532 A1 US20090243532 A1 US 20090243532A1 US 41959309 A US41959309 A US 41959309A US 2009243532 A1 US2009243532 A1 US 2009243532A1
- Authority
- US
- United States
- Prior art keywords
- vehicle
- articulator
- movement
- platform
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- 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
- G01B21/04—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 by measuring coordinates of points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Definitions
- the present disclosure generally relates to articulated arm coordinate measuring machines, and in particular, to systems and methods for mounting an articulated arm to a mobile platform.
- a typical coordinate measuring machine has an articulating arm that allows positioning of a probe and/or a detector at different points in space.
- probe can be positioned at various points on a surface of an object, and spatial positions of the probe (and thus the surface of the object) can be determined via the articulating arm's configuration.
- a detector on the articulating arm can be used to characterize surface features of an object by projecting and detecting a signal such as light.
- articulating arms and the end attachments are precision instruments, they are preferably mounted to a substantially stable platform and operated in controlled environment, such that measurements thus obtained are precise. In many situations, this means that objects being measured need to be brought to the articulator/platform assembly. In some situations, however, moving the objects to the articulator may not be practical or desirable.
- a vehicle conveniently allows an articulator to be moved to various remote work sites.
- the articulator can be mounted on a movable base, thereby increasing the flexibility of use and/or reach of the articulator.
- Such vehicle-mounted articulators can be subjected to various potentially damaging situations due to motion of the vehicle.
- Various features that allow safe operation of the vehicle and the articulator are disclosed.
- One embodiment of the present disclosure relates to a vehicle that includes a movement mechanism configured to facilitate movement of the vehicle.
- the vehicle further includes a body coupled to the movement mechanism.
- the vehicle further includes an articulator mounted to the body so as to allow operation of the articulator from the vehicle.
- the vehicle further includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations.
- the drive system includes an electrical motor that is powered by one or more on-board batteries.
- the one or more on-board batteries also power operation of the articulator.
- the vehicle includes a plurality of wheels to facilitate the movement, with at least one of the plurality of wheels being steerable by the operator.
- the vehicle further includes a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions.
- the stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
- the articulator is coupled to the body via a platform, with the articulator being mounted to the platform and the platform being coupled to the body.
- the vehicle further includes a platform movement mechanism configured to allow movement of the platform with respect to the frame to increase the range of motion of the articulator during its operation.
- the platform is movable in a translational manner.
- the platform movement mechanism includes a mounting plate coupled to one or more rails that provide guidance for a substantially linear motion of the mounting plate relative to the frame.
- the mounting plate is configured to allow mounting of the articulator thereon.
- the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle. In one embodiment, the translational motion includes a motion of the platform along a direction having a vertical component.
- the platform is movable in a rotational manner with respect to the frame.
- the articulator includes a distal end for mounting of an end assembly.
- the frame defines an opening that receives at least a portion of the end assembly to provide protection for the end assembly.
- the opening is dimensioned so as to allow substantially all of the end assembly to be within a volume defined by the frame.
- the vehicle further includes a latching mechanism that secures the distal end or the end assembly to the frame when the articulator is not in use or when the vehicle is in motion.
- the vehicle further includes an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions.
- the interlock system disables movement of the vehicle when the articulator is in its deployed configuration.
- the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration.
- the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations.
- the vehicle further includes an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
- the articulator includes a plurality of arm sections.
- the movement of each arm section being effectuated by drive cables driven by motors that are positioned proximately to the location where the articulator is mounted to the body, thereby reducing the moment of inertia of the articulator about the mounting location.
- Another embodiment of the present disclosure relates to a method for operating articulators.
- the method includes providing a movement mechanism to a vehicle so as to facilitate movement of the vehicle.
- the method further includes mounting an articulator on the vehicle such that the articulator can be operated at different locations reachable by movements of the vehicle.
- the movement mechanism includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations.
- the method further includes providing a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions.
- the stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
- the mounting of the articulator to the vehicle includes mounting the articulator to a platform that is movable relative to the vehicle.
- the platform is movable in a translational manner.
- the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle.
- the translational motion includes a motion of the platform along a direction having a vertical component.
- the platform is movable in a rotational manner with respect to the frame.
- the method further includes providing a securing assembly that secures the articulator at or near its distal end to reduce likelihood of damage to the articulator during motion of the vehicle.
- the method further includes providing an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions.
- the interlock system disables movement of the vehicle when the articulator is in its deployed configuration.
- the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration.
- the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations.
- the method further includes providing an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
- Yet another embodiment of the present disclosure relates to an apparatus that includes a means for providing a movable vehicle, and a means for providing an articulator to the vehicle.
- FIGS. 1A and 1B show perspective views of one embodiment of a vehicle having an articulator
- FIG. 2A shows that in one embodiment, the vehicle can include a deployable stabilizer jack system such that when the vehicle is in motion or needs to move, the jacks can be retracted;
- FIG. 2B shows that the jacks can be extended to engage a supporting surface and stabilize the stationary vehicle so as to provide a substantially stable platform for the operation of the articulator;
- FIG. 2C shows that in one embodiment, the stabilizer jacks can be adjusted to accommodate uneven features on the supporting surface
- FIG. 3 shows a schematic diagram of one of the many possible arrangements of the stabilizer jacks
- FIG. 4 shows one embodiment of the articulator deployed from the vehicle and ready to perform various operations
- FIG. 5 shows that in one embodiment, the articulator can be mounted on a slidable platform so as to provide flexibility in the manner in which the articulator can be utilized;
- FIG. 6 shows that in one embodiment, the articulator can be mounted on a raisable platform so as to provide flexibility in the manner in which the articulator can be utilized;
- FIGS. 7A-7C show that in one embodiment, the vehicle can include an interlock system that secures and protects the articulator's end attachment when the articulator is not in use;
- FIG. 8 shows a block diagram of one embodiment of the interlock system
- FIG. 9 shows one embodiment of an interlock process that can be implemented by the interlock system
- FIG. 10 shows another embodiment of an interlock process that can be implemented by the interlock system
- FIG. 11 shows that in one embodiment, the vehicle can include a control system and/or a power supply system that facilitate(s) the operation of the vehicle and/or the articulator;
- FIG. 12 shows a block diagram of one embodiment of the control system
- FIG. 13 shows a block diagram of one embodiment of the control system
- FIG. 14 shows one embodiment of an actuator system that allows various movements of the articulator
- FIG. 15 shows an isolated view of one embodiment of a slidable platform assembly that facilitates a sliding motion of the articulator
- FIGS. 16A and 16B show isolated top and bottom views of one embodiment of a nest assembly that is configured to receive and secure the end assembly of the articulator.
- FIGS. 1A and 1B show perspective views of one embodiment of a vehicle 100 having an articulator 102 .
- the vehicle 100 can be configured to be operated by an operator (not shown).
- vehicle controlling devices such as a steering device 300 can be provided to allow maneuvering of the vehicle 100 to a desired location.
- an example provisions such as a backrest 302 can provide a convenient and safety feature for the operator.
- the vehicle 100 has the articulator 102 mounted on it, so that the articulator 102 can be moved to the desired location via the vehicle 100 .
- Various features of the vehicle 100 , articulator 102 , and/or other components that facilitate the operation of the vehicle and the articulator are described below in greater detail.
- vehicle 100 is described herein as being a powered vehicle, some of the features of the present disclosure do not necessarily require a powered vehicle.
- the vehicle 100 can include a movement mechanism that facilitates movement of the vehicle.
- Such movement mechanism can include, by way of examples, a drive mechanism that can provide power to a plurality of wheels.
- Such drive mechanism and/or wheels can be coupled to a body of the vehicle.
- the body of the vehicle can include a frame, a chassis, panels, any structural member, and/or any combination thereof, of the vehicle.
- FIGS. 2-3 generally show that in one embodiment, the vehicle 100 can include a stabilizer system that facilitates a substantially stable platform for the articulator when the vehicle 100 is stationary. As shown in one embodiment, as shown in FIG. 2A , one embodiment of the vehicle 100 can include a plurality of wheels 104 that allows rolling motion of the vehicle 100 on a supporting surface 106 . In one embodiment, each of the wheels 104 includes a pneumatic tire that provides cushioning effect as the vehicle 100 moves over the surface 106 .
- the vehicle 100 may include some form of suspension device and/or leveling device.
- the suspension can facilitate a smoother motion of the vehicle 100 in motion, and also reduce the amount of motion-related forces on the articulator 102 .
- the leveling device can facilitate positioning the attitude of the vehicle so as to provide a generally level platform for the operation of the articulator 102 (although levelness of the platform is not necessarily a requirement).
- the vehicle 100 can include a plurality of deployable jacks 108 that can be retracted when the vehicle is in motion, and deployed when the articulator is to be operated.
- FIG. 2A shows the example jacks 108 in their retracted configuration such that the vehicle 100 can move over the surface 106 via the rolling motion of the wheels 104 .
- FIG. 2B shows the example jacks 108 in their deployed configuration such that the vehicle 100 is stabilized for the operation of the articulator 102 .
- the jacks 108 are shown to engage the surface 106 so as to provide a sufficiently rigid and stable coupling between the surface 106 and the platform 310 for the articulator 102 .
- FIG. 2C shows that in one embodiment, the example jacks 108 can be deployed so as to accommodate various irregular features (such as an example bump 110 ) on the surface 106 .
- FIG. 3 shows one example wheel configuration for the vehicle 100 , where the wheels 104 can be arranged in an example tricycle configuration.
- a front wheel assembly is depicted as including one or more front wheels 104 a, and rear wheel assemblies are depicted as including rear wheels 104 b.
- such tricycle configuration can provide a stable support for the vehicle 100 and an easy implementation of steering of the front wheel assembly in a known manner.
- the stabilizer jacks 108 can also be arranged in a generally triangular pattern.
- front jack assembly adjacent the front wheel assembly is shown to include one or more jacks 108 a.
- rear jacks 108 b are shown to be positioned adjacent the rear wheels 104 b.
- the stabilizer jacks described in the example embodiments herein can be deployed via any number of mechanisms.
- the jacks can be actuated manually, electrically, mechanically, hydraulically, any combination thereof, or via any other mechanism.
- the jacks 108 are deployed and retracted using hydraulics. When deployed for articulator operation, the jacks extend fully to form “metal-to-metal” coupling, thereby providing a substantially stable coupling between the supporting surface 106 and the platform 310 for the articulator 102 .
- FIG. 4 shows a side view of one embodiment of the vehicle 100 with one embodiment of the articulator 102 deployed.
- a configuration can allow operation of the articulator 102 so as to provide movements and spatial measurements for an end assembly 112 .
- the end assembly 112 can include devices such as a CMM probe, a detector assembly, or any devices that are or can be used in conjunction with articulating arms.
- the vehicle 100 allows transport of the articulator 102 to a work site, and also provides a substantially stable platform for the operation of the articulator 102 .
- the articulator 102 is shown to be positioned to allow relatively easy accessing of work surfaces (not shown) located at either lateral sides or above the vehicle 100 . Because the base of the articulator 102 is positioned near the rear of the vehicle, however, the articulator 102 may have difficulty in positioning the end assembly 112 at locations in front of the vehicle 100 .
- FIG. 5 shows that in one embodiment, the vehicle 100 can be configured so that the base 114 of the articulator 102 can be mounted on a movable platform 322 that allows an example longitudinal (front/rear) motion of the articulator 102 as a whole with respect to a stationary platform 116 of the vehicle 100 .
- the longitudinal motion is depicted as an arrow 320 .
- the movable platform 322 can be driven by any number of ways, including but not limited to, chain drive, belt drive, screw drive, rack and pinion drive, and the like.
- the movable platform moves along linear rails that extend longitudinally, and has a total travel of approximately 1.5 m. This example dimension of course depends on the example vehicle. Travel dimensions larger or smaller than this example dimension are also possible.
- FIG. 6 shows that in one embodiment, the vehicle 100 can be configured so that the base 114 of the articulator 102 can be mounted on a movable platform 118 that allows an example vertical motion of the articulator 102 as a whole with respect to the stationary platform 116 of the vehicle 100 .
- the vertical motion of the movable platform 118 is depicted as an arrow 324 , and can be achieved by vertical movement members 120 .
- the vertical movement members 120 can include any number of known mechanisms such as manual, electrical, mechanical, hydraulic, and the like.
- movable platforms depicted in FIGS. 5 and 6 are examples only.
- the vehicle does not need to have a movable platform.
- other types of movable platforms for example, tilting, or rotating platforms
- a given movable platform can be configured to allow more than one type of motion relative to the stationary platform.
- a linear rail system could be mounted on a vertically movable platform, thereby allowing both longitudinal and vertical movements of the articulator as a whole.
- FIGS. 7-10 show various embodiments of an articulator interlock system that can facilitate such securing and operation of the articulator.
- FIGS. 7A-7C show one embodiment of an articulator securing system, with the articulator 102 in various stages of deployment.
- the example articulator 102 is shown to be in a secure configuration, where the end assembly 112 is positioned in a receiving space 122 defined in the vehicle 100 .
