CN102712091A - 嵌入型臂式应变传感器 - Google Patents

嵌入型臂式应变传感器 Download PDF

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CN102712091A
CN102712091A CN201180006408.4A CN201180006408A CN102712091A CN 102712091 A CN102712091 A CN 102712091A CN 201180006408 A CN201180006408 A CN 201180006408A CN 102712091 A CN102712091 A CN 102712091A
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aacmm
gage pickup
structure member
signal
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伯纳姆·斯托克斯
保罗·C·阿特韦尔
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Faro Technologies Inc
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Abstract

一种便携式关节臂坐标测量机(AACMM)可以包括:可人工定位的关节臂部;附接到第一端的测量装置;AACMM的结构部件,其中,该结构部件具有轴向方向;至少三个应变计传感器,其耦接到结构部件,每个应变计传感器均具有灵敏轴,其中每个应变计传感器的灵敏轴近似平行于轴向方向地定向,每个应变计传感器近似与垂直于轴向方向的横向平面相交,每个应变计传感器产生模拟应变计信号,并且应变计传感器被布置成提供足以用于确定存在于结构部件和横向平面两者上的任何点处的弯曲应变的数据;以及电子电路,其接收位置信号并提供与测量装置的位置对应的数据。

Description

嵌入型臂式应变传感器
相关申请的交叉引用
本申请要求于2010年1月20日提交的临时申请第61/296,555号的权益,其全部内容通过引用合并于此。
背景技术
本发明涉及一种坐标测量机,更具体地,涉及一种具有应变计传感器的便携式关节臂坐标测量机,该应变计传感器被配置成测量该便携式关节臂坐标测量机的结构部件的应变。
已发现便携式关节臂坐标测量机(AACMM)广泛用于制造或生产零件,其中,在制造或生产(例如,机械加工)零件的各个阶段期间需要快速且精确地检验零件的尺寸。便携式AACMM代表对已知的、静止或固定的、成本高且相对难以使用的测量装置的巨大改进,特别是在对相对复杂的零件进行尺寸测量所花费的时间量方面的巨大改进。通常,便携式AACMM的用户沿着待测量的零件或对象的表面仅引导探针。然后,测量数据被记录并提供给用户。在一些情况下,以可视形式(例如,计算机屏幕上的三维(3-D)形式)将数据提供给用户。在其它情况下,以数字形式将数据提供给用户,例如,当测量孔的直径时,在计算机屏幕上显示文本“直径=1.0034”。
在共同转让的美国专利第5,402,582号(‘582)中公开了现有技术的便携式关节臂CMM的示例,其全部内容通过引用合并于此。‘582专利公开了一种3-D测量系统,该3-D测量系统包括在一端具有支撑基部而在另一端具有测量探针的手动操作的关节臂CMM。共同转让的美国专利第5,611,147号(‘147)(其全部内容通过引用合并于此)公开了一种类似的关节臂CMM。在‘147专利中,关节臂CMM包括若干特征,这些特征包括在探针端的附加旋转轴,由此提供具有二-二-二或者二-二-三轴配置的臂(后一种情况为七轴臂)。
需要能够测量与AACMM相关联的应变的设备和方法。
发明内容
示例性实施例包括一种便携式关节臂坐标测量机(AACMM),其用于测量对象在空间中的坐标,所述便携式关节臂坐标测量机包括:可人工定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,多个连接的臂段包括与第一端邻近的臂段,每个臂段包括至少一个用于产生位置信号的位置变换器;附接到所述第一端的测量装置;AACMM的结构部件,其中,该结构部件具有轴向方向;至少三个应变计传感器,其耦接到结构部件,每个应变计传感器均具有灵敏轴,其中每个应变计传感器的灵敏轴近似平行于轴向方向地定向,每个应变计传感器近似与垂直于轴向方向的横向平面相交,每个应变计传感器产生模拟应变计信号,并且应变计传感器被布置成提供足以用于确定存在于结构部件和横向平面两者上的任何点处的弯曲应变的数据;以及电子电路,其接收位置信号并提供与测量装置的位置相对应的数据。
另一示例性实施例包括一种用于测量关节臂坐标测量机(AACMM)中的应变的方法,包括:设置如下部分:可人工定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,每个臂段均附接到至少一个轴承支架,多个连接的臂段包括与所述第一端邻近的臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器;附接到所述第一端的测量装置;关节臂坐标测量机的结构部件,其中,该结构部件具有轴向方向;布置在结构部件上的至少第一应变计传感器,每个应变计传感器产生模拟应变计信号;将模拟应变计信号的组合转换成至少一个数字应变计信号;通过所述至少一个轴承支架中的至少一个将至少一个数字应变计信号发送至电子电路,该电子电路接收位置信号和至少一个数字应变计信号;提供并存储与测量装置的位置相对应的数据;以及存储至少一个数字应变计信号。
