Three dimensional tactile seam tracing device

A device, mountable on a working end of a fully automated and articulated robotic arm movable in six dimensions in a global dimensional reference, for three dimensional tactile tracing of a surface of a workpiece in an orthogonal coordinate system using a device local dimensional reference of an X axis, a Y axis and a Z axis, as the device is moved by the robotic arm and operably engages the workpiece, the device comprising:

• a base having a proximal end and a distal end oriented along the Z axis, attachable proximally to the working end of the robotic arm and having a first surface oriented parallel to the Z axis, proximal to distal;
• a carriage rollably mounted to the first surface having a reversible operable motion confined to the Z axis, the carriage including a proximal arm aligned generally orthogonal to the Z axis and having a proximal surface and a distal surface, and a distal arm with a ball socket;
• means, operably connected between the base and the proximal surface, for biasing the carriage motion in the distal direction;
• a probe having a proximal portion, a mid portion, and a distal portion aligned along a longitudinal axis for engaging the workpiece, the proximal portion including a plate with a flat surface orthogonal to the longitudinal axis, the longitudinal axis defining a center point on the flat surface, the mid portion including a ball operably pivotally engaging the ball socket and defining a center pivot point on the longitudinal axis, the center point of the plate fixed a first distance proximal to the center pivot point, and the distal portion includes a distal tip for operably engaging the surface of the workpiece and is fixed a second distance distal to the center pivot point along the longitudinal axis, and when the ball operably engages the socket, the flat surface faces generally proximally toward the distal surface of the proximal arm;
• Z axis measuring means, operably positionable between the base and the proximal surface of the proximal arm, for measuring distance of movement of the carriage parallel to the Z-axis and generating a measurement data stream;
• and
• plate tilt measuring means, operably positionable between the flat surface of the plate and the distal surface of the proximal arm, for measuring the tilting of the flat surface of the plate in relation to the Z axis as a result of pivoting the ball in the ball socket and generating a measurement data stream.