- the receiving space 122 is depicted as defined volume, it does not necessarily mean that such walls or enclosure are needed. There may or may not be such defined enclosure structure. Thus for the purpose of description, it will be understood that the receiving space 122 simply represents a volume (enclosed, partially enclosed, or not enclosed) that is dimensioned to allow receiving of the end assembly 112 .
- the articulator's end adjacent the end assembly 112 is shown to be secured to the vehicle 100 via a latching assembly 124 .
- the articulator 102 is secured to the vehicle 100 at the base ( 114 in FIG. 5 , for example), and also at the other end (via the latching assembly 124 ), thereby securing the articulator 102 at two locations.
- the articulator 102 is less likely to sway or swing when the vehicle 100 moves, thereby reducing the likelihood of damage to various parts of the articulator 102 .
- the articulator 102 is shown to begin its deployment motion.
- such deployment motion can be allowed after the latching assembly 124 releases the end of the articulator 102 .
- the initial deployment motion is shown to be along a direction having a component along the vertical direction 126 . This is because the example articulator's distal section is in the vertical orientation when secured. In general, other configurations are possible. For example is the end assembly 112 and the distal section are secured in an angled orientation, then the initial deployment motion can be along that angled direction.
- lateral motion (in and out of the plane of paper) of the articulator 102 is not permitted when the end assembly 112 has not cleared the receiving space 122 .
- Such restriction on the initial deployment movement inhibits the end assembly 112 from bumping into the walls or edges of the receiving space 122 , again reducing the likelihood of damage to the end assembly 112 and possibly the articulator 102 .
- the articulator 102 is shown to have been deployed where the end assembly 112 has cleared the receiving space 122 . Once deployed, the articulator can undergo measurement operations.
- FIG. 8 shows a block diagram of one embodiment of the vehicle 100 having an interlock component 130 that can be configured to facilitate safe operation of the vehicle 100 and/or the articulator 102 .
- the interlock component 130 can include a component 132 that is configured to sense the orientation of the articulator, an articulator securing component 134 , an alarm component 136 , an articulator movement component 138 , a vehicle movement component 140 , and an override component 142 .
- the articulator orientation sensor component 132 can be configured to determine the position of the end assembly. Because the operation of the articulator generally relies on knowing where the end assembly is, such position information can be readily obtained in a known manner.
- the articulator securing component 134 can include the latching assembly 124 described above in reference to FIGS. 7A-7C .
- the latching assembly can include any type of known mechanism that releasably secures one part to another.
- the securing component 134 can also include an actuating component that releases or secures upon some triggering condition.
- the securing component 134 can also include a component that senses the state of the latching assembly (i.e., whether or not the articulator is secured by the latching assembly).
- the alarm component 136 can be configured to be triggered when certain conditions are met.
- An example of how the alarm 136 can be utilized in the interlock component 130 is described below in greater detail.
- articulator movement component 138 can include components that facilitate various movements of the articulator.
- power supply, servo motor assembly, control system, and the like can be considered to be part of the articulator movement component 138 for the purpose of describing the example interlock system.
- the vehicle movement component 140 can include components that facilitate various movements of the vehicle.
- drive system can be considered to be part of the vehicle movement component 138 for the purpose of describing the example interlock system.
- vehicle control system can be considered to be part of the vehicle movement component 138 for the purpose of describing the example interlock system.
- the override component 142 can be configured to allow overriding of certain states of the interlock system.
- An example of how the override component 142 can be utilized in the interlock component 130 is described below in greater detail.
- FIG. 9 shows one embodiment of an example process 150 that can be performed by the interlock system 130 ( FIG. 8 ) to generally inhibit vehicle movement when the articulator is not secured properly.
- the state (orientation, for example) of the articulator is known.
- a decision block 152 the process 150 determines whether the articulator is secured. If the answer is “Yes,” the process 150 in a process block 154 allows movement of the vehicle. If the answer is “No,” the process 150 then determines in a decision whether an interlock override has been activated.
- Such an override may be activated by, for example, a simple switch, key switch, code entry, and the like.
- the override feature may be useful in situations when the vehicle needs to be moved with the articulator in its deployed configuration. In some embodiments, the override feature may not exist, or be optional. In some embodiments, if the vehicle needs to be moved via the override (articulator deployed), allowed vehicle movements may be limited. For example, the maximum speed of the vehicle may be limited at a value lower than the normal operating speed.
- the process 150 in a process block 158 allows movement of the vehicle. If the answer is “No,” the process 150 in a process block 160 does not allow movement of the vehicle. As further shown in FIG. 9 , the process 150 can also activate an alarm in a process block 162 . Such an alarm can indicate that the vehicle is attempting to be moved with the articulator unsecured.
- FIG. 10 shows one embodiment of an example process 170 that can be performed by the interlock system 130 ( FIG. 8 ) to facilitate safe deployment of the articulator.
- the process 170 determines whether to allow unsecuring of the articulator. Such determination can be made by considering, for example, whether the vehicle is stationary and stabilized. If the answer in the decision block 172 is “No,” the process 170 in a process block 174 disables the articulator movement and/or maintains such a disabled configuration. In one embodiment, the process block 174 maintains such a configuration until a condition for allowing the unsecuring of the articulator is met.
- the process 170 in a process block 176 allows a limited deployment movement of the articulator.
- Such limited deployment movement can include, for example, the vertical movement (and no lateral movement) of the end assembly 112 described above in reference to FIG. 7B .
- the process 170 in a decision block 178 determines whether the end assembly has cleared the receiving space. If the answer in “No,” the process 170 disables the operational movement of the articulator and maintains the limited deployment movement in a process block 180 . If the answer is “Yes,” the process 170 in a process block 182 allows the operational movement of the articulator.
- FIG. 11 shows a partial cutaway view of one embodiment of the vehicle 100 having a control component 190 and a power component 200 .
- either or both of these components can be configured to facilitate the operation of the articulator 102 .
- control component 190 can include functional components such as an articulator operation control component 192 , a user interface component 194 , and an interlock control component 196 .
- the articulator operation control component 192 can be configured to perform, for example, various measurement functions of the articulator.
- the user interface component 194 such as a display screen and an input device, can be configured to facilitate interaction of the control component 190 with the user.
- the interlock component 196 can be configured to perform, for example, various interlock functions described above in reference to FIGS. 8-10 .
- the power component 200 can include components such as one or more batteries 212 , and a charger/adaptor component 204 .
- the batteries 212 can power both the vehicle and the articulator.
- the batteries 212 can allow a 36-volt DC operation of the articulator.
- the batteries 212 can be charged via the charging component 204 .
- the charging component 204 can also provide a functionality of a power adaptor, so that the articulator 102 can be operated by power from an external source while the batteries are being charged.
- various articulators that can be mounted on the vehicle, and operated therefrom can include manually-operated arms, power-operated arms, or any combinations thereof Also, such vehicle mountable articulators can be used for, but not limited to, coordinate measuring devices, scanning devices, and the like.
- FIG. 14 shows one example embodiment of the articulator 102 configured for powered operation.
- the example articulator 102 is also shown to have relatively heavier components positioned close to the base 114 so as to reduce the moment of inertia of the articulator (with respect to the mounting location on the base 114 ). Such reduction in moment of inertia can increase the rate of various motions of the articulator 102 , as well as the general stability of the articulator 102 .
- the relatively heavier components can include various servo drive motors.
- these motor assemblies are depicted as 234 , 212 , 216 , 222 , and 228 .
- the example motor assembly 234 is shown to be coupled to a movement mechanism 236 that facilitates rotation of a first arm section 240 with respect to the base 114 .
- the example motor assembly 212 is shown to be coupled to a movement mechanism 214 that facilitates rotation of a second arm section 242 with respect to the first section 240 .
- the motor assemblies 234 and 212 are directly coupled to their respective movement mechanisms 236 and 214 , since these motor locations are relatively close to the base 114 of the articulator.
- a movement mechanism 218 that facilitates rotation of a third arm section 244 with respect to the second arm section 242 is shown to be located relatively far from the base 114 .
- the example motor assembly 216 is shown to be positioned at the proximal end of the second arm section 242 to drive the movement mechanism 218 positioned at the distal end of the second arm section 242 .
- flexible drive cables 220 provide the coupling between the motor assembly 216 and the movement mechanism 218 .
- a movement mechanism 224 that facilitates motion of the end assembly 112 relative to the third arm 244 is shown to be located relatively far from the base 114 .
- the example motor assembly 222 is shown to be positioned at the proximal end of the second arm section 242 to drive the movement mechanism 224 positioned at the distal end of the third arm section 244 .
- flexible drive cables 226 provide the coupling between the motor assembly 222 and the movement mechanism 224 . Similar coupling can be provided between a movement mechanism 230 for the end assembly 112 and the example motor assembly 228 (hidden from view) that is located at the proximal end of the second arm section 242 .
- the relatively heavy components can be positioned in a volume 210 that is generally above the mounting location at the base 114 .
- Such positioning of the relatively heavy components can provide greater stability of the articulator 102 during operation or during transport (since the mounting at the base is likely more robust than the latching mechanism that secures the end assembly).
- FIGS. 15-16 show one embodiment of an example platform assembly configured to provide a sliding linear motion of the base of the articulator relative to the vehicle, and also to provide the receiving space for the end assembly of the articulator.
- FIG. 15 shows an isolated view of one embodiment of a platform assembly 250 having a movable mounting plate 252 to which the base of the articulator can be mounted.
- the mounting plate 252 is also shown to host a servo drive motor 258 that drives the linear motion of the mounting plate 252 relative to a top plate 254 of the vehicle.
- the linear motion is guided by a pair of rails 256 , and effectuated by a mechanism such as a belt-driven or a gear-and-rack system.
- top plate 254 is shown to host a nest 260 that is configured to receive and secure the end assembly of the articulator.
- FIGS. 16A and 16B show isolated top and bottom perspective views of the nest assembly 260 .
- one embodiment of the nest assembly 260 includes and opening 262 through which the end assembly of the articulator enters or exits.
- the nest assembly 260 is also shown to include a resting plate 264 on which the end assembly rests on when secured.
- the nest assembly 260 is also shown to include a latching mechanism 266 configured to secure the end assembly within the nest assembly.
- the latching mechanism 266 can be a bolt-type device 268 that can be actuated either manually or by some powered mechanism. As described previously, the latching mechanism 266 can also be incorporated into the interlock system so that releasing of the end assembly is inhibited under certain conditions.
- the example nest assembly 260 defines the opening 262 dimensioned to allow insertion and retraction of the end assembly in a safe manner.
- the nest assembly 260 may or may not include walls under the opening 262 .
Abstract
Systems and methods for a vehicle mounted articulator are described. A vehicle conveniently allows an articulator to be moved to various remote work sites. In one embodiment, the articulator can be mounted on a movable base, thereby increasing the flexibility of use and/or reach of the articulator. Such vehicle-mounted articulators can be subjected to various potentially damaging situations due to motion of the vehicle. Various features that allow safe operation of the vehicle and the articulator are disclosed.
Description
- This application is a continuation of U.S. application Ser. No. 11/531,556 filed Sep. 13, 2006 entitled “VEHICLE HAVING AN ARTICULATOR”, which claims priority benefit of U.S. Provisional Patent Application No. 60/716,819 filed Sep. 13, 2005, titled “Vehicle Having an Articulator,” which are both incorporated herein by reference in their entireties.
- 1. Field
- The present disclosure generally relates to articulated arm coordinate measuring machines, and in particular, to systems and methods for mounting an articulated arm to a mobile platform.
- 2. Description of the Related Art
- A typical coordinate measuring machine (CMM) has an articulating arm that allows positioning of a probe and/or a detector at different points in space. For example, probe can be positioned at various points on a surface of an object, and spatial positions of the probe (and thus the surface of the object) can be determined via the articulating arm's configuration. In another example, a detector on the articulating arm can be used to characterize surface features of an object by projecting and detecting a signal such as light.
- Because articulating arms and the end attachments are precision instruments, they are preferably mounted to a substantially stable platform and operated in controlled environment, such that measurements thus obtained are precise. In many situations, this means that objects being measured need to be brought to the articulator/platform assembly. In some situations, however, moving the objects to the articulator may not be practical or desirable.
- At least some of the foregoing needs can be addressed by systems and methods for a vehicle mounted articulator. A vehicle conveniently allows an articulator to be moved to various remote work sites. In one embodiment, the articulator can be mounted on a movable base, thereby increasing the flexibility of use and/or reach of the articulator. Such vehicle-mounted articulators can be subjected to various potentially damaging situations due to motion of the vehicle. Various features that allow safe operation of the vehicle and the articulator are disclosed.
- One embodiment of the present disclosure relates to a vehicle that includes a movement mechanism configured to facilitate movement of the vehicle. The vehicle further includes a body coupled to the movement mechanism. The vehicle further includes an articulator mounted to the body so as to allow operation of the articulator from the vehicle.
- In one embodiment, the vehicle further includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations. In one embodiment, the drive system includes an electrical motor that is powered by one or more on-board batteries. In one embodiment, the one or more on-board batteries also power operation of the articulator.