附图说明
现在参照附图示出示例性实施例,这些示例性实施例不应该被解释为对于本公开内容的整个范围的限制,并且其中,在几幅图中以相似的方式对元件标号:
包括图1A和图1B的图1是其中具有本发明的各个方面的实施例的便携式关节臂坐标测量机(AACMM)的透视图;
包括合在一起的图2A-2D的图2是被用作根据实施例的、图1中的AACMM的一部分的电子装置的框图;
包括合在一起的图3A和图3B的图3是描述根据实施例的、图2中的电子数据处理系统的详细特征的框图;
图4示出了示出AACMM的部件的弯曲的、图1的AACMM的示意图;
图5示出布置在AACMM的结构部件上的示例性应变计传感器的视图;以及
图6是根据示例性实施例的用于检测应变的方法的流程图。
具体实施方式
示例性实施例包括如下系统和方法:该系统和方法用于测量便携式关节臂坐标测量机的臂段上的应变以补偿测量结果,从而改进精度,或者警告操作者需要校正操作。
图1A和图1B以立体方式示出了根据本发明的各个实施例的便携式关节臂坐标测量机(AACMM)100,关节臂是一种类型的坐标测量机。如图1A和图1B所示,示例性AACMM 100可以包括六轴或七轴的关节测量装置,该测量装置在一端处具有耦接至AACMM 100的臂部104的测量探针壳体102。臂部104包括通过第一组轴承支架110(例如,两个轴承支架)而耦接至第二臂段108的第一臂段106。第二组轴承支架112(例如,两个轴承支架)将第二臂段108耦接至测量探针壳体102。第三组轴承支架114(例如,三个轴承支架)将第一臂段106耦接至位于AACMM 100的臂部104的另一端的基部116。每组轴承支架110、112、114都提供了多轴关节移动。此外,测量探针壳体102可以包括AACMM100的第七轴部的轴(例如,AACMM 100的第七轴中包括确定测量装置(例如,探针118)的移动的编码器系统的盒)。在使用AACMM 100时,基部116通常固定到作业表面。
各轴承支架组110、112、114内的每个轴承支架典型地包括编码器系统(例如,光学角编码器系统)。编码器系统(即,变换器)提供对各个臂段106、108和对应的轴承支架组110、112、114的位置的指示,所有这些指示一起提供探针118相对于基部116的位置(以及因而由AACMM100测量的对象在某个参照系中的位置—例如局部参照系或全局参照系)的指示。臂段106和臂段108可以由刚性适当的材料制成,诸如但不限于例如碳复合材料。具有六轴或七轴的关节移动(即,自由度)的便携式AACMM 100提供了下述优点:在提供可以由操作员容易地操纵的臂部104的同时允许操作员将探针118放置在基部116周围360°区域内的期望位置。然而,应该认识到,具有两个臂段106、108的臂部104的图示仅为了示例性目的,而要求保护的本发明应该不限于此。AACMM 100可以具有通过轴承支架耦接在一起的任意数量的臂段(以及因而多于或少于六轴或七轴的关节移动或自由度)。
探针118可拆卸地安装至测量探针壳体102,测量探针壳体102连接至轴承支架组112。柄126可经由例如快速连接接口而相对于测量探针壳体102移除。可以用其它装置(例如,激光线探针、条形码阅读器)来替换柄126,由此提供允许操作员将不同的测量装置与同一AACMM 100一起使用的优点。在示例性实施例中,探针壳体102容纳可移除的探针118,可移除的探针118是接触式测量装置并且可以具有与待测量的对象物理接触的不同尖端118,包括但不限于:球型探针、触敏型探针、弯曲型探针以及延伸型探针。在其它实施例中,测量例如由诸如激光线探针(LLP)的非接触装置来执行。在实施例中,使用快速连接接口来以LLP替换柄126。其它类型的测量装置可以替换可移除的柄126来提供附加功能。这样的测量装置的示例包括但不限于例如一个或多个照明灯、温度传感器、热扫描仪、条形码扫描仪、投影仪、喷漆器、照相机等。
如图1A和图1B所示,AACMM 100包括可移除的柄126,其提供了在无需将测量探针壳体102从轴承支架组112移除的情况下改变附件或功能的优点。如以下针对图2更加详细描述的那样,可移除的柄126还可以包括能够与柄126交换电功率和数据的电连接器以及位于探针端的相应电子装置。
在各种实施例中,每组轴承支架110、112、114都允许AACMM 100的臂部104绕多个旋转轴运动。如所述的,每个轴承支架组110、112、114都包括相应的编码器系统(诸如,例如光学角编码器),这些编码器系统均与例如臂段106、臂段108的相应旋转轴同轴地布置。光学编码器系统检测例如臂段106、臂段108中的每个臂段绕着相应轴的旋转(转体)或横向(铰链)运动,并且将信号传送至本文以下更详细地描述的、AACMM100内的电子数据处理系统。每个单独的原始编码器计数作为信号被分别发送至电子数据处理系统,其中,该计数进一步被处理成测量数据。不需要与AACMM 100自身分离的位置计算器(例如,串行盒),如在共同转让的美国专利第5,402,582号(‘582)所公开的那样。
基部116可以包括附接装置或装配装置120。例如,装配装置120使得AACMM 100能够可拆卸地装配至期望位置,诸如检验台、机械加工中心、壁或地面。在一个实施例中,基部116包括柄部122,柄部122提供便于操作员在AACMM 100正移动时保持基部116的位置。在一个实施例中,基部116还包括可移动盖部124,可移动盖部124向下折叠以显露用户接口(诸如显示屏)。
