CMM arm with exoskeleton
Assignee3D Scanners Limited
InventorStephen James Crampton
Life of this patent
Estimating the term…
Abstract
Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmissions. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.
Claims29
An apparatus comprising:
- a movable member having a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel;
- a continuous movable position reporting device having a base end, an opposing probe end and three or more stiff segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel;
- a transmission in contact with both said movable member and said movable position reporting device, wherein the contact of said transmission with said movable member is located anywhere between said probe end and the rotational axis of movement closest to said base end;
- such that movement of said movable member causes movement of said movable position reporting device;
- wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
A method for positioning a continuous movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps:
- a controller causes a motor to generate a driving torque;
- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes movement of said transmission;
- said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
- said probe collects data of said object;
- a data processor receives a position from said movable position reporting device;
- said data processor receives said data from said probe;
- wherein said movable position reporting device has a plurality of segments connected in tandem by mechanical joints, and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
A method for automatically positioning a continuous movable position reporting device comprising the following steps:
- a controller causes a motor to generate a driving torque;
- said driving torque is applied to a movable member resulting in movement of said movable member;
- said movable member causes movement of said transmission;
- said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device;
- wherein said movable member and said movable position reporting device both have a base end, an opposing probe end and three or more segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel wherein the contact location of said transmission with said movable member is anywhere between said probe end and the rotational axis of movement closest to said base end and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Dependencies are inferred from the claim text.