- In one embodiment, the vehicle includes a plurality of wheels to facilitate the movement, with at least one of the plurality of wheels being steerable by the operator.
- In one embodiment, the vehicle further includes a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions. The stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
- In one embodiment, the articulator is coupled to the body via a platform, with the articulator being mounted to the platform and the platform being coupled to the body. In one embodiment, the vehicle further includes a platform movement mechanism configured to allow movement of the platform with respect to the frame to increase the range of motion of the articulator during its operation.
- In one embodiment, the platform is movable in a translational manner. In one embodiment, the platform movement mechanism includes a mounting plate coupled to one or more rails that provide guidance for a substantially linear motion of the mounting plate relative to the frame. The mounting plate is configured to allow mounting of the articulator thereon. In one embodiment, the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle. In one embodiment, the translational motion includes a motion of the platform along a direction having a vertical component.
- In one embodiment, the platform is movable in a rotational manner with respect to the frame.
- In one embodiment, the articulator includes a distal end for mounting of an end assembly. In one embodiment, the frame defines an opening that receives at least a portion of the end assembly to provide protection for the end assembly. In one embodiment, the opening is dimensioned so as to allow substantially all of the end assembly to be within a volume defined by the frame. In one embodiment, the vehicle further includes a latching mechanism that secures the distal end or the end assembly to the frame when the articulator is not in use or when the vehicle is in motion.
- In one embodiment, the vehicle further includes an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions. In one embodiment, the interlock system disables movement of the vehicle when the articulator is in its deployed configuration. In one embodiment, the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration. In one embodiment, the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations. In one embodiment, the vehicle further includes an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
- In one embodiment, the articulator includes a plurality of arm sections. The movement of each arm section being effectuated by drive cables driven by motors that are positioned proximately to the location where the articulator is mounted to the body, thereby reducing the moment of inertia of the articulator about the mounting location.
- Another embodiment of the present disclosure relates to a method for operating articulators. The method includes providing a movement mechanism to a vehicle so as to facilitate movement of the vehicle. The method further includes mounting an articulator on the vehicle such that the articulator can be operated at different locations reachable by movements of the vehicle.
- In one embodiment, the movement mechanism includes a substantially self-contained drive system that allows a human operator to drive the vehicle to different locations.
- In one embodiment, the method further includes providing a plurality of retractable stabilizers, with each capable of being in retracted and deployed positions. The stabilizers are in retracted positions when the vehicle is moving, and in deployed positions when the vehicle is stationary for operation of the articulator.
- In one embodiment, the mounting of the articulator to the vehicle includes mounting the articulator to a platform that is movable relative to the vehicle.
- In one embodiment, the platform is movable in a translational manner. In one embodiment, the translational motion includes a motion of the platform along a longitudinal direction defined by front and rear of the vehicle. In one embodiment, the translational motion includes a motion of the platform along a direction having a vertical component.
- In one embodiment, the platform is movable in a rotational manner with respect to the frame.
- In one embodiment, the method further includes providing a securing assembly that secures the articulator at or near its distal end to reduce likelihood of damage to the articulator during motion of the vehicle.
- In one embodiment, the method further includes providing an interlock system that inhibits or restricts operation of the articulator under one or more selected conditions. In one embodiment, the interlock system disables movement of the vehicle when the articulator is in its deployed configuration. In one embodiment, the interlock system allows only a limited movement of the articulator transitions between its deployed configuration and secured configuration. In one embodiment, the limited movement includes limited speed and direction of the movement to reduce the likelihood of damage to the articulator during transition between the deployed and secured configurations. In one embodiment, the method further includes providing an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of the interlock system.
- Yet another embodiment of the present disclosure relates to an apparatus that includes a means for providing a movable vehicle, and a means for providing an articulator to the vehicle.
-
FIGS. 1A and 1B show perspective views of one embodiment of a vehicle having an articulator; -
FIG. 2A shows that in one embodiment, the vehicle can include a deployable stabilizer jack system such that when the vehicle is in motion or needs to move, the jacks can be retracted; -
FIG. 2B shows that the jacks can be extended to engage a supporting surface and stabilize the stationary vehicle so as to provide a substantially stable platform for the operation of the articulator; -
FIG. 2C shows that in one embodiment, the stabilizer jacks can be adjusted to accommodate uneven features on the supporting surface; -
FIG. 3 shows a schematic diagram of one of the many possible arrangements of the stabilizer jacks; -
FIG. 4 shows one embodiment of the articulator deployed from the vehicle and ready to perform various operations; -
FIG. 5 shows that in one embodiment, the articulator can be mounted on a slidable platform so as to provide flexibility in the manner in which the articulator can be utilized; -
FIG. 6 shows that in one embodiment, the articulator can be mounted on a raisable platform so as to provide flexibility in the manner in which the articulator can be utilized; -
FIGS. 7A-7C show that in one embodiment, the vehicle can include an interlock system that secures and protects the articulator's end attachment when the articulator is not in use; -
FIG. 8 shows a block diagram of one embodiment of the interlock system; -
FIG. 9 shows one embodiment of an interlock process that can be implemented by the interlock system; -
FIG. 10 shows another embodiment of an interlock process that can be implemented by the interlock system; -
FIG. 11 shows that in one embodiment, the vehicle can include a control system and/or a power supply system that facilitate(s) the operation of the vehicle and/or the articulator; -
FIG. 12 shows a block diagram of one embodiment of the control system; -
FIG. 13 shows a block diagram of one embodiment of the control system; -
FIG. 14 shows one embodiment of an actuator system that allows various movements of the articulator; -
FIG. 15 shows an isolated view of one embodiment of a slidable platform assembly that facilitates a sliding motion of the articulator; and -
FIGS. 16A and 16B show isolated top and bottom views of one embodiment of a nest assembly that is configured to receive and secure the end assembly of the articulator. - These and other aspects, advantages, and novel features of the present disclosure will become apparent upon reading the following detailed description and upon reference to the accompanying drawings. In the drawings, similar elements have similar reference numerals.
-
FIGS. 1A and 1B show perspective views of one embodiment of avehicle 100 having anarticulator 102. In one embodiment, thevehicle 100 can be configured to be operated by an operator (not shown). For example, vehicle controlling devices such as asteering device 300 can be provided to allow maneuvering of thevehicle 100 to a desired location. Also, an example provisions such as abackrest 302 can provide a convenient and safety feature for the operator. - In one embodiment, the
vehicle 100 has thearticulator 102 mounted on it, so that thearticulator 102 can be moved to the desired location via thevehicle 100. Various features of thevehicle 100,articulator 102, and/or other components that facilitate the operation of the vehicle and the articulator are described below in greater detail. - In general, although various embodiments of the
vehicle 100 is described herein as being a powered vehicle, some of the features of the present disclosure do not necessarily require a powered vehicle. - In one embodiment, the
vehicle 100 can include a movement mechanism that facilitates movement of the vehicle. Such movement mechanism can include, by way of examples, a drive mechanism that can provide power to a plurality of wheels. Such drive mechanism and/or wheels can be coupled to a body of the vehicle. For the purpose of description herein, the body of the vehicle can include a frame, a chassis, panels, any structural member, and/or any combination thereof, of the vehicle. -
FIGS. 2-3 generally show that in one embodiment, thevehicle 100 can include a stabilizer system that facilitates a substantially stable platform for the articulator when thevehicle 100 is stationary. As shown in one embodiment, as shown inFIG. 2A , one embodiment of thevehicle 100 can include a plurality ofwheels 104 that allows rolling motion of thevehicle 100 on a supportingsurface 106. In one embodiment, each of thewheels 104 includes a pneumatic tire that provides cushioning effect as thevehicle 100 moves over thesurface 106. - In one embodiment, the
vehicle 100 may include some form of suspension device and/or leveling device. The suspension can facilitate a smoother motion of thevehicle 100 in motion, and also reduce the amount of motion-related forces on thearticulator 102. The leveling device can facilitate positioning the attitude of the vehicle so as to provide a generally level platform for the operation of the articulator 102 (although levelness of the platform is not necessarily a requirement). - While the
example tires 104 may provide cushioned ride for the articulator, they may not provide a sufficiently rigid and stable coupling between thesurface 106 and aplatform 310 to which the articulator is mounted to. Thus in one embodiment, thevehicle 100 can include a plurality ofdeployable jacks 108 that can be retracted when the vehicle is in motion, and deployed when the articulator is to be operated.FIG. 2A shows the example jacks 108 in their retracted configuration such that thevehicle 100 can move over thesurface 106 via the rolling motion of thewheels 104. -
FIG. 2B shows the example jacks 108 in their deployed configuration such that thevehicle 100 is stabilized for the operation of thearticulator 102. Thejacks 108 are shown to engage thesurface 106 so as to provide a sufficiently rigid and stable coupling between thesurface 106 and theplatform 310 for thearticulator 102.FIG. 2C shows that in one embodiment, the example jacks 108 can be deployed so as to accommodate various irregular features (such as an example bump 110) on thesurface 106. - As one can appreciate, the wheels and/or the stabilizer jacks described above can be configured in any number of ways.
FIG. 3 shows one example wheel configuration for thevehicle 100, where thewheels 104 can be arranged in an example tricycle configuration. A front wheel assembly is depicted as including one or morefront wheels 104 a, and rear wheel assemblies are depicted as includingrear wheels 104 b. As is generally known, such tricycle configuration can provide a stable support for thevehicle 100 and an easy implementation of steering of the front wheel assembly in a known manner. - In one embodiment as shown in
FIG. 3 , the stabilizer jacks 108 can also be arranged in a generally triangular pattern. Thus, front jack assembly adjacent the front wheel assembly is shown to include one ormore jacks 108 a. Similarly,rear jacks 108 b are shown to be positioned adjacent therear wheels 104 b. - The stabilizer jacks described in the example embodiments herein can be deployed via any number of mechanisms. For example, the jacks can be actuated manually, electrically, mechanically, hydraulically, any combination thereof, or via any other mechanism. In one embodiment, the
jacks 108 are deployed and retracted using hydraulics. When deployed for articulator operation, the jacks extend fully to form “metal-to-metal” coupling, thereby providing a substantially stable coupling between the supportingsurface 106 and theplatform 310 for thearticulator 102. -
FIG. 4 shows a side view of one embodiment of thevehicle 100 with one embodiment of thearticulator 102 deployed. Such a configuration can allow operation of thearticulator 102 so as to provide movements and spatial measurements for anend assembly 112. Theend assembly 112 can include devices such as a CMM probe, a detector assembly, or any devices that are or can be used in conjunction with articulating arms. One can see fromFIG. 4 that thevehicle 100 allows transport of thearticulator 102 to a work site, and also provides a substantially stable platform for the operation of thearticulator 102. - As shown in the example configuration in
FIG. 4 , thearticulator 102 is shown to be positioned to allow relatively easy accessing of work surfaces (not shown) located at either lateral sides or above thevehicle 100. Because the base of thearticulator 102 is positioned near the rear of the vehicle, however, thearticulator 102 may have difficulty in positioning theend assembly 112 at locations in front of thevehicle 100. -
FIG. 5 shows that in one embodiment, thevehicle 100 can be configured so that thebase 114 of thearticulator 102 can be mounted on amovable platform 322 that allows an example longitudinal (front/rear) motion of thearticulator 102 as a whole with respect to astationary platform 116 of thevehicle 100. The longitudinal motion is depicted as anarrow 320. In one embodiment, themovable platform 322 can be driven by any number of ways, including but not limited to, chain drive, belt drive, screw drive, rack and pinion drive, and the like. In one embodiment, the movable platform moves along linear rails that extend longitudinally, and has a total travel of approximately 1.5 m. This example dimension of course depends on the example vehicle. Travel dimensions larger or smaller than this example dimension are also possible. -
FIG. 6 shows that in one embodiment, thevehicle 100 can be configured so that thebase 114 of thearticulator 102 can be mounted on amovable platform 118 that allows an example vertical motion of thearticulator 102 as a whole with respect to thestationary platform 116 of thevehicle 100. The vertical motion of themovable platform 118 is depicted as anarrow 324, and can be achieved byvertical movement members 120. Thevertical movement members 120 can include any number of known mechanisms such as manual, electrical, mechanical, hydraulic, and the like. - It will be understood that the movable platforms depicted in
FIGS. 5 and 6 are examples only. The vehicle does not need to have a movable platform. On the other hand, other types of movable platforms (for example, tilting, or rotating platforms) can be implemented. Furthermore, in one embodiment, a given movable platform can be configured to allow more than one type of motion relative to the stationary platform. For example, a linear rail system could be mounted on a vertically movable platform, thereby allowing both longitudinal and vertical movements of the articulator as a whole. - Articulators and various end attachments are typically precision instruments in general. Accordingly, they should preferably be treated as such. One of the consequences of having an articulator mounted on a vehicle is that the articulator moves along with the vehicle. Thus, it may be preferable to secure the articulator when the vehicle is moving, so as to prevent the articulator from swinging around uncontrollably and increasing the likelihood of damage.