根据实施例,便携式AACMM 100的基部116包含或容纳具有以下两个主要部件的电子数据处理系统:基部处理系统,其对来自AACMM100内的各个编码器系统的数据以及表示其它臂参数的数据进行处理以支持三维(3-D)位置计算;以及用户接口处理系统,其包括板上操作系统、触摸屏显示器以及驻存应用软件,该驻存应用软件使得在AACMM100内实现相对完整的计量功能而无需连接到外部计算机。
根据实施例,便携式AACMM 100的基部116包含或容纳具有以下两个主要部件的电子数据处理系统:基部处理系统,其对来自AACMM100内的各个编码器系统的数据以及表示其它臂参数的数据进行处理以支持三维(3-D)位置计算;以及用户接口处理系统,其包括板上操作系统、触摸屏显示器以及驻存应用软件,该驻存应用软件使得在AACMM100内实现相对完整的计量功能而无需连接到外部计算机。
图2是根据实施例的用在AACMM 100中的电子装置的框图。图2所示的实施例包括电子数据处理系统210,电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供功率的基部电源板206、蓝牙模块232以及基部倾斜板208。用户接口板202包括用于执行应用软件以实现此处描述的用户接口、显示和其它功能的计算机处理器。
如图2所示,电子数据处理系统210经由一条或多条臂总线218与前述的多个编码器系统通信。在图2所示的实施例中,每个编码器系统生成编码器数据,并且包括:编码器臂总线接口214、编码器数字信号处理器(DSP)216、编码器读取头接口234以及温度传感器212。诸如应变传感器的其它装置可以附接到臂总线218。
图2中还示出了与臂总线218通信的探针端电子装置230。探针端电子装置230包括探针端DSP 228、温度传感器212、柄/LLP接口总线240以及探针接口226,其中,在实施例中,柄/LLP接口总线240经由快速连接接口与柄126或LLP 242连接。快速连接接口使得能够通过柄126对由LLP 242和其它附件使用的数据总线、控制线以及电源总线进行访问。在实施例中,探针端电子装置230位于AACMM 100上的测量探针壳体102中。在实施例中,可以从快速连接接口移除柄126,并且测量可以由经由柄/LLP接口总线240与AACMM 100的探针端电子装置230进行通信的激光线探针(LLP)242来执行。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,探针端电子装置230位于AACMM 100的测量探针壳体102中,并且编码器位于轴承支架组110、112、114中。探针接口226可以通过任何适合的通信协议与探针端DSP 228连接,通信协议包括可从美信集成产品(Maxim Integrated Products)有限公司商业购得的、实施
Figure BDA00001901992400061
通信协议236的产品。
图3是描述根据实施例的AACMM 100的电子数据处理系统210的详细特征的框图。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,并且包括基部处理器板204、用户接口板202、基部电源板206、蓝牙模块232以及基部倾斜模块208。
在图3所示的实施例中,基部处理器板204包括其中所示的各个功能块。例如,基部处理器功能302用于支持对来自AACMM 100的测量数据的收集,并且经由臂总线218和总线控制模块功能308来接收原始臂数据(例如,编码器系统数据)。存储器功能304存储程序和静态臂配置数据。基部处理器板204还包括用于与任何外部硬件装置或附件(诸如LLP242)通信的外部硬件选项端口功能310。在图3所示的基部处理器板204的实施例的功能中还包括实时时钟(RTC)与日志306、电池组接口(IF)316以及诊断端口318。
基部处理器板204还对与外部装置(主计算机)和内部装置(显示处理器202)通信的所有有线数据和无线数据进行管理。基部处理器板204具有下述能力:经由以太网功能320(例如,使用诸如电气和电子工程师协会(IEEE)1588的时钟同步标准)与以太网通信,经由LAN功能322与无线局域网(WLAN)通信,以及经由并行-串行通信(PSC)功能314与蓝牙模块232通信。基部处理器板204还包括到通用串行总线(USB)装置312的连接。
基部处理器板204传送并收集原始测量数据(例如,编码器系统计数、温度读数)以处理成测量数据而无需任何预处理,如在前述‘582专利的串行盒中所公开的那样。基部处理器204经由RS485接口(IF)326将处理后的数据发送至用户接口板202上的显示处理器328。在实施例中,基部处理器204还将原始测量数据发送至外部计算机。
现在转向图3中的用户接口板202,在显示处理器328上执行的应用程序利用由基部处理器接收的角度和位置数据以在AACMM 100内提供自主计量系统。应用程序可以在显示处理器328上执行以支持下述功能,这些功能诸如但不限于:结构元件的测量、引导和训练图形、远程诊断、温度校正、各个操作结构元件的控制、连接至各个网络以及显示所测量的对象。连同显示处理器328和液晶显示器(LCD)338(例如,触摸屏LCD)用户接口一起,用户接口板202包括如下几种接口选项,这些接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、照相机端口340、音频/视频接口342、拨号/单元调制解调器344以及全球定位系统(GPS)端口346。
图3所示的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电源板206。基部电源板206还使用交流/直流(AC/DC)转换器358和电池充电器控制器360来向电子数据处理系统210提供功率。基部电源板206使用内部集成电路(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)356来与基部处理器板204通信。基部电源板206经由在基部电源板206中实现的输入/输出(I/O)扩展功能364连接至倾斜传感器与射频识别(RFID)模块208。
