WO2011057130A3 - Improved articulated arm - Google Patents

Improved articulated arm Download PDF

Info

Publication number
WO2011057130A3
WO2011057130A3 PCT/US2010/055713 US2010055713W WO2011057130A3 WO 2011057130 A3 WO2011057130 A3 WO 2011057130A3 US 2010055713 W US2010055713 W US 2010055713W WO 2011057130 A3 WO2011057130 A3 WO 2011057130A3
Authority
WO
WIPO (PCT)
Prior art keywords
articulated arm
improved articulated
members
articulation
improved
Prior art date
Application number
PCT/US2010/055713
Other languages
French (fr)
Other versions
WO2011057130A2 (en
Inventor
Paul Ferrari
Peter Champ
Laurent Desforges
Jean-Paul Delemos
Thibault Duportal
Jean-Luc Famechon
Jerry Gerent
Dongmei Hong
Heinz Lippuner
Denny Roux
Elie Shammas
Knut Siercks
Hogar Tait
Original Assignee
Hexagon Metrology Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hexagon Metrology Ab filed Critical Hexagon Metrology Ab
Priority to EP10779875.3A priority Critical patent/EP2496909B1/en
Priority to CN201080060906.2A priority patent/CN102762950B/en
Priority to CN201911083254.3A priority patent/CN110793483B/en
Priority to EP13161818.3A priority patent/EP2610580B1/en
Priority to CA2780147A priority patent/CA2780147C/en
Priority to JP2012538047A priority patent/JP5873799B2/en
Priority to EP13161819.1A priority patent/EP2610581B1/en
Priority to EP13161820.9A priority patent/EP2610582B1/en
Priority to EP18166227.1A priority patent/EP3382328B1/en
Publication of WO2011057130A2 publication Critical patent/WO2011057130A2/en
Publication of WO2011057130A3 publication Critical patent/WO2011057130A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G01B7/008—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39019—Calibration by cmm coordinate measuring machine over a certain volume
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

An articulated arm CMM comprises a plurality of transfer members, a plurality of articulation members connecting at least two transfer members to each other, a coordinate acquisition member at a distal end, and a base at a proximal end. At least two of the articulation members can include at least one encoder and the at least two encoders can both be enclosed within a single monoblock housing.
PCT/US2010/055713 2009-11-06 2010-11-05 Improved articulated arm WO2011057130A2 (en)

Priority Applications (9)

Application Number Priority Date Filing Date Title
EP10779875.3A EP2496909B1 (en) 2009-11-06 2010-11-05 Improved articulated arm
CN201080060906.2A CN102762950B (en) 2009-11-06 2010-11-05 The articulated jib of improvement
CN201911083254.3A CN110793483B (en) 2009-11-06 2010-11-05 Improved articulated arm
EP13161818.3A EP2610580B1 (en) 2009-11-06 2010-11-05 Improved articulated arm
CA2780147A CA2780147C (en) 2009-11-06 2010-11-05 Improved articulated arm
JP2012538047A JP5873799B2 (en) 2009-11-06 2010-11-05 Improved articulated arm
EP13161819.1A EP2610581B1 (en) 2009-11-06 2010-11-05 Method for calibrating an articulated arm cmm and corresponding articulated arm cmm system
EP13161820.9A EP2610582B1 (en) 2009-11-06 2010-11-05 Improved articulated arm
EP18166227.1A EP3382328B1 (en) 2009-11-06 2010-11-05 Articulated arm cmm system

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
US25910509P 2009-11-06 2009-11-06
US61/259,105 2009-11-06
US12/748,169 2010-03-26
US12/748,267 US8099877B2 (en) 2009-11-06 2010-03-26 Enhanced position detection for a CMM
US12/748,169 US8112896B2 (en) 2009-11-06 2010-03-26 Articulated arm
US12/748,278 US20110112786A1 (en) 2009-11-06 2010-03-26 Cmm with improved sensors
US12/748,278 2010-03-26
US12/748,206 US8151477B2 (en) 2009-11-06 2010-03-26 CMM with modular functionality
US12/748,243 2010-03-26
US12/748,243 US8082673B2 (en) 2009-11-06 2010-03-26 Systems and methods for control and calibration of a CMM
US12/748,267 2010-03-26
US12/748,206 2010-03-26

Publications (2)

Publication Number Publication Date
WO2011057130A2 WO2011057130A2 (en) 2011-05-12
WO2011057130A3 true WO2011057130A3 (en) 2011-11-03

Family

ID=43973068

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2010/055713 WO2011057130A2 (en) 2009-11-06 2010-11-05 Improved articulated arm

Country Status (7)

Country Link
US (19) US8082673B2 (en)
EP (8) EP2610583A1 (en)
JP (6) JP5873799B2 (en)
CN (8) CN110388887B (en)
CA (3) CA2780147C (en)
ES (1) ES2959758T3 (en)
WO (1) WO2011057130A2 (en)

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