FIGS. 7-10 show various embodiments of an articulator interlock system that can facilitate such securing and operation of the articulator. -
FIGS. 7A-7C show one embodiment of an articulator securing system, with thearticulator 102 in various stages of deployment. InFIG. 7A , theexample articulator 102 is shown to be in a secure configuration, where theend assembly 112 is positioned in a receivingspace 122 defined in thevehicle 100. Although the receivingspace 122 is depicted as defined volume, it does not necessarily mean that such walls or enclosure are needed. There may or may not be such defined enclosure structure. Thus for the purpose of description, it will be understood that the receivingspace 122 simply represents a volume (enclosed, partially enclosed, or not enclosed) that is dimensioned to allow receiving of theend assembly 112. - The articulator's end adjacent the
end assembly 112 is shown to be secured to thevehicle 100 via a latchingassembly 124. In such a configuration, thearticulator 102 is secured to thevehicle 100 at the base (114 inFIG. 5 , for example), and also at the other end (via the latching assembly 124), thereby securing thearticulator 102 at two locations. In such a secure configuration, thearticulator 102 is less likely to sway or swing when thevehicle 100 moves, thereby reducing the likelihood of damage to various parts of thearticulator 102. - In
FIG. 7B , thearticulator 102 is shown to begin its deployment motion. In one embodiment, such deployment motion can be allowed after the latchingassembly 124 releases the end of thearticulator 102. As shown, the initial deployment motion is shown to be along a direction having a component along thevertical direction 126. This is because the example articulator's distal section is in the vertical orientation when secured. In general, other configurations are possible. For example is theend assembly 112 and the distal section are secured in an angled orientation, then the initial deployment motion can be along that angled direction. - In one embodiment, lateral motion (in and out of the plane of paper) of the
articulator 102 is not permitted when theend assembly 112 has not cleared the receivingspace 122. Such restriction on the initial deployment movement inhibits theend assembly 112 from bumping into the walls or edges of the receivingspace 122, again reducing the likelihood of damage to theend assembly 112 and possibly thearticulator 102. - In
FIG. 7C , thearticulator 102 is shown to have been deployed where theend assembly 112 has cleared the receivingspace 122. Once deployed, the articulator can undergo measurement operations. -
FIG. 8 shows a block diagram of one embodiment of thevehicle 100 having aninterlock component 130 that can be configured to facilitate safe operation of thevehicle 100 and/or thearticulator 102. Theinterlock component 130 can include acomponent 132 that is configured to sense the orientation of the articulator, anarticulator securing component 134, analarm component 136, anarticulator movement component 138, avehicle movement component 140, and anoverride component 142. - In one embodiment, the articulator
orientation sensor component 132 can be configured to determine the position of the end assembly. Because the operation of the articulator generally relies on knowing where the end assembly is, such position information can be readily obtained in a known manner. - In one embodiment, the
articulator securing component 134 can include the latchingassembly 124 described above in reference toFIGS. 7A-7C . The latching assembly can include any type of known mechanism that releasably secures one part to another. The securingcomponent 134 can also include an actuating component that releases or secures upon some triggering condition. The securingcomponent 134 can also include a component that senses the state of the latching assembly (i.e., whether or not the articulator is secured by the latching assembly). - In one embodiment, the
alarm component 136 can be configured to be triggered when certain conditions are met. An example of how thealarm 136 can be utilized in theinterlock component 130 is described below in greater detail. - In one embodiment,
articulator movement component 138 can include components that facilitate various movements of the articulator. For example, power supply, servo motor assembly, control system, and the like, can be considered to be part of thearticulator movement component 138 for the purpose of describing the example interlock system. - In one embodiment, the
vehicle movement component 140 can include components that facilitate various movements of the vehicle. For example, drive system, vehicle control system, and the like, can be considered to be part of thevehicle movement component 138 for the purpose of describing the example interlock system. - In one embodiment, the
override component 142 can be configured to allow overriding of certain states of the interlock system. An example of how theoverride component 142 can be utilized in theinterlock component 130 is described below in greater detail. -
FIG. 9 shows one embodiment of anexample process 150 that can be performed by the interlock system 130 (FIG. 8 ) to generally inhibit vehicle movement when the articulator is not secured properly. For the purpose of describing theprocess 150, it will be assumed that the state (orientation, for example) of the articulator is known. - In a
decision block 152, theprocess 150 determines whether the articulator is secured. If the answer is “Yes,” theprocess 150 in aprocess block 154 allows movement of the vehicle. If the answer is “No,” theprocess 150 then determines in a decision whether an interlock override has been activated. Such an override may be activated by, for example, a simple switch, key switch, code entry, and the like. The override feature may be useful in situations when the vehicle needs to be moved with the articulator in its deployed configuration. In some embodiments, the override feature may not exist, or be optional. In some embodiments, if the vehicle needs to be moved via the override (articulator deployed), allowed vehicle movements may be limited. For example, the maximum speed of the vehicle may be limited at a value lower than the normal operating speed. - If the answer in the
decision block 156 is “Yes,” theprocess 150 in aprocess block 158 allows movement of the vehicle. If the answer is “No,” theprocess 150 in aprocess block 160 does not allow movement of the vehicle. As further shown inFIG. 9 , theprocess 150 can also activate an alarm in aprocess block 162. Such an alarm can indicate that the vehicle is attempting to be moved with the articulator unsecured. -
FIG. 10 shows one embodiment of anexample process 170 that can be performed by the interlock system 130 (FIG. 8 ) to facilitate safe deployment of the articulator. For the purpose of describing theprocess 170, it will be assumed that the articulator is initially in its secured configuration. In adecision block 172, theprocess 170 determines whether to allow unsecuring of the articulator. Such determination can be made by considering, for example, whether the vehicle is stationary and stabilized. If the answer in thedecision block 172 is “No,” theprocess 170 in aprocess block 174 disables the articulator movement and/or maintains such a disabled configuration. In one embodiment, theprocess block 174 maintains such a configuration until a condition for allowing the unsecuring of the articulator is met. - If the answer in the
decision block 172 is “Yes,” theprocess 170 in aprocess block 176 allows a limited deployment movement of the articulator. Such limited deployment movement can include, for example, the vertical movement (and no lateral movement) of theend assembly 112 described above in reference toFIG. 7B . - As the articulator undergoes the limited deployment movement, the
process 170 in adecision block 178 determines whether the end assembly has cleared the receiving space. If the answer in “No,” theprocess 170 disables the operational movement of the articulator and maintains the limited deployment movement in aprocess block 180. If the answer is “Yes,” theprocess 170 in aprocess block 182 allows the operational movement of the articulator. -
FIG. 11 shows a partial cutaway view of one embodiment of thevehicle 100 having acontrol component 190 and apower component 200. In one embodiment, either or both of these components can be configured to facilitate the operation of thearticulator 102. - As shown in
FIG. 12 , one embodiment of thecontrol component 190 can include functional components such as an articulatoroperation control component 192, auser interface component 194, and aninterlock control component 196. The articulatoroperation control component 192 can be configured to perform, for example, various measurement functions of the articulator. Theuser interface component 194, such as a display screen and an input device, can be configured to facilitate interaction of thecontrol component 190 with the user. Theinterlock component 196 can be configured to perform, for example, various interlock functions described above in reference toFIGS. 8-10 . - As shown in
FIG. 13 , one embodiment of thepower component 200 can include components such as one ormore batteries 212, and a charger/adaptor component 204. In one embodiment, thebatteries 212 can power both the vehicle and the articulator. In one embodiment, thebatteries 212 can allow a 36-volt DC operation of the articulator. In one embodiment, thebatteries 212 can be charged via thecharging component 204. In one embodiment, thecharging component 204 can also provide a functionality of a power adaptor, so that thearticulator 102 can be operated by power from an external source while the batteries are being charged. - In one embodiment, various articulators that can be mounted on the vehicle, and operated therefrom, can include manually-operated arms, power-operated arms, or any combinations thereof Also, such vehicle mountable articulators can be used for, but not limited to, coordinate measuring devices, scanning devices, and the like.
-
FIG. 14 shows one example embodiment of thearticulator 102 configured for powered operation. Theexample articulator 102 is also shown to have relatively heavier components positioned close to the base 114 so as to reduce the moment of inertia of the articulator (with respect to the mounting location on the base 114). Such reduction in moment of inertia can increase the rate of various motions of thearticulator 102, as well as the general stability of thearticulator 102. - The relatively heavier components can include various servo drive motors. In the
example articulator 102, these motor assemblies are depicted as 234, 212, 216, 222, and 228. Theexample motor assembly 234 is shown to be coupled to amovement mechanism 236 that facilitates rotation of afirst arm section 240 with respect to thebase 114. Theexample motor assembly 212 is shown to be coupled to amovement mechanism 214 that facilitates rotation of asecond arm section 242 with respect to thefirst section 240. In one embodiment, themotor assemblies respective movement mechanisms base 114 of the articulator. - A
movement mechanism 218 that facilitates rotation of athird arm section 244 with respect to thesecond arm section 242 is shown to be located relatively far from thebase 114. Hence in one embodiment, theexample motor assembly 216 is shown to be positioned at the proximal end of thesecond arm section 242 to drive themovement mechanism 218 positioned at the distal end of thesecond arm section 242. In one embodiment,flexible drive cables 220 provide the coupling between themotor assembly 216 and themovement mechanism 218. - Similarly, a
movement mechanism 224 that facilitates motion of theend assembly 112 relative to thethird arm 244 is shown to be located relatively far from thebase 114. Hence in one embodiment, theexample motor assembly 222 is shown to be positioned at the proximal end of thesecond arm section 242 to drive themovement mechanism 224 positioned at the distal end of thethird arm section 244. In one embodiment,flexible drive cables 226 provide the coupling between themotor assembly 222 and themovement mechanism 224. Similar coupling can be provided between amovement mechanism 230 for theend assembly 112 and the example motor assembly 228 (hidden from view) that is located at the proximal end of thesecond arm section 242. - Thus, one can see that the relatively heavy components (such as servo drive motors) can be positioned in a
volume 210 that is generally above the mounting location at thebase 114. Such positioning of the relatively heavy components can provide greater stability of thearticulator 102 during operation or during transport (since the mounting at the base is likely more robust than the latching mechanism that secures the end assembly). -
FIGS. 15-16 show one embodiment of an example platform assembly configured to provide a sliding linear motion of the base of the articulator relative to the vehicle, and also to provide the receiving space for the end assembly of the articulator. -
FIG. 15 shows an isolated view of one embodiment of aplatform assembly 250 having amovable mounting plate 252 to which the base of the articulator can be mounted. The mountingplate 252 is also shown to host aservo drive motor 258 that drives the linear motion of the mountingplate 252 relative to atop plate 254 of the vehicle. In the shown example embodiment, the linear motion is guided by a pair ofrails 256, and effectuated by a mechanism such as a belt-driven or a gear-and-rack system. - As further shown in
FIG. 15 , thetop plate 254 is shown to host anest 260 that is configured to receive and secure the end assembly of the articulator.FIGS. 16A and 16B show isolated top and bottom perspective views of thenest assembly 260. - As shown in
FIGS. 16A and 16B , one embodiment of thenest assembly 260 includes andopening 262 through which the end assembly of the articulator enters or exits. Thenest assembly 260 is also shown to include a restingplate 264 on which the end assembly rests on when secured. Thenest assembly 260 is also shown to include alatching mechanism 266 configured to secure the end assembly within the nest assembly. As shown inFIG. 16B , thelatching mechanism 266 can be a bolt-type device 268 that can be actuated either manually or by some powered mechanism. As described previously, thelatching mechanism 266 can also be incorporated into the interlock system so that releasing of the end assembly is inhibited under certain conditions. - As also described previously, the
example nest assembly 260 defines theopening 262 dimensioned to allow insertion and retraction of the end assembly in a safe manner. Thenest assembly 260 may or may not include walls under theopening 262. - Although the above-disclosed embodiments have shown, described, and pointed out the fundamental novel features of the invention as applied to the above-disclosed embodiments, it should be understood that various omissions, substitutions, and changes in the form of the detail of the devices, systems, and/or methods shown may be made by those skilled in the art without departing from the scope of the invention. Consequently, the scope of the invention should not be limited to the foregoing description, but should be defined by the claims, where claim language carries an ordinary meaning as in customary usage and not by special definition unless specifically stated as providing a definition.
Claims (42)
1. A vehicle, comprising:
a movement mechanism configured to facilitate movement of said vehicle;
a body coupled to said movement mechanism;
an articulator coupled to said body so as to allow operation of said articulator from said vehicle; and
a coordinate measuring machine coupled to an end of the articulator.
2. The vehicle of claim 1 , further comprising a substantially self-contained drive system that allows a human operator to drive said vehicle to different locations.
3. The vehicle of claim 2 , wherein said drive system comprises an electrical motor that is powered by one or more on-board batteries.