尽管示为分离部件,但在其它实施例中,全部部件或部件中的子集可以物理地位于不同位置和/或可以是以与图3所示的方式不同的方式结合的功能。例如,在一个实施例中,基部处理器板204和用户接口板202结合到一个物理板中。
图4示出第一臂段106弯曲时的放大视图。由于因重力、计数平衡弹簧或者操作者对AACMM 100的操纵而产生的力导致AACMM 100的部件(例如,第一臂段106和第二臂段108)的弯曲和扭转。如果基部处理器板204执行的动态模型计算不考虑这些力,则当计算点的坐标时可能不能完全考虑臂段的弯曲或扭转。通过直接测量臂的弯曲应变,可以将施加到AACMM 100的力的效果包括在动态模型计算中,从而改进AACMM100的测量精度。
参照图5,应变计传感器500附接到结构零件510,结构零件510可以包括臂段106、108、轴承支架组110、112、114或者AACMM 100的机械部件。应变计传感器500例如可以用环氧树脂接合到结构零件510,或者以另外的方式适当地连接到结构零件510。由于提供了用以区分AACMM的臂段上看到的两种类型的应变(弯曲应变和轴向应变)的方法,并且确定臂段的弯曲方向,因此,应变计传感器500在结构零件510(在这种情况下为圆柱形)上在四个象限内的特定安装配置尤其有利。对于图5的臂段,应变计传感器500可以安装在外表面、内表面上,或者嵌入结构零件510的材料内。
梁的轴向方向是梁的长轴。横向垂直于轴向方向。可在轴向方向和横向上向梁施加力。应变ε被定义为长度的变化dL与相应的长度L之比:ε=dL/L。梁的轴向方向应变由梁沿轴向方向的伸展或收缩导致—即,没有弯曲。梁的弯曲应变由梁的弯曲导致,如图4所示。弯曲应变可能因沿横向对梁施加力或者沿轴向方向对梁施加力但偏离梁的中轴而导致。对于直的、圆柱对称梁,中轴沿着圆柱的中心延伸。
如果第一应变计传感器被置于梁顶部而第二应变计传感器被置于梁底部,则能够针对位于通过应变计传感器和中轴的垂直平面内的任何力而将弯曲应变与轴向应变区分开。例如,如果顶部传感器和底部传感器测量的应变减少了相同的量,则沿着垂直横截面的应变是压缩的并且是完全轴向方向的。另一方面,如果顶部传感器的应变为正的特定量而底部传感器的应变为负的相同量,则梁的顶部已伸展且梁的底部已收缩,而且沿着垂直横截面的应变是完全弯曲的应变。通过将两个应变计传感器相隔180度地置于梁上,能够根据两个应变计传感器的读数计算弯曲应变的量和轴向应变的量。
对于AACMM 100,各臂段106、108具有围绕其长轴转动的能力。结果,施加到一个臂段(例如,通过平衡弹簧)的力可以在任何方向上。为了预测力或应变对臂段106、108之一的影响,将两个应变计传感器相隔180地置于臂段上是不够的。相反,为了发现在臂段的横截面上的任意点处的轴向应变和弯曲应变,必须在臂段上适当地放置至少三个应变计传感器500。在实施例中,臂段106、108为圆柱形管,其中三个应变计传感器500放置在一个臂段的外表面上。这三个应变计传感器相隔120度且与垂直于轴向方向的平面近似对齐。利用该配置,三个应变计传感器500提供足够的信息以计算在横截面的平面处该管周围的任意位置处的轴向应变和弯曲应变。三个应变计传感器500不是必需相隔120度放置,但不是三个应变计的所有布置都提供期望的信息。例如,三个应变计传感器中的两个不能相隔180度放置,这是因为这仅为一个平面(包含中轴和相隔180度的两个应变计传感器的平面)提供关于轴向应变和弯曲应变的信息。
在实施例中,结构部件包括具有圆柱形管形式的臂段106、108。圆柱形管的外表面上的三个或更多个应变计传感器500被放置成使得应变计传感器与垂直于轴向方向的平面相交。利用该布置,可以针对存在于结构部件和横向平面两者上的每个点计算弯曲应变。通过选择管外部上(在横向平面的位置处)弯曲应变具有正的极值和负的极值的位置,可以计算弯曲的方向和幅度。通过将每个结构元件的弯曲的方向和幅度与变换器(例如,角编码器)的读数结合,可以计算测量装置在AACMM 100的局部参考系中的总位移。例如,该位移可以是由于施加到臂段的力而导致的、探针118的探针末端的位移。
应变计传感器500可以是电阻式的、声敏的、电容式的、电感式的、机械的、光学的、压阻式的或者半导电的。在实施例中,应变计传感器500是电阻式的,其具有接合到弹性背衬(例如,薄聚酰亚胺)的金属箔形式。箔形式的金属可以是自身温度补偿(STC)的康铜合金。自身温度补偿通过对康铜合金的适当处理(特别地,通过冷加工)来实现,使得康铜规格线在较宽的温度范围内具有非常低的热感应应变。在实施例中,结构零件510包括臂段106、108,臂段106、108是由具有低CTE的碳纤维复合材料制成的空心管。应变计传感器的箔形式的金属是被选择为具有类似的低CTE的康铜合金(或其它合金)。箔图案可以是平行线的锯齿形图案,使得平行线的方向上的少量应力乘以箔图案的有效长度上的应变。平行线的方向被认为是应变计传感器的灵敏方向。应变计传感器500的箔图案中的平行线被设置为平行于结构零件510的轴向方向。在实施例中,通过应用基于STC应变计的制造商提供的曲线或多项式方程的校正因子,进一步提高STC应变计的应变读数的精度。
