# US 9,038,282 B2 · Interchangeable task module counterweight > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,038,282 B2 - Document ID: US9038282B2 - Status: Granted - Kind: B2 - Application number: 13/643,651 - Filed: 2011-04-19 - Published: 2013-02-28 - Granted: 2015-05-26 - Earliest claimed: 2010-04-30 - Assignees: Renishaw PLC - Applicants: David R. McMurtry; Nicholas J. Weston; Richard G. Dewar; Matthew H. Freeman - Inventors: David R. McMurtry; Nicholas J. Weston; Richard G. Dewar; Matthew H. Freeman - Web page: https://patentgrep.com/patent/US9038282B2 ## CPC - G01B 5/0016: {due to weight (on machine tools B23Q11/001)} - G01B 5/012: Contact-making feeler heads therefor - G01B 7/012: Contact-making feeler heads therefor - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ## Abstract A method of operating a coordinate positioning apparatus comprising an articulated head having at least one rotational axis. The method comprises, in any suitable order, loading at least one interchangeable task module onto the articulated head; and loading at least one interchangeable task module counterweight on the articulated head. The at least one interchangeable task module counterweight at least partially counterbalances the weight of the at least one task module on the articulated head about the at least one axis. ## Claims ### Claim 1 A method of operating a coordinate positioning apparatus comprising an articulated head having at least one rotational axis, comprising, in any suitable order: loading at least one interchangeable task module onto the articulated head; and loading at least one interchangeable task module counterweight on the articulated head, in which the at least one interchangeable task module counterweight at least partially counterbalances the weight of the at least one task module on the articulated head about the at least one axis. ### Claim 2 (depends on 1) A method as claimed in claim 1, in which said loading of the at least one interchangeable task module and at least one interchangeable task module counterweight is performed contemporaneously. ### Claim 3 (depends on 2) A method as claimed in claim 2, in which the at least one interchangeable task module and at least one interchangeable task module are provided as a single integrated module. ### Claim 4 (depends on 2) A method as claimed in claim 2, in which the interchangeable task module is mounted to the articulated head via the at least one interchangeable task module counterweight. ### Claim 5 (depends on 1) A method as claimed in claim 1, in which the at least one interchangeable task module is loaded onto the articulated head separately to the at least one interchangeable task module counterweight. ### Claim 6 (depends on 1) A method as claimed in claim 1 comprising loading at least one interchangeable task module counterweight on the articulated head so as to at least substantially counterbalance the loading of the at least one task module on the articulated head about the at least one axis. ### Claim 7 (depends on 1) A method as claimed in claim 1, further comprising changing the position of the centre of mass of the at least one interchangeable task module counterweight relative to the at least one axis of rotation. ### Claim 8 (depends on 1) A method as claimed in claim 1, comprising automatically loading onto the articulated head at least one interchangeable task module counterweight stored in a rack located in the coordinate positioning machine's operating volume. ### Claim 9 (depends on 1) A method as claimed in claim 1 in which at least one of the at least one task module comprises componentry for sensing an artefact. ### Claim 10 (depends on 9) A method as claimed in claim 9, in which at least one of the at least one task module comprises a stylus having a stylus tip for contacting an artefact. ### Claim 11 (depends on 9) A method as claimed in claim 9, in which at least one of the at least one task module comprise a non-contact measurement probe. ### Claim 12 (depends on 1) A method as claimed in claim 1 in which at least one of the at least one interchangeable task module counterweights comprises electronic componentry used by the task module. ### Claim 13 (depends on 12) A method as claimed in claim 12, in which the electronic componentry comprises a battery for supplying power to the task module. ### Claim 14 (depends on 1) A method as claimed in claim 1, in which the interchangeable task module counterweight comprises an anti-rotation member that is configured to engage the articulating head and/or the quill on which it is mounted at at least one orientation about the at least one axis of rotation. ### Claim 15 A coordinate positioning apparatus comprising: an articulated head having at least one axis of rotation; at least one task module interchangeably mounted to the articulated head; and at least one interchangeable task module counterweight which at least partially counterbalances the weight of the at least one task module about the at least one axis of rotation. ### Claim 16 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, in which the position of the centre of mass of the at least one interchangeable task module counterweight relative to the at least one axis of rotation is changeable. ### Claim 17 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, in which the at least one interchangeable task module comprises the interchangeable task module counterweight. ### Claim 18 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, in which the at least one interchangeable task module counterweight can be mounted interchangeably to the articulated head separately to the probe module. ### Claim 19 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, in which at least one of the at least one task module comprises componentry for sensing an artefact. ### Claim 20 A coordinate positioning apparatus as claimed in 19, in which at least one of the at least one task module comprises a stylus having a stylus tip for contacting an artefact. ### Claim 21 (depends on 19) A coordinate positioning apparatus as claimed in claim 19, in which at least one of the at least one task module comprise a non-contact measurement probe. ### Claim 22 (depends on 15) A coordinate positioning apparatus as claimed in claim 15 in which the at least one interchangeable task module counterweight corresponds to the at least one task module and is configured so as to substantially counterbalance the at least one task module about the at least one axis. ### Claim 23 (depends on 15) A coordinate positioning apparatus as claimed in claim 15 in which at least one of the at least one interchangeable task module counterweights comprises electronic componentry used by the task module. ### Claim 24 (depends on 23) A coordinate positioning apparatus as claimed in claim 23, in which the electronic componentry comprises a battery for supplying power to the task module. ### Claim 25 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, in which the interchangeable task module counterweight comprises an anti-rotation member that is configured to engage the articulating head and/or the quill on which it is mounted at at least one orientation about the at least one axis of rotation. ### Claim 26 (depends on 15) A coordinate positioning apparatus as claimed in claim 15, comprising a rack for the at least one interchangeable task module counterweight, via which the coordinate positioning apparatus can automatically load/unload the at least one interchangeable task module counterweight onto/from the articulated head. ### Claim 27 Apparatus comprising a task module for interchangeably mounting onto an articulated head of a coordinate positioning machine having at least one axis of rotation, and at least one corresponding task module counterweight for interchangeably mounting onto the articulated head for at least partially counterbalancing the weight of the task module about the at least one axis.