4. The vehicle of claim 3 , wherein said one or more on-board batteries also power operation of said articulator.
5. The vehicle of claim 2 , wherein said vehicle includes a plurality of wheels to facilitate said movement, at least one of said plurality of wheels being steerable by said operator.
6. The vehicle of claim 1 , further comprising a plurality of retractable stabilizers, each capable of being in retracted and deployed positions, wherein said stabilizers are in retracted positions when said vehicle is moving, and wherein said stabilizers are in deployed positions when said vehicle is stationary for operation of said articulator.
7. The vehicle of claim 1 , where said articulator is coupled to said body via a platform, said articulator being mounted to said platform and said platform being coupled to said body.
8. The vehicle of claim 7 , further comprising a platform movement mechanism configured to allow movement of said platform with respect to said body to increase the range of motion of said articulator during its operation.
9. The vehicle of claim 8 , wherein said platform is movable in a translational manner.
10. The vehicle of claim 9 , wherein said platform movement mechanism comprises a mounting plate coupled to one or more rails that provide guidance for a substantially linear motion of said mounting plate relative to said body, said mounting plate configured to allow mounting of said articulator thereon.
11. The vehicle of claim 9 , wherein said translational motion comprises a motion of said platform along a longitudinal direction defined by front and rear of said vehicle.
12. The vehicle of claim 9 , wherein said translational motion comprises a motion of said platform along a direction having a vertical component.
13. The vehicle of claim 8 , wherein said platform is movable in a rotational manner with respect to said body.
14. The vehicle of claim 1 , wherein said articulator includes a distal end for mounting of an end assembly.
15. The vehicle of claim 14 , wherein said body defines an opening that receives at least a portion of said end assembly to provide protection for said end assembly.
16. The vehicle of claim 15 , wherein said opening is dimensioned so as to allow substantially all of said end assembly to be within a volume defined by said body.
17. The vehicle of claim 15 , further comprising a latching mechanism that secures said distal end or said end assembly to said body when said articulator is not in use or when said vehicle is in motion.
18. The vehicle of claim 1 , further comprising an interlock system that inhibits or restricts operation of said articulator under one or more selected conditions.
19. The vehicle of claim 18 , wherein said interlock system disables movement of said vehicle when said articulator is in its deployed configuration.
20. The vehicle of claim 18 , wherein said interlock system allows only a limited movement of said articulator transitions between its deployed configuration and secured configuration.
21. The vehicle of claim 20 , wherein said limited movement comprises limited speed and direction of said movement to reduce the likelihood of damage to said articulator during transition between said deployed and secured configurations.
22. The vehicle of claim 18 , further comprising an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of said interlock system.
23. The vehicle of claim 1 , wherein said articulator comprises a plurality of arm sections, with movement of each arm section being effectuated by drive cables driven by motors that are positioned proximately to the location where said articulator is mounted to said body, thereby reducing the moment of inertia of said articulator about said mounting location.
24. The vehicle of claim 1 , further comprising an articulator interlock system, coupled to the movement mechanism, that can secure the articulator during vehicle movement.
25. A method for operating articulators, comprising:
providing a movement mechanism to a vehicle so as to facilitate movement of said vehicle;
mounting an articulator on said vehicle such that said articulator can be operated at different locations reachable by movements of said vehicle; and
mounting a coordinate measuring machine on said articulator such that the machine can precisely measure position at a variety of coordinates.
26. The method of claim 25 , wherein said movement mechanism comprises a substantially self-contained drive system that allows a human operator to drive said vehicle to different locations.
27. The method of claim 25 , further comprising providing a plurality of retractable stabilizers, each capable of being in retracted and deployed positions, wherein said stabilizers are in retracted positions when said vehicle is moving, and wherein said stabilizers are in deployed positions when said vehicle is stationary for operation of said articulator.
28. The method of claim 25 , wherein said mounting of said articulator to said vehicle comprises mounting said articulator to a platform that is movable relative to said vehicle.
29. The method of claim 28 , wherein said platform is movable in a translational manner.
30. The method of claim 29 , wherein said translational motion comprises a motion of said platform along a longitudinal direction defined by front and rear of said vehicle.
31. The method of claim 29 , wherein said translational motion comprises a motion of said platform along a direction having a vertical component.
32. The method of claim 28 , wherein said platform is movable in a rotational manner with respect to said body.
33. The method of claim 25 , further comprising providing a securing assembly that secures said articulator at or near its distal end to reduce likelihood of damage to said articulator during motion of said vehicle.
34. The method of claim 25 , further comprising providing an interlock system that inhibits or restricts operation of said articulator under one or more selected conditions.
35. The method of claim 34 , wherein said interlock system disables movement of said vehicle when said articulator is in its deployed configuration.
36. The method of claim 34 , wherein said interlock system allows only a limited movement of said articulator transitions between its deployed configuration and secured configuration.
37. The method of claim 36 , wherein said limited movement comprises limited speed and direction of said movement to reduce the likelihood of damage to said articulator during transition between said deployed and secured configurations.
38. The method of claim 34 , further comprising providing an override mechanism that allows overriding of at least one of inhibiting or restricting functionality of said interlock system.
39. The method of claim 25 , further comprising providing an articulator interlock system to the vehicle that can secure the articulator during vehicle movement.
40. An apparatus, comprising:
a means for providing a movable vehicle;
a means for providing an articulator to said vehicle; and
a means for precisely measuring a variety of positions of the articulator.
41. The apparatus of claim 40 , further comprising a means for securing the articulator during movement.
42. The apparatus of claim 40 , further comprising a means for stabilizing the moveable vehicle sufficiently to precisely measure the variety of positions.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/419,593 US20090243532A1 (en) | 2005-09-13 | 2009-04-07 | Vehicle having an articulator |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US71681905P | 2005-09-13 | 2005-09-13 | |
US11/531,556 US7525276B2 (en) | 2005-09-13 | 2006-09-13 | Vehicle having an articulator |
US12/419,593 US20090243532A1 (en) | 2005-09-13 | 2009-04-07 | Vehicle having an articulator |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/531,556 Continuation US7525276B2 (en) | 2005-09-13 | 2006-09-13 | Vehicle having an articulator |
Publications (1)
Publication Number | Publication Date |
---|---|
US20090243532A1 true US20090243532A1 (en) | 2009-10-01 |
Family
ID=37528407
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/531,556 Active 2027-03-24 US7525276B2 (en) | 2005-09-13 | 2006-09-13 | Vehicle having an articulator |
US12/419,593 Abandoned US20090243532A1 (en) | 2005-09-13 | 2009-04-07 | Vehicle having an articulator |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/531,556 Active 2027-03-24 US7525276B2 (en) | 2005-09-13 | 2006-09-13 | Vehicle having an articulator |
Country Status (2)
Country | Link |
---|---|
US (2) | US7525276B2 (en) |
WO (1) | WO2007033273A2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USD875573S1 (en) | 2018-09-26 | 2020-02-18 | Hexagon Metrology, Inc. | Scanning device |
US11022434B2 (en) | 2017-11-13 | 2021-06-01 | Hexagon Metrology, Inc. | Thermal management of an optical scanning device |
Families Citing this family (87)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7693325B2 (en) | 2004-01-14 | 2010-04-06 | Hexagon Metrology, Inc. | Transprojection of geometry data |
US7152456B2 (en) | 2004-01-14 | 2006-12-26 | Romer Incorporated | Automated robotic measuring system |
US7525276B2 (en) * | 2005-09-13 | 2009-04-28 | Romer, Inc. | Vehicle having an articulator |
US9459622B2 (en) | 2007-01-12 | 2016-10-04 | Legalforce, Inc. | Driverless vehicle commerce network and community |
US9373149B2 (en) * | 2006-03-17 | 2016-06-21 | Fatdoor, Inc. | Autonomous neighborhood vehicle commerce network and community |
US9064288B2 (en) | 2006-03-17 | 2015-06-23 | Fatdoor, Inc. | Government structures and neighborhood leads in a geo-spatial environment |
US9098545B2 (en) | 2007-07-10 | 2015-08-04 | Raj Abhyanker | Hot news neighborhood banter in a geo-spatial social network |
US7568293B2 (en) * | 2006-05-01 | 2009-08-04 | Paul Ferrari | Sealed battery for coordinate measurement machine |
US7805854B2 (en) | 2006-05-15 | 2010-10-05 | Hexagon Metrology, Inc. | Systems and methods for positioning and measuring objects using a CMM |
DE102006031580A1 (en) | 2006-07-03 | 2008-01-17 | Faro Technologies, Inc., Lake Mary | Method and device for the three-dimensional detection of a spatial area |
US7743524B2 (en) * | 2006-11-20 | 2010-06-29 | Hexagon Metrology Ab | Coordinate measurement machine with improved joint |
WO2008080142A1 (en) * | 2006-12-22 | 2008-07-03 | Romer, Inc. | Improved joint axis for coordinate measurement machine |
US7546689B2 (en) * | 2007-07-09 | 2009-06-16 | Hexagon Metrology Ab | Joint for coordinate measurement device |
US7774949B2 (en) * | 2007-09-28 | 2010-08-17 | Hexagon Metrology Ab | Coordinate measurement machine |
US7779548B2 (en) | 2008-03-28 | 2010-08-24 | Hexagon Metrology, Inc. | Coordinate measuring machine with rotatable grip |
US8122610B2 (en) * | 2008-03-28 | 2012-02-28 | Hexagon Metrology, Inc. | Systems and methods for improved coordination acquisition member comprising calibration information |
US7640674B2 (en) * | 2008-05-05 | 2010-01-05 | Hexagon Metrology, Inc. | Systems and methods for calibrating a portable coordinate measurement machine |
US7908757B2 (en) * | 2008-10-16 | 2011-03-22 | Hexagon Metrology, Inc. | Articulating measuring arm with laser scanner |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
DE102009015920B4 (en) | 2009-03-25 | 2014-11-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8082673B2 (en) | 2009-11-06 | 2011-12-27 | Hexagon Metrology Ab | Systems and methods for control and calibration of a CMM |
CN102472662B (en) * | 2009-06-30 | 2014-06-18 | 六边形度量衡股份公司 | Coordinate measurement machine with vibration detection |
DE102009039812A1 (en) * | 2009-09-02 | 2011-03-10 | Kuka Roboter Gmbh | Mobile measuring device |
DE102009039811B4 (en) * | 2009-09-02 | 2014-05-28 | Kuka Roboter Gmbh | Mobile measuring device and method for setting up a mobile measuring device |
TWI373872B (en) * | 2009-11-06 | 2012-10-01 | Iner Aec Executive Yuan | Transmitting system for planar sofc stack |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