应变计500可放置在惠斯通电桥电路中,惠斯通电桥电路例如可以位于温度传感器212附近的电路板上。在一个实施例布置中,应变计传感器500提供四电阻网络中的一个电阻。其它三个电阻由具有随着温度很微小变化的电阻的固定电阻器提供。在替选实施例中,相隔180度的两个应变传感器提供惠斯通电桥的四电阻网络中的两个电阻。惠斯通电桥可以配置在三线网络中,以去除从电子装置趋向应变计传感器500的导线的寄生电阻的影响。在实施例中,来自惠斯通电桥的信号被发送到模数转换器电路,其中,来自惠斯通电桥的模拟信号被转换成数字应变计信号。所有的数字应变计信号被提供到臂总线218上。
尽管迄今为止的讨论已考虑了应变对梁的影响,尤其是对诸如臂段106、108的圆柱形梁的影响,但是应变计传感器500可以用于发现其它结构中的应变。如果正考虑的特定结构不是关于轴向方向对称的,则需要执行进一步分析以适当地解释应变计读数的含义。例如,在复杂的结构部件中,使用特定结构的具体CAD模型在计算机上执行的有限元分析(FEA)可以用于基于四个应变计的读数发现轴向应变和弯曲应变。在这样的情况下,会需要四个或更多个应变计,而不是三个应变计。
从应变计获得的读数可用于提高AACMM 100测量的精度或者向操作者给出表示需要执行校正操作的警告。为了最佳精度,使应变计读数与编码器读数相关。这可以通过在与编码器读数相同的瞬时捕获应变计读数来完成。在实施例中,AACMM 100中的全部传感器(包括应变计和编码器)可以响应于经由臂总线218内的总线发送的捕获信号来捕获读数。例如,应变计传感器500可提供应变数据以实时(例如,~每秒1000个点)校正AACMM 100的位置,而无需操作者介入。
来自应变计监测系统的数据还可以用于以听觉警告或视觉警告的形式向操作者提供直接反馈。可以在应变计读数(尤其针对弯曲应变)从既定(期望)值偏离了预定值以上时发出这样的警告。这些警告可以由被设计成教导并改善测量技术的应用软件补充。在示例性实施例中,视觉警告可以包括结构零件510的视觉显示520,其示出用以表示应变的严重性的色度或灰度530。
为了获得考虑了弯曲应变和轴向应变的影响的、AACMM 100的简单但有效的动态模型,使用FEA来观察力对于AACMM 100的影响是有用的。在图5的上部插图520中示出这样的FEA的示例。在该插图中,由灰度值表示不同的应变(或应力)量。在所示的情况下,最大应变集中于区域530处。作为进一步的改善,可以进行实验以根据臂段在空间内的定向测量平衡弹簧施加的力。这些力值可以用于改进FEA分析。
FEA的主要目的在于帮助建立AACMM 100的动态模型的相对简单且精确的形式。一旦建立了动态模型的形式,就收集大量数据并且使其适于模型。优化方法用于为模型选择最佳的数字参数值。将收集数据并求解最佳参数值的组合步骤称为补偿或校准。数据的收集可以包括在臂段移动到各种定向时测量安装在槽中的探针的坐标。由于当探针末端不动时坐标值应该不变,因此,可选择参数值以对于臂段不同定向最小化探针读数的差异。数据的收集还包括测量具有已知长度一个或多个人工制品上的点之间的距离。
如上文所述,应变计传感器500可以放置在结构零件510的外表面、内表面上或者嵌入结构零件510的材料内。在后一种情况下,应变计传感器500可以嵌入连接接头的管510的碳纤维中。在制造工艺中,碳纤维织物典型地缠绕在心轴上,并且可以在完成最终缠绕之前安装应变计传感器500,从而保护应变计传感器500并将其嵌入零件中。通过将应变计传感器500放置在臂管510的相对端处并且在管510的外周上相隔九十度(即,正交布置),管变形可以完全在于靠近配对部件的接合接头(在其中,最大变形发生)的应变计区域中,如图5的应变示图所示。
图6是根据示例性实施例的用于测量应变的方法600的流程图,其示出了AACMM 100可以在块610连续地测量应变,在块620对AACMM100的臂模型进行适当校正,并且只要操作者在块640选择测量和显示,则在块630连续地显示测量结果。
技术效果和益处包括能够连续地测量AACMM 100的结构零件510上的应变。同样地,操作者可以知道在测量期间AACMM 100是否正经受任何应变,以将测量期间的应变纳入考虑或者采取校正操作。
本领域技术人员将理解,本发明的各方面可以被实施为系统、方法或计算机程序产品。因此,本发明的各方面可以采取完全硬件实施例的形式、完全软件实施例(包括固件、驻存软件、微代码等)的形式或者结合软件方面和硬件方面(在此全部通常可以称为“电路”、“模块”或“系统”)的实施例的形式。此外,本发明的各方面还可以采取以一个或多个包括计算机可读程序代码的计算机可读介质实现的计算机程序产品的形式。
可以采用一个或多个计算机可读介质的任何组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是但不限于电子、磁、光学、电磁、红外线或半导体系统、设备或装置、或者前述的任何适当组合。计算机可读介质的更具体的示例(非详尽的列表)可以包括以下各项:具有一条或多条线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、光纤、便携式致密盘只读存储器(CD-ROM)、光存储装置、磁存储装置或前述的任何适当组合。在本文档的上下文中,计算机可读存储介质可以是任何有形媒体,该有形媒体可以包含或存储供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
计算机可读信号介质可以包括包含有计算机可读程序代码的传播数据信号,例如,在基带中或者作为载波的一部分。这样的传播信号可以采用各种形式,包括但不限于电磁、光学或其任何适当的组合。计算机可读信号介质可以是任何不是计算机可读存储介质的计算机可读介质,其可以传递、传播或传输供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
可以使用任何适当的介质来传送在计算机可读介质上实现的程序代码,这些适当的介质包括但不限于无线、有线、光纤线缆、RF等或前述的任何适当组合。
用于实现本发明的各方面的操作的计算机程序代码可以以一种或多种编程语言的任何组合来编写,这些编程语言包括面向目标编程语言(诸如,Java、Smalltalk、C++、C#等)以及传统的过程化编程语言(诸如,“C”编程语言或者类似的编程语言)。程序代码可以完全在用户的计算机上运行、部分在用户的计算机上运行、作为独立的软件包运行、部分在用户的计算机上而部分在远程计算机上运行、或者完全在远程计算机或服务器上运行。在后者的情况下,远程计算机可以通过任何类型的网络(包括局域网(LAN)或广域网(WAN))连接到用户的计算机,或者可以(例如,利用因特网服务提供方、通过因特网)连接到外部计算机。
参照根据本发明的实施例的方法、设备(系统)和计算机程序产品的流程图和/或框图描述本发明的各方面。将理解的是,流程图和/或框图中的每个框以及流程图和/或框图中的框的组合可以通过计算机程序指令来实现。
可以将这些计算机程序指令提供给通用计算机、专用计算机的或其它可编程数据处理设备的处理器以制造机器,以使得经由计算机或其它可编程数据处理设备的处理器执行的指令创建用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的装置。这些计算机程序指令还可以存储在计算机可读介质中,其中该计算机可读介质可以引导计算机、其它可编程数据处理设备或其它装置以特定方式运行,以使得存储在计算机可读介质中的指令产生包括实现流程图和/或一个或多个框图的框中所指定的功能/动作的指令的制品。
计算机程序指令还还可以加载到计算机、其它可编程数据处理设备或其它装置上,以使得在计算机、其它可编程设备或其它装置上执行一系列操作步骤从而产生计算机实现的处理,以使得在计算机或其它可编程设备上运行的指令提供用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的处理。
附图中的流程图和框图示出了根据本发明的各个实施例的系统、方法和计算机程序产品的可能实施的体系结构、功能和操作。在这点上,流程图或框图中的每个框都可以表示代码的模块、段或部分,其中代码包括用于实现所指定的逻辑功能的一条或多条可执行指令。还应该注意,在一些可替选实施中,框中所提到的功能可以不按照图中所提到的顺序来发生。例如,根据所涉及的功能,实际上可以基本同时实现相继示出的两个框,或者有时可以按倒序实现框。还将注意的是,框图和/或流程图中的每个框以及框图和/或流程图中的框的组合可以通过执行特定功能或动作的基于专用硬件的系统或者专用硬件与计算机指令的组合来实现。
尽管已经参照示例实施例描述了本发明,但是本领域技术人员将理解的是,在不背离本发明的范围的情况下可以进行各种改变并且等效物可以替代本发明的要素。此外,在不背离本发明的基本范围的情况下可以进行许多修改以使具体情况或材料适于本发明的教导。因此,本发明不限于作为实施本发明所预期的最佳模式所公开的特定实施例,而是本发明将包括落入在所附权利要求的范围内的全部实施例。此外,术语第一、第二等的使用不表示任何顺序或重要性,而是术语第一、第二等用于将一个要素与另一个要素相区分。此外,术语一个、一种(a、an)等的使用不表示对数量的限制,而是表示存在至少一个所提及的项目。
权利要求书(按照条约第19条的修改)
1.一种便携式关节臂坐标测量机(AACMM),用于测量对象在空间中的坐标,所述便携式关节臂坐标测量机包括:
人工可定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,所述多个连接的臂段包括与所述第一端邻近的臂段,每个臂段包括至少一个用于产生位置信号的位置变换器;
附接到所述第一端的测量装置;
所述AACMM的结构部件,其中,所述结构部件具有轴向方向;
至少三个应变计传感器,其耦接到所述结构部件,每个应变计传感器均具有灵敏轴,其中每个应变计传感器的灵敏轴近似平行于所述轴向方向地定向,每个应变计传感器近似与垂直于所述轴向方向的横向平面相交,每个应变计传感器产生模拟应变计信号,并且所述应变计传感器被布置成提供足以用于确定存在于所述结构部件和所述横向平面两者上的任何点处的弯曲应变的数据;以及
电子电路,其接收所述位置信号并提供与所述测量装置的位置相对应的数据。
2.根据权利要求1所述的AACMM,还包括模数转换器电路,所述模数转换器电路将所述模拟应变计信号的一些组合转换成多个数字应变计信号,其中,所述电子电路接收所述多个数字应变计信号。
3.根据权利要求2所述的AACMM,其中,所述电子电路计算所述结构部件的最大弯曲的幅度和方向。
4.根据权利要求3所述的AACMM,其中,所述电子电路使用来自所述至少三个应变计传感器的所述数字应变计信号来修改所提供的与所述测量装置的位置相对应的数据。
5.根据权利要求4所述的AACMM,还包括捕获信号,其中,响应于所述捕获信号收集所述位置信号和所述数字应变计信号。
6.根据权利要求4所述的AACMM,还包括从补偿过程获得并存储在所述电子电路中的参数,其中,所述参数部分地通过由所述AACMM响应于所述臂段的移动而收集数据来获得。
7.根据权利要求6所述的AACMM,其中,所述电子电路使用所述参数和所计算出的最大弯曲的幅度和方向来修改所提供的与所述测量装置的位置相对应的数据。
8.根据权利要求3所述的AACMM,其中,所述结构部件具有热膨胀系数,并且所述应变计传感器被选择为匹配所述结构部件的热膨胀系数。
9.根据权利要求3所述的AACMM,还包括第四应变计传感器。
10.根据权利要求3所述的AACMM,其中,所述电子电路响应于所述应变计信号而产生警告。