DE102009057101A1 (en) | 2009-11-20 | 2011-05-26 | Faro Technologies, Inc., Lake Mary | Device for optically scanning and measuring an environment |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US20110213247A1 (en) * | 2010-01-08 | 2011-09-01 | Hexagon Metrology, Inc. | Articulated arm with imaging device |
US8630314B2 (en) | 2010-01-11 | 2014-01-14 | Faro Technologies, Inc. | Method and apparatus for synchronizing measurements taken by multiple metrology devices |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US8832954B2 (en) | 2010-01-20 | 2014-09-16 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US8677643B2 (en) | 2010-01-20 | 2014-03-25 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US8615893B2 (en) | 2010-01-20 | 2013-12-31 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine having integrated software controls |
US9879976B2 (en) | 2010-01-20 | 2018-01-30 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US8898919B2 (en) | 2010-01-20 | 2014-12-02 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter used to establish frame of reference |
DE112011100292B4 (en) * | 2010-01-20 | 2016-11-24 | Faro Technologies Inc. | Display for a coordinate measuring machine |
US8683709B2 (en) | 2010-01-20 | 2014-04-01 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with multi-bus arm technology |
US8875409B2 (en) | 2010-01-20 | 2014-11-04 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
CN102782442A (en) | 2010-01-20 | 2012-11-14 | 法罗技术股份有限公司 | Coordinate measuring machine having an illuminated probe end and method of operation |
USD643319S1 (en) | 2010-03-29 | 2011-08-16 | Hexagon Metrology Ab | Portable coordinate measurement machine |
DE102010020925B4 (en) | 2010-05-10 | 2014-02-27 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
DE102010032467A1 (en) * | 2010-07-28 | 2012-02-02 | Carl Zeiss Ag | Measurement system for measuring position of measured object i.e. automobile part in automobile manufacturing facility, has computing units linking coordinates of surface positions of measured objects with measuring head position |
US8127458B1 (en) | 2010-08-31 | 2012-03-06 | Hexagon Metrology, Inc. | Mounting apparatus for articulated arm laser scanner |
CN103003713B (en) | 2010-09-08 | 2015-04-01 | 法罗技术股份有限公司 | A laser scanner or laser tracker having a projector |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
CN102350693A (en) * | 2011-10-06 | 2012-02-15 | 郭庆省 | Egg hunting robot |
CN102380867A (en) * | 2011-10-09 | 2012-03-21 | 郭庆省 | Egg pickup robot |
JP5758777B2 (en) * | 2011-11-04 | 2015-08-05 | 本田技研工業株式会社 | robot |
US20130119033A1 (en) * | 2011-11-11 | 2013-05-16 | Lincoln Global, Inc. | Mobile welding system and method |
US8763267B2 (en) | 2012-01-20 | 2014-07-01 | Hexagon Technology Center Gmbh | Locking counterbalance for a CMM |
DE102012100609A1 (en) | 2012-01-25 | 2013-07-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
DE102012003690A1 (en) | 2012-02-23 | 2013-08-29 | Kuka Roboter Gmbh | Mobile robot |
US9058905B2 (en) * | 2012-04-06 | 2015-06-16 | Ihi Southwest Technologies | Automated inside reactor inspection system |
DE112012006219B4 (en) * | 2012-04-10 | 2021-10-07 | Kokuho Company Limited | Welding car |
US9069355B2 (en) | 2012-06-08 | 2015-06-30 | Hexagon Technology Center Gmbh | System and method for a wireless feature pack |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
DE102012109481A1 (en) | 2012-10-05 | 2014-04-10 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US9250214B2 (en) | 2013-03-12 | 2016-02-02 | Hexagon Metrology, Inc. | CMM with flaw detection system |
US9958854B2 (en) | 2013-06-10 | 2018-05-01 | The Boeing Company | Systems and methods for robotic measurement of parts |
US20150050111A1 (en) * | 2013-08-16 | 2015-02-19 | Barrett Technology, Inc. | Mobile manipulation system with vertical lift |
DE102013019368A1 (en) * | 2013-11-18 | 2015-05-21 | Grenzebach Maschinenbau Gmbh | Method and device for the largely automated assembly of goods deliveries in warehouses |
US9594250B2 (en) | 2013-12-18 | 2017-03-14 | Hexagon Metrology, Inc. | Ultra-portable coordinate measurement machine |
US9163921B2 (en) | 2013-12-18 | 2015-10-20 | Hexagon Metrology, Inc. | Ultra-portable articulated arm coordinate measurement machine |
US9439367B2 (en) | 2014-02-07 | 2016-09-13 | Arthi Abhyanker | Network enabled gardening with a remotely controllable positioning extension |
US20150293533A1 (en) * | 2014-04-13 | 2015-10-15 | Bobsweep Inc. | Scanned Code Instruction and Confinement Sytem for Mobile Electronic Devices |
US9457901B2 (en) | 2014-04-22 | 2016-10-04 | Fatdoor, Inc. | Quadcopter with a printable payload extension system and method |
US9022324B1 (en) | 2014-05-05 | 2015-05-05 | Fatdoor, Inc. | Coordination of aerial vehicles through a central server |
US9759540B2 (en) | 2014-06-11 | 2017-09-12 | Hexagon Metrology, Inc. | Articulating CMM probe |
US9441981B2 (en) | 2014-06-20 | 2016-09-13 | Fatdoor, Inc. | Variable bus stops across a bus route in a regional transportation network |
US9971985B2 (en) | 2014-06-20 | 2018-05-15 | Raj Abhyanker | Train based community |
US9451020B2 (en) | 2014-07-18 | 2016-09-20 | Legalforce, Inc. | Distributed communication of independent autonomous vehicles to provide redundancy and performance |
FR3039449A1 (en) * | 2015-07-31 | 2017-02-03 | Rise Ba | COLLABORATIVE ROBOT ON AUTOGUIDE TROLLEY PROVIDING SUPPORT FOR THE OPERATOR |
US20170057082A1 (en) * | 2015-08-31 | 2017-03-02 | Caterpillar Inc. | Robot system assembly and a mobile platform thereof |
US10137566B2 (en) * | 2015-09-09 | 2018-11-27 | Bastian Solutions, Llc | Automated guided vehicle (AGV) with batch picking robotic arm |
DE102015122844A1 (en) | 2015-12-27 | 2017-06-29 | Faro Technologies, Inc. | 3D measuring device with battery pack |
US11453480B2 (en) * | 2016-10-13 | 2022-09-27 | Alexander I. Poltorak | Apparatus and method for balancing aircraft with robotic arms |
US20180330325A1 (en) | 2017-05-12 | 2018-11-15 | Zippy Inc. | Method for indicating delivery location and software for same |
ES2697921B2 (en) * | 2017-07-26 | 2020-06-22 | Univ Catalunya Politecnica | OMNIDIRECTIONAL PLATFORM |
JP2020051225A (en) * | 2018-09-28 | 2020-04-02 | 東芝ライテック株式会社 | Lamp body cleaning device |
CN110588483B (en) * | 2019-10-14 | 2024-01-26 | 中国科学院长春光学精密机械与物理研究所 | Integral carrier body of theodolite carrier |
DE102022121539A1 (en) | 2022-08-25 | 2024-03-07 | Bayerische Motoren Werke Aktiengesellschaft | Driverless transport system |
Citations (89)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2076446A (en) * | 1934-02-10 | 1937-04-06 | Terry Herbert & Sons Ltd | Equipoising mechanism |
US2787434A (en) * | 1954-01-27 | 1957-04-02 | Jacobsen As J | Equipoised lamp structure |
US3713453A (en) * | 1971-04-05 | 1973-01-30 | J Chiaro | Apparatus for styling hair |
US3757190A (en) * | 1972-02-18 | 1973-09-04 | Redifon Ltd | Slip ring electrical connections |
US3944798A (en) * | 1974-04-18 | 1976-03-16 | Eaton-Leonard Corporation | Method and apparatus for measuring direction |
US4016830A (en) * | 1975-07-16 | 1977-04-12 | Brown & Williamson Tobacco Corporation | Apparatus for dispensing spaced deposits of particulate material |
US4160536A (en) * | 1976-10-27 | 1979-07-10 | Jac. Jacobsen A/S | Counterbalanced arm |
US4313263A (en) * | 1977-02-07 | 1982-02-02 | Rolls Royce Limited | Method and apparatus for use in co-ordinate measuring machines |
US4326155A (en) * | 1980-06-03 | 1982-04-20 | Griebeler Elmer L | Shockwave probe |
US4382215A (en) * | 1981-07-16 | 1983-05-03 | General Electric Company | System and method of precision machining |
US4388758A (en) * | 1980-03-05 | 1983-06-21 | Johannes Heidenhain Gmbh | Digital electrical angle-measuring device |
US4496279A (en) * | 1982-12-09 | 1985-01-29 | Mts Systems Corporation | Robot arm and wrist assembly |
US4505049A (en) * | 1982-02-02 | 1985-03-19 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Method of measuring origin of moving section in robot and apparatus therefor |
US4593470A (en) * | 1982-07-14 | 1986-06-10 | Micro Control Systems, Inc. | Portable three dimensional graphics tablet |
US4606696A (en) * | 1984-06-25 | 1986-08-19 | Slocum Alexander H | Mechanism to determine position and orientation in space |
US4667096A (en) * | 1984-03-31 | 1987-05-19 | Johannes Heidenhain Gmbh | Position measuring system comprising at least two scanning units |
US4676002A (en) * | 1984-06-25 | 1987-06-30 | Slocum Alexander H | Mechanisms to determine position and orientation in space |
US4718023A (en) * | 1984-11-27 | 1988-01-05 | Photo Acoustic Technology, Inc. | Ultrasonic apparatus for positioning a robot hand |
US4751868A (en) * | 1986-02-12 | 1988-06-21 | Paynter Henry M | Method and system employing double-acting, fluid-driven twistor-pairs as combined joints and motors in arthrobots |
US4839646A (en) * | 1986-02-28 | 1989-06-13 | Royal Melbourne Institute Of Technology Limited | Movement parameter sensor |
US4857926A (en) * | 1987-08-25 | 1989-08-15 | Honeywell Inc. | Phase-responsive angular tracking device |
US4913613A (en) * | 1987-07-10 | 1990-04-03 | Hirschmann Gregory C | Linear unit for an assembly device in handling technology |
US4921393A (en) * | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
US4930972A (en) * | 1989-09-08 | 1990-06-05 | Robert Little | Material handling vehicles |
US4937759A (en) * | 1986-02-18 | 1990-06-26 | Robotics Research Corporation | Industrial robot with controller |
US4940925A (en) * | 1985-08-30 | 1990-07-10 | Texas Instruments Incorporated | Closed-loop navigation system for mobile robots |
US4953822A (en) * | 1987-05-26 | 1990-09-04 | Eldon Industries, Inc. | Adjustable arm structures |
US5079500A (en) * | 1990-02-24 | 1992-01-07 | Ferranti International Plc | Potentiometric circuit arrangement |
US5084981A (en) * | 1989-04-14 | 1992-02-04 | Renishaw Plc | Probe head |
US5088337A (en) * | 1989-04-14 | 1992-02-18 | Renishaw Plc | Probe head |
US5187874A (en) * | 1989-04-28 | 1993-02-23 | Mitutoyo Corporation | Coordinate measuring machine with protected origin point blocks |
US5189797A (en) * | 1991-03-12 | 1993-03-02 | Romer | Apparatus for measuring the shape or position of an object |
US5293107A (en) * | 1993-02-24 | 1994-03-08 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
US5297653A (en) * | 1993-04-05 | 1994-03-29 | Wurtz Henry J | Pickup truck mounted lift apparatus |
US5377913A (en) * | 1991-11-20 | 1995-01-03 | Van Der Woude; Meino J. | Hydraulic robot jet lance |
US5396712A (en) * | 1992-11-12 | 1995-03-14 | Carl Zeiss Stiftung | Coordinate measuring device |
US5402582A (en) * | 1993-02-23 | 1995-04-04 | Faro Technologies Inc. | Three dimensional coordinate measuring apparatus |
US5408754A (en) * | 1993-02-23 | 1995-04-25 | Faro Technologies, Inc. | Method and apparatus for measuring sleeping positions |
US5412880A (en) * | 1993-02-23 | 1995-05-09 | Faro Technologies Inc. | Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus |
US5505003A (en) * | 1993-10-08 | 1996-04-09 | M&M Precision Systems Corporation | Generative measuring system |
US5510977A (en) * | 1994-08-02 | 1996-04-23 | Faro Technologies Inc. | Method and apparatus for measuring features of a part or item |
US5521847A (en) * | 1994-07-01 | 1996-05-28 | General Electric Company | System and method for determining airfoil characteristics from coordinate measuring machine probe center data |
US5528505A (en) * | 1993-09-20 | 1996-06-18 | Romer | Position-marking method for a machine that measures in three dimensions, and apparatus for implementing the method |
US5526576A (en) * | 1993-09-13 | 1996-06-18 | Carl-Zeiss-Stiftung, Heidenheim (Brenz) | Coordinate measurement machine having a probe head and an electronic system for processing probe signals |
US5611147A (en) * | 1993-02-23 | 1997-03-18 | Faro Technologies, Inc. | Three dimensional coordinate measuring apparatus |
US5615489A (en) * | 1992-09-25 | 1997-04-01 | Carl-Zeiss-Stiftung | Method of making coordinate measurements on workpieces |
US5757499A (en) * | 1994-06-17 | 1998-05-26 | Eaton; Homer | Method of locating the spatial position of a frame of reference and apparatus for implementing the method |