11.根据权利要求10所述的AACMM,其中,所述警告是视觉警告和听觉警告之一。
12.根据权利要求10所述的AACMM,其中,当所述弯曲应变具有超出预定限值的值时产生所述警告。
13.一种用于测量关节臂坐标测量机(AACMM)中的应变的方法,所述方法包括以下步骤:
设置如下部分:可人工定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,每个臂段附接到至少一个轴承支架,所述多个连接的臂段包括与所述第一端邻近的臂段,每个臂段包括至少一个用于产生位置信号的位置变换器;附接到所述第一端的测量装置;所述关节臂坐标测量机的结构部件,其中,所述结构部件具有轴向方向;布置在所述结构部件上的至少第一应变计传感器,每个应变计传感器产生模拟应变计信号;
在所述结构部件上设置第二应变计传感器以及在所述结构部件上设置第三应变计传感器,其中,所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器产生模拟应变计信号;
将所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器耦接到所述结构部件,所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器中的每个具有灵敏轴,其中,每个应变计传感器的所述灵敏轴近似平行于所述轴向方向地定向;
将所述结构部件上的每个应变计传感器布置成近似与垂直于所述结构部件的轴向方向的横向平面相交;
将所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器布置成提供足以用于确定存在于所述结构部件和所述横向平面两者上的任何点处的弯曲应变的数据;
将所述模拟应变计信号的组合转换成至少一个数字应变计信号;
通过所述至少一个轴承支架中的至少一个将所述至少一个数字应变计信号发送至电子电路,所述电子电路接收所述位置信号和所述至少一个数字应变计信号;
提供并存储与所述测量装置的位置相对应的数据;以及
存储所述至少一个数字应变计信号。
16.根据权利要求13所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:计算所述结构部件的最大弯曲的幅度和方向。
17.根据权利要求16所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:使用所述多个数字应变计信号来修改所提供的与所述测量装置的位置相对应的数据。
18.根据权利要求17所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括以下步骤:
提供捕获信号;以及
响应于所述捕获信号收集所述位置信号和所述数字应变计信号。
19.根据权利要求18所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:从补偿过程获得参数,其中,所述参数部分地通过由所述关节臂坐标测量机响应于所述臂段的移动而收集数据来获得。
20.根据权利要求19所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:使用所述参数和所计算出的最大弯曲的幅度和方向来修改所提供的与所述测量装置的位置相对应的数据。
21.根据权利要求13所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:选择热膨胀系数以使每个应变计传感器匹配所述结构元件的热膨胀系数。
22.根据权利要求13所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:响应于所述应变计信号而产生警告。
23.根据权利要求22所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,其中,所述警告是视觉警告和听觉警告之一。
24.根据权利要求16所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:当所述弯曲应变具有超过预定限值的值时,响应于所述应变计信号产生警告。

Claims (24)

1.一种便携式关节臂坐标测量机(AACMM),用于测量对象在空间中的坐标,所述便携式关节臂坐标测量机包括:
人工可定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,所述多个连接的臂段包括与所述第一端邻近的臂段,每个臂段包括至少一个用于产生位置信号的位置变换器;
附接到所述第一端的测量装置;
所述AACMM的结构部件,其中,所述结构部件具有轴向方向;
至少三个应变计传感器,其耦接到所述结构部件,每个应变计传感器均具有灵敏轴,其中每个应变计传感器的灵敏轴近似平行于所述轴向方向地定向,每个应变计传感器近似与垂直于所述轴向方向的横向平面相交,每个应变计传感器产生模拟应变计信号,并且所述应变计传感器被布置成提供足以用于确定存在于所述结构部件和所述横向平面两者上的任何点处的弯曲应变的数据;以及
电子电路,其接收所述位置信号并提供与所述测量装置的位置相对应的数据。
2.根据权利要求1所述的AACMM,还包括模数转换器电路,所述模数转换器电路将所述模拟应变计信号的一些组合转换成多个数字应变计信号,其中,所述电子电路接收所述多个数字应变计信号。
3.根据权利要求2所述的AACMM,其中,所述电子电路计算所述结构部件的最大弯曲的幅度和方向。
4.根据权利要求3所述的AACMM,其中,所述电子电路使用来自所述至少三个应变计传感器的所述数字应变计信号来修改所提供的与所述测量装置的位置相对应的数据。
5.根据权利要求4所述的AACMM,还包括捕获信号,其中,响应于所述捕获信号收集所述位置信号和所述数字应变计信号。
6.根据权利要求4所述的AACMM,还包括从补偿过程获得并存储在所述电子电路中的参数,其中,所述参数部分地通过由所述AACMM响应于所述臂段的移动而收集数据来获得。
7.根据权利要求6所述的AACMM,其中,所述电子电路使用所述参数和所计算出的最大弯曲的幅度和方向来修改所提供的与所述测量装置的位置相对应的数据。
8.根据权利要求3所述的AACMM,其中,所述结构部件具有热膨胀系数,并且所述应变计传感器被选择为匹配所述结构部件的热膨胀系数。
9.根据权利要求3所述的AACMM,还包括第四应变计传感器。
10.根据权利要求3所述的AACMM,其中,所述电子电路响应于所述应变计信号而产生警告。
11.根据权利要求10所述的AACMM,其中,所述警告是视觉警告和听觉警告之一。
12.根据权利要求10所述的AACMM,其中,当所述弯曲应变具有超出预定限值的值时产生所述警告。
13.一种用于测量关节臂坐标测量机(AACMM)中的应变的方法,所述方法包括以下步骤:
设置如下部分:可人工定位的关节臂部,其具有相对的第一端和第二端,所述臂部包括多个连接的臂段,每个臂段附接到至少一个轴承支架,所述多个连接的臂段包括与所述第一端邻近的臂段,每个臂段包括至少一个用于产生位置信号的位置变换器;附接到所述第一端的测量装置;所述关节臂坐标测量机的结构部件,其中,所述结构部件具有轴向方向;布置在所述结构部件上的至少第一应变计传感器,每个应变计传感器产生模拟应变计信号;
将所述模拟应变计信号的组合转换成至少一个数字应变计信号;
通过所述至少一个轴承支架中的至少一个将所述至少一个数字应变计信号发送至电子电路,所述电子电路接收所述位置信号和所述至少一个数字应变计信号;
提供并存储与所述测量装置的位置相对应的数据;以及
存储所述至少一个数字应变计信号。
14.根据权利要求13所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括在所述结构部件上设置第二应变计传感器以及在所述结构部件上设置第三应变计传感器的步骤,其中,所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器产生模拟应变计信号;
将所述模拟应变计信号的一些组合转换成多个数字应变计信号;
通过所述至少一个轴承支架中的至少一个将所述多个应变计信号发送到所述电子电路,其中,所述电子电路存储所述数字应变计信号。
15.根据权利要求14所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括以下步骤:
将所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器耦接到所述结构部件,所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感中的每个均具有灵敏轴,其中,每个应变计传感器的所述灵敏轴均近似平行于所述轴向方向地定向;
将所述结构部件上的每个应变计传感器布置成近似与垂直于所述结构部件的轴向方向的横向平面相交;以及
将所述第一应变计传感器、所述第二应变计传感器和所述第三应变计传感器布置成提供足以用于确定存在于所述结构部件和所述横向平面两者上的任何点处的弯曲应变的数据。
16.根据权利要求15所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:计算所述结构部件的最大弯曲的幅度和方向。
17.根据权利要求16所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:使用所述多个数字应变计信号来修改所提供的与所述测量装置的位置相对应的数据。
18.根据权利要求17所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括以下步骤:
提供捕获信号;以及
响应于所述捕获信号收集所述位置信号和所述数字应变计信号。
19.根据权利要求18所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:从补偿过程获得参数,其中,所述参数部分地通过由所述关节臂坐标测量机响应于所述臂段的移动而收集数据来获得。
20.根据权利要求19所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:使用所述参数和所计算出的最大弯曲的幅度和方向来修改所提供的与所述测量装置的位置相对应的数据。
21.根据权利要求15所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:选择热膨胀系数以使每个应变计传感器匹配所述结构元件的热膨胀系数。
22.根据权利要求14所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:响应于所述应变计信号而产生警告。
23.根据权利要求22所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,其中,所述警告是视觉警告和听觉警告之一。
24.根据权利要求16所述的用于测量关节臂坐标测量机(AACMM)中的应变的方法,还包括如下步骤:当所述弯曲应变具有超过预定限值的值时,响应于所述应变计信号产生警告。
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