US5768792A (en) * | 1996-02-09 | 1998-06-23 | Faro Technologies Inc. | Method and apparatus for measuring and tube fitting |
US5796229A (en) * | 1993-09-10 | 1998-08-18 | Fanuc Ltd. | Method and apparatus for robotic force controlled material removal with programmable overload release function |
US5887735A (en) * | 1995-12-15 | 1999-03-30 | Liebherr-Werk Ehingen Gmbh | Crane vehicle with an overload safety unit |
US6041274A (en) * | 1997-04-21 | 2000-03-21 | Shinko Electric Co., Ltd. | Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body |
US6047727A (en) * | 1997-09-19 | 2000-04-11 | Kabushiki Kaisha Neriki | Valve assembly for gas cylinder and pressure reducing valve used therefor |
US6196586B1 (en) * | 1998-08-04 | 2001-03-06 | Ingersoll-Rand Company | System for frame leveling and stabilizing a forklift |
US6219928B1 (en) * | 1998-07-08 | 2001-04-24 | Faro Technologies Inc. | Serial network for coordinate measurement apparatus |
US6227570B1 (en) * | 1999-11-05 | 2001-05-08 | Case Corporation | Stabilizer flip pad assembly flip-over restraint |
US6366831B1 (en) * | 1993-02-23 | 2002-04-02 | Faro Technologies Inc. | Coordinate measurement machine with articulated arm and software interface |
US6428266B1 (en) * | 1995-07-10 | 2002-08-06 | Brooks Automation, Inc. | Direct driven robot |
US6431019B1 (en) * | 2001-03-21 | 2002-08-13 | The United States Of America As Represented By The Secretary Of The Navy | Low cost, high-strength robotic arm |
US6526670B1 (en) * | 1999-05-13 | 2003-03-04 | Marposs Societa' Per Azioni | System for detecting linear dimensions of mechanical workpieces, with wireless signal transmission units |
US6598306B2 (en) * | 2001-04-17 | 2003-07-29 | Homer L. Eaton | Self-loading spatial reference point array |
US6611617B1 (en) * | 1995-07-26 | 2003-08-26 | Stephen James Crampton | Scanning apparatus and method |
US6611346B2 (en) * | 2000-03-21 | 2003-08-26 | Romain Granger | System for identifying the position of a three-dimensional machine in a fixed frame of reference |
US6866465B2 (en) * | 2002-08-28 | 2005-03-15 | John M. Jester | Robotic system and method for collecting and dispensing regular and irregular shaped objects |
US6892465B2 (en) * | 2002-02-14 | 2005-05-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated magnetic mount |
US6896230B2 (en) * | 2002-12-30 | 2005-05-24 | Sava Cvek | Equipoise arm assembly |
US20050166413A1 (en) * | 2003-04-28 | 2005-08-04 | Crampton Stephen J. | CMM arm with exoskeleton |
US6931745B2 (en) * | 2003-10-29 | 2005-08-23 | Hexagon Metrology Ab | Connection device associated with an arm of an articulated three-dimensional measuring appliance |
US6984236B2 (en) * | 2001-10-24 | 2006-01-10 | Faro Technologies, Inc. | Bone connective prosthesis and method of forming same |
US6988322B2 (en) * | 2002-02-14 | 2006-01-24 | Faro Technologies, Inc. | Apparatus for providing sensory feedback to the operator of a portable measurement machine |
US7003892B2 (en) * | 2003-04-15 | 2006-02-28 | Hexagon Metrology Ab | Spatial coordinate-based method for identifying work pieces |
US7042714B2 (en) * | 2001-11-08 | 2006-05-09 | Apple Computer, Inc. | Computer controlled display device |
US7051447B2 (en) * | 2003-02-28 | 2006-05-30 | Kosaka Laboratory Ltd. | System and method for measuring coordinate using multi-joint arm |
US7073271B2 (en) * | 2002-02-14 | 2006-07-11 | Faro Technologies Inc. | Portable coordinate measurement machine |
US20070063500A1 (en) * | 2005-09-13 | 2007-03-22 | Homer Eaton | Vehicle having an articulator |
US7210890B2 (en) * | 2003-10-16 | 2007-05-01 | John M. Curotto | Front-loadable refuse container having side-loading robotic arm with motors and other mass mounted at rear of container and use of same with front-loading waste-hauling vehicle having hydraulic front forks or other retractably engageable lift means |
US7246030B2 (en) * | 2002-02-14 | 2007-07-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
US20080016711A1 (en) * | 2006-07-19 | 2008-01-24 | Saphirwerk Industrieprodukte Ag | Stylus with integrated RFID chip |
US7363107B2 (en) * | 2002-12-31 | 2008-04-22 | Lg.Philips Lcd Co., Ltd. | Substrate transfer system |
US7372581B2 (en) * | 2005-04-11 | 2008-05-13 | Faro Technologies, Inc. | Three-dimensional coordinate measuring device |
US20090025243A1 (en) * | 2007-07-26 | 2009-01-29 | Renishaw Plc | Modular Measurement probe |
US7546689B2 (en) * | 2007-07-09 | 2009-06-16 | Hexagon Metrology Ab | Joint for coordinate measurement device |
US7568293B2 (en) * | 2006-05-01 | 2009-08-04 | Paul Ferrari | Sealed battery for coordinate measurement machine |
US7578069B2 (en) * | 2004-01-14 | 2009-08-25 | Hexagon Metrology, Inc. | Automated robotic measuring system |
US7640674B2 (en) * | 2008-05-05 | 2010-01-05 | Hexagon Metrology, Inc. | Systems and methods for calibrating a portable coordinate measurement machine |
US7693325B2 (en) * | 2004-01-14 | 2010-04-06 | Hexagon Metrology, Inc. | Transprojection of geometry data |
US7743524B2 (en) * | 2006-11-20 | 2010-06-29 | Hexagon Metrology Ab | Coordinate measurement machine with improved joint |
US7774949B2 (en) * | 2007-09-28 | 2010-08-17 | Hexagon Metrology Ab | Coordinate measurement machine |
US7779548B2 (en) * | 2008-03-28 | 2010-08-24 | Hexagon Metrology, Inc. | Coordinate measuring machine with rotatable grip |
US7908757B2 (en) * | 2008-10-16 | 2011-03-22 | Hexagon Metrology, Inc. | Articulating measuring arm with laser scanner |
Family Cites Families (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB309662A (en) | ||||
GB312963A (en) | 1928-03-01 | 1929-06-04 | John Lindsay Scott | Improvements in signalling apparatus applicable for use on automobiles |
GB327503A (en) | 1929-02-05 | 1930-04-10 | Ignatz Ripper | Improved closure for bottles and other containers |
FR724704A (en) | 1931-09-30 | 1932-05-02 | New ladies suspender buckle | |
US3547284A (en) | 1969-09-22 | 1970-12-15 | Glenn G Dunbar | Vehicle mounted loading hoist |
US4119212A (en) | 1977-07-18 | 1978-10-10 | Western Electric Company, Inc. | Monitoring the location of a robot hand |
IT1144184B (en) | 1981-04-23 | 1986-10-29 | Luciano Bisiach | INDUSTRIAL MULTI-AXIS ROBOT WITH PERFECT CONTROL FOR VERTICAL MOVEMENT AND ACTUATOR FOR SUCH CONTROL |
JPS60170709A (en) | 1984-02-16 | 1985-09-04 | Toshiba Corp | Measuring insturment for shape |
DE3562948D1 (en) | 1984-04-21 | 1988-06-30 | Heidenhain Gmbh Dr Johannes | Position-measuring device |
US4698775A (en) * | 1985-05-17 | 1987-10-06 | Flexible Manufacturing Systems, Inc. | Self-contained mobile reprogrammable automation device |
US4779203A (en) * | 1985-08-30 | 1988-10-18 | Texas Instruments Incorporated | Visual navigation system for mobile robots |
US5155423A (en) | 1986-02-18 | 1992-10-13 | Robotics Research Corporation | Industrial robot with servo |
CA1299362C (en) | 1986-12-10 | 1992-04-28 | Gregory James Mcdonald | Coordinate measuring system |
DE3740070A1 (en) | 1987-11-26 | 1989-06-08 | Zeiss Carl Fa | TURN SLEWING DEVICE FOR TEST COOKING OF COORDINATE MEASURING DEVICES |
JPH01222883A (en) | 1988-02-26 | 1989-09-06 | Mitsubishi Electric Corp | Hand device for robot |
JPH0457690A (en) | 1990-06-25 | 1992-02-25 | Hitachi Ltd | Vibration absorber, driving device, load uniting element and multi-shaft mechanism |
DE69108817T2 (en) | 1990-08-17 | 1995-10-05 | Toshiba Kawasaki Kk | Displacement measuring device. |
US5347616A (en) * | 1991-01-28 | 1994-09-13 | Tsubakimoto Chain Co. | Method of controlling position and attitude of working robot and its manipulator and apparatus thereof |
CH683032A5 (en) | 1991-06-26 | 1993-12-31 | Escher Wyss Ag | Apparatus for determining a surface contour. |
FR2680023B1 (en) * | 1991-08-01 | 1993-10-22 | Acb | METHOD FOR REMOTE INTERVENTION ON A SITE, SUCH AS A DAMAGED NUCLEAR POWER PLANT. |
US5171124A (en) * | 1991-11-04 | 1992-12-15 | Farmer's Factory Co. | Backhoe attachment for skid steer loader |
US5310217A (en) * | 1992-11-30 | 1994-05-10 | Paskey Robert L | Ram guard |
DE29519871U1 (en) * | 1995-12-14 | 1996-03-21 | Liebherr Werk Ehingen | Crane vehicle |
CA2183004A1 (en) | 1996-08-23 | 1998-02-24 | Nino Camurri | Articulated-arm measuring machine and twist-net network |
US6668471B1 (en) * | 2000-09-01 | 2003-12-30 | Excavation Technology Corporation | Towable earth digging apparatus |
DE10112977C1 (en) | 2001-03-17 | 2002-11-21 | Zett Mess Technik Gmbh | Height measurement and tracking device for 3-dimensional measurement of workpiece has hydraulically or pneumatically operated brake piston for fixing position of each rotary linkage |
US6820723B2 (en) * | 2001-05-09 | 2004-11-23 | Ronald L. Huber | Adapter for connection between vehicle and ladder |
CA2347561A1 (en) * | 2001-05-14 | 2002-11-14 | Wilhelm Alfred Benedikt | Hoist for pickup truck |
US6648569B2 (en) * | 2001-10-31 | 2003-11-18 | James Douglass | Vehicle cargo bed with movable platform |
US6819550B2 (en) | 2001-11-08 | 2004-11-16 | Apple Computer, Inc. | Computer controlled display device |
JP4125513B2 (en) | 2001-12-13 | 2008-07-30 | 独立行政法人科学技術振興機構 | Humanoid robot arm |
US6859359B2 (en) * | 2002-01-30 | 2005-02-22 | The United States Of America As Represented By The Secretary Of The Army | Modular sensor platform |
JP4092282B2 (en) * | 2003-11-13 | 2008-05-28 | 三機工業株式会社 | Method and system for cleaning glass surface of street lamp or reflector |
US7267020B2 (en) * | 2005-08-31 | 2007-09-11 | Honeywell International, Inc. | Apparatus for structural testing |
-
2006
- 2006-09-13 US US11/531,556 patent/US7525276B2/en active Active
- 2006-09-13 WO PCT/US2006/035722 patent/WO2007033273A2/en active Application Filing
-
2009
- 2009-04-07 US US12/419,593 patent/US20090243532A1/en not_active Abandoned
Patent Citations (101)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2076446A (en) * | 1934-02-10 | 1937-04-06 | Terry Herbert & Sons Ltd | Equipoising mechanism |
US2787434A (en) * | 1954-01-27 | 1957-04-02 | Jacobsen As J | Equipoised lamp structure |
US3713453A (en) * | 1971-04-05 | 1973-01-30 | J Chiaro | Apparatus for styling hair |
US3757190A (en) * | 1972-02-18 | 1973-09-04 | Redifon Ltd | Slip ring electrical connections |
US3944798A (en) * | 1974-04-18 | 1976-03-16 | Eaton-Leonard Corporation | Method and apparatus for measuring direction |
US4016830A (en) * | 1975-07-16 | 1977-04-12 | Brown & Williamson Tobacco Corporation | Apparatus for dispensing spaced deposits of particulate material |
US4160536A (en) * | 1976-10-27 | 1979-07-10 | Jac. Jacobsen A/S | Counterbalanced arm |
US4313263A (en) * | 1977-02-07 | 1982-02-02 | Rolls Royce Limited | Method and apparatus for use in co-ordinate measuring machines |
US4388758A (en) * | 1980-03-05 | 1983-06-21 | Johannes Heidenhain Gmbh | Digital electrical angle-measuring device |
US4459526B1 (en) * | 1980-06-03 | 1989-07-11 | ||
US4326155A (en) * | 1980-06-03 | 1982-04-20 | Griebeler Elmer L | Shockwave probe |
US4459526A (en) * | 1980-06-03 | 1984-07-10 | Griebeler Elmer L | Multi apertured lens shock wave probe |
US4459526B2 (en) * | 1980-06-03 | 1991-04-02 | Multi apertured lens shock wave probe | |
US4382215A (en) * | 1981-07-16 | 1983-05-03 | General Electric Company | System and method of precision machining |
US4505049A (en) * | 1982-02-02 | 1985-03-19 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Method of measuring origin of moving section in robot and apparatus therefor |
US4593470A (en) * | 1982-07-14 | 1986-06-10 | Micro Control Systems, Inc. | Portable three dimensional graphics tablet |
US4496279A (en) * | 1982-12-09 | 1985-01-29 | Mts Systems Corporation | Robot arm and wrist assembly |
US4667096A (en) * | 1984-03-31 | 1987-05-19 | Johannes Heidenhain Gmbh | Position measuring system comprising at least two scanning units |
US4606696A (en) * | 1984-06-25 | 1986-08-19 | Slocum Alexander H | Mechanism to determine position and orientation in space |
US4676002A (en) * | 1984-06-25 | 1987-06-30 | Slocum Alexander H | Mechanisms to determine position and orientation in space |
US4718023A (en) * | 1984-11-27 | 1988-01-05 | Photo Acoustic Technology, Inc. | Ultrasonic apparatus for positioning a robot hand |
US4940925A (en) * | 1985-08-30 | 1990-07-10 | Texas Instruments Incorporated | Closed-loop navigation system for mobile robots |
US4751868A (en) * | 1986-02-12 | 1988-06-21 | Paynter Henry M | Method and system employing double-acting, fluid-driven twistor-pairs as combined joints and motors in arthrobots |
US4937759A (en) * | 1986-02-18 | 1990-06-26 | Robotics Research Corporation | Industrial robot with controller |
US4839646A (en) * | 1986-02-28 | 1989-06-13 | Royal Melbourne Institute Of Technology Limited | Movement parameter sensor |
US4953822A (en) * | 1987-05-26 | 1990-09-04 | Eldon Industries, Inc. | Adjustable arm structures |
US4913613A (en) * | 1987-07-10 | 1990-04-03 | Hirschmann Gregory C | Linear unit for an assembly device in handling technology |
US4857926A (en) * | 1987-08-25 | 1989-08-15 | Honeywell Inc. | Phase-responsive angular tracking device |
US4921393A (en) * | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
US5084981A (en) * | 1989-04-14 | 1992-02-04 | Renishaw Plc | Probe head |
US5088337A (en) * | 1989-04-14 | 1992-02-18 | Renishaw Plc | Probe head |
US5187874A (en) * | 1989-04-28 | 1993-02-23 | Mitutoyo Corporation | Coordinate measuring machine with protected origin point blocks |
US4930972A (en) * | 1989-09-08 | 1990-06-05 | Robert Little | Material handling vehicles |
US5079500A (en) * | 1990-02-24 | 1992-01-07 | Ferranti International Plc | Potentiometric circuit arrangement |
US5189797A (en) * | 1991-03-12 | 1993-03-02 | Romer | Apparatus for measuring the shape or position of an object |
US5377913A (en) * | 1991-11-20 | 1995-01-03 | Van Der Woude; Meino J. | Hydraulic robot jet lance |
US5615489A (en) * | 1992-09-25 | 1997-04-01 | Carl-Zeiss-Stiftung | Method of making coordinate measurements on workpieces |
US5396712A (en) * | 1992-11-12 | 1995-03-14 | Carl Zeiss Stiftung | Coordinate measuring device |
US5402582A (en) * | 1993-02-23 | 1995-04-04 | Faro Technologies Inc. | Three dimensional coordinate measuring apparatus |
US5408754A (en) * | 1993-02-23 | 1995-04-25 | Faro Technologies, Inc. | Method and apparatus for measuring sleeping positions |
US5412880A (en) * | 1993-02-23 | 1995-05-09 | Faro Technologies Inc. | Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus |
US6366831B1 (en) * | 1993-02-23 | 2002-04-02 | Faro Technologies Inc. | Coordinate measurement machine with articulated arm and software interface |
US5611147A (en) * | 1993-02-23 | 1997-03-18 | Faro Technologies, Inc. | Three dimensional coordinate measuring apparatus |
US5794356A (en) * | 1993-02-23 | 1998-08-18 | Faro Technologies, Inc. | Three dimensional coordinate measuring apparatus |
US5293107A (en) * | 1993-02-24 | 1994-03-08 | Fanuc Robotics North America, Inc. | Motorized rotary joint and method of constructing a modular robot utilizing same |
US5297653A (en) * | 1993-04-05 | 1994-03-29 | Wurtz Henry J | Pickup truck mounted lift apparatus |
US5796229A (en) * | 1993-09-10 | 1998-08-18 | Fanuc Ltd. | Method and apparatus for robotic force controlled material removal with programmable overload release function |
US5526576A (en) * | 1993-09-13 | 1996-06-18 | Carl-Zeiss-Stiftung, Heidenheim (Brenz) | Coordinate measurement machine having a probe head and an electronic system for processing probe signals |
US5528505A (en) * | 1993-09-20 | 1996-06-18 | Romer | Position-marking method for a machine that measures in three dimensions, and apparatus for implementing the method |
US5505003A (en) * | 1993-10-08 | 1996-04-09 | M&M Precision Systems Corporation | Generative measuring system |
US5757499A (en) * | 1994-06-17 | 1998-05-26 | Eaton; Homer | Method of locating the spatial position of a frame of reference and apparatus for implementing the method |
US5521847A (en) * | 1994-07-01 | 1996-05-28 | General Electric Company | System and method for determining airfoil characteristics from coordinate measuring machine probe center data |
US5510977A (en) * | 1994-08-02 | 1996-04-23 | Faro Technologies Inc. | Method and apparatus for measuring features of a part or item |
US6428266B1 (en) * | 1995-07-10 | 2002-08-06 | Brooks Automation, Inc. | Direct driven robot |
US6611617B1 (en) * | 1995-07-26 | 2003-08-26 | Stephen James Crampton | Scanning apparatus and method |
US5887735A (en) * | 1995-12-15 | 1999-03-30 | Liebherr-Werk Ehingen Gmbh | Crane vehicle with an overload safety unit |
US5768792A (en) * | 1996-02-09 | 1998-06-23 | Faro Technologies Inc. | Method and apparatus for measuring and tube fitting |
US6041274A (en) * | 1997-04-21 | 2000-03-21 | Shinko Electric Co., Ltd. | Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body |
US6047727A (en) * | 1997-09-19 | 2000-04-11 | Kabushiki Kaisha Neriki | Valve assembly for gas cylinder and pressure reducing valve used therefor |
US6219928B1 (en) * | 1998-07-08 | 2001-04-24 | Faro Technologies Inc. | Serial network for coordinate measurement apparatus |
US6196586B1 (en) * | 1998-08-04 | 2001-03-06 | Ingersoll-Rand Company | System for frame leveling and stabilizing a forklift |
US6526670B1 (en) * | 1999-05-13 | 2003-03-04 | Marposs Societa' Per Azioni | System for detecting linear dimensions of mechanical workpieces, with wireless signal transmission units |
US6227570B1 (en) * | 1999-11-05 | 2001-05-08 | Case Corporation | Stabilizer flip pad assembly flip-over restraint |
US6611346B2 (en) * | 2000-03-21 | 2003-08-26 | Romain Granger | System for identifying the position of a three-dimensional machine in a fixed frame of reference |
US6431019B1 (en) * | 2001-03-21 | 2002-08-13 | The United States Of America As Represented By The Secretary Of The Navy | Low cost, high-strength robotic arm |
US6598306B2 (en) * | 2001-04-17 | 2003-07-29 | Homer L. Eaton | Self-loading spatial reference point array |
US6984236B2 (en) * | 2001-10-24 | 2006-01-10 | Faro Technologies, Inc. | Bone connective prosthesis and method of forming same |
US7042714B2 (en) * | 2001-11-08 | 2006-05-09 | Apple Computer, Inc. | Computer controlled display device |
US7017275B2 (en) * | 2002-02-14 | 2006-03-28 | Faro Technologies, Inc. | Portable coordinate measurement machine with improved handle assembly |
US7043847B2 (en) * | 2002-02-14 | 2006-05-16 | Faro Technologies, Inc. | Portable coordinate measurement machine having on-board power supply |
US7246030B2 (en) * | 2002-02-14 | 2007-07-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
US6925722B2 (en) * | 2002-02-14 | 2005-08-09 | Faro Technologies, Inc. | Portable coordinate measurement machine with improved surface features |
US7174651B2 (en) * | 2002-02-14 | 2007-02-13 | Faro Technologies, Inc. | Portable coordinate measurement machine |
US7073271B2 (en) * | 2002-02-14 | 2006-07-11 | Faro Technologies Inc. | Portable coordinate measurement machine |
US6988322B2 (en) * | 2002-02-14 | 2006-01-24 | Faro Technologies, Inc. | Apparatus for providing sensory feedback to the operator of a portable measurement machine |
US7051450B2 (en) * | 2002-02-14 | 2006-05-30 | Faro Technologies, Inc. | Portable coordinate measurement machine |
US6892465B2 (en) * | 2002-02-14 | 2005-05-17 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated magnetic mount |
US6904691B2 (en) * | 2002-02-14 | 2005-06-14 | Faro Technologies, Inc. | Portable coordinate measurement machine with improved counter balance |
US6866465B2 (en) * | 2002-08-28 | 2005-03-15 | John M. Jester | Robotic system and method for collecting and dispensing regular and irregular shaped objects |
US6896230B2 (en) * | 2002-12-30 | 2005-05-24 | Sava Cvek | Equipoise arm assembly |
US7363107B2 (en) * | 2002-12-31 | 2008-04-22 | Lg.Philips Lcd Co., Ltd. | Substrate transfer system |
US7051447B2 (en) * | 2003-02-28 | 2006-05-30 | Kosaka Laboratory Ltd. | System and method for measuring coordinate using multi-joint arm |
US7003892B2 (en) * | 2003-04-15 | 2006-02-28 | Hexagon Metrology Ab | Spatial coordinate-based method for identifying work pieces |
US20050166413A1 (en) * | 2003-04-28 | 2005-08-04 | Crampton Stephen J. | CMM arm with exoskeleton |
US7395606B2 (en) * | 2003-04-28 | 2008-07-08 | 3D Scanners Limited | CMM arm with exoskeleton |
US7210890B2 (en) * | 2003-10-16 | 2007-05-01 | John M. Curotto | Front-loadable refuse container having side-loading robotic arm with motors and other mass mounted at rear of container and use of same with front-loading waste-hauling vehicle having hydraulic front forks or other retractably engageable lift means |
US6931745B2 (en) * | 2003-10-29 | 2005-08-23 | Hexagon Metrology Ab | Connection device associated with an arm of an articulated three-dimensional measuring appliance |
US7693325B2 (en) * | 2004-01-14 | 2010-04-06 | Hexagon Metrology, Inc. | Transprojection of geometry data |
US7578069B2 (en) * | 2004-01-14 | 2009-08-25 | Hexagon Metrology, Inc. | Automated robotic measuring system |
US7372581B2 (en) * | 2005-04-11 | 2008-05-13 | Faro Technologies, Inc. | Three-dimensional coordinate measuring device |
US20070063500A1 (en) * | 2005-09-13 | 2007-03-22 | Homer Eaton | Vehicle having an articulator |
US7525276B2 (en) * | 2005-09-13 | 2009-04-28 | Romer, Inc. | Vehicle having an articulator |
US7568293B2 (en) * | 2006-05-01 | 2009-08-04 | Paul Ferrari | Sealed battery for coordinate measurement machine |
US20080016711A1 (en) * | 2006-07-19 | 2008-01-24 | Saphirwerk Industrieprodukte Ag | Stylus with integrated RFID chip |
US7743524B2 (en) * | 2006-11-20 | 2010-06-29 | Hexagon Metrology Ab | Coordinate measurement machine with improved joint |
US7546689B2 (en) * | 2007-07-09 | 2009-06-16 | Hexagon Metrology Ab | Joint for coordinate measurement device |
US20090025243A1 (en) * | 2007-07-26 | 2009-01-29 | Renishaw Plc | Modular Measurement probe |
US7774949B2 (en) * | 2007-09-28 | 2010-08-17 | Hexagon Metrology Ab | Coordinate measurement machine |
US7779548B2 (en) * | 2008-03-28 | 2010-08-24 | Hexagon Metrology, Inc. | Coordinate measuring machine with rotatable grip |
US7640674B2 (en) * | 2008-05-05 | 2010-01-05 | Hexagon Metrology, Inc. | Systems and methods for calibrating a portable coordinate measurement machine |
US7908757B2 (en) * | 2008-10-16 | 2011-03-22 | Hexagon Metrology, Inc. | Articulating measuring arm with laser scanner |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11022434B2 (en) | 2017-11-13 | 2021-06-01 | Hexagon Metrology, Inc. | Thermal management of an optical scanning device |
USD875573S1 (en) | 2018-09-26 | 2020-02-18 | Hexagon Metrology, Inc. | Scanning device |
Also Published As
Publication number | Publication date |
---|---|
WO2007033273A3 (en) | 2007-06-21 |
US20070063500A1 (en) | 2007-03-22 |
WO2007033273A2 (en) | 2007-03-22 |
US7525276B2 (en) | 2009-04-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7525276B2 (en) | Vehicle having an articulator | |
US8505684B1 (en) | Aerial work platform apparatus and method | |
WO2004064698B1 (en) | Ambulance cot loading and unloading device | |
CA2417959A1 (en) | Pull-out load platform for truck cargo beds | |
KR101503026B1 (en) | Totalstation for geodetic survey | |
US10112542B2 (en) | Deploying vehicle ladder | |
JP5022084B2 (en) | Road-rail car | |
JP2007063015A (en) | High lift working vehicle | |
JP4021742B2 (en) | Rotating device and tilting device equipped with the rotating device | |
JP2022088776A (en) | Rail and land vehicle | |
JP4538309B2 (en) | Railroad work vehicle | |
JP2012051687A (en) | High-place work vehicle | |
JP3523108B2 (en) | Lift truck platform with fall protection plate | |
JP3913154B2 (en) | Boom operation control device for track work vehicle | |
KR102147852B1 (en) | footboard for Containment Vehicle Loading Box | |
JP3787097B2 (en) | Work vehicle operation control device | |
JP7123218B1 (en) | Cable pulling car | |
US20230416059A1 (en) | Mobility mule | |
JP3808682B2 (en) | Control equipment for aerial work platforms | |
JP3837646B2 (en) | Support device for erecting long members | |
GB2604094A (en) | Improved fall arrest apparatus and method | |
JP4890788B2 (en) | Aerial work platform | |
JP3801405B2 (en) | Control equipment for aerial work platforms | |
JP2008105828A (en) | High lift work vehicle | |
JP4037398B2 (en) | Loading platform lifting device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |