WO2009016185A1 - Rotary unit for non-contact sensor - Google Patents

Rotary unit for non-contact sensor Download PDF

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Publication number
WO2009016185A1
WO2009016185A1 PCT/EP2008/059952 EP2008059952W WO2009016185A1 WO 2009016185 A1 WO2009016185 A1 WO 2009016185A1 EP 2008059952 W EP2008059952 W EP 2008059952W WO 2009016185 A1 WO2009016185 A1 WO 2009016185A1
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WO
WIPO (PCT)
Prior art keywords
contact sensor
rotary unit
measuring instrument
rotating
unit
Prior art date
Application number
PCT/EP2008/059952
Other languages
French (fr)
Inventor
Satoshi Suzuki
Katsuhiro Sato
Original Assignee
Leica Geosystems Ag
Hexagon Metrology Kabushiki Kaisha
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 Leica Geosystems Ag, Hexagon Metrology Kabushiki Kaisha filed Critical Leica Geosystems Ag
Publication of WO2009016185A1 publication Critical patent/WO2009016185A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G01B11/007—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines feeler heads therefor

Definitions

  • the present invention relates to a rotary unit for a non-contact sensor used in a three-dimensional measuring instrument, or the like utilizing a non-contact sensor which can perform scanning in one direction.
  • an example of a three-dimensional measuring instrument 100 includes a non-contact sensor 101 which can perform scanning in one direction and a supporting unit 102 for movably supporting the non-contact sensor 101.
  • the supporting unit 102 is configured to include supporting members 102a, 102b and 102c configuring three axes and a rotating biaxial joint 102d provided at a distal end portion of the supporting member 102c.
  • the non-contact sensor 101 is fixed to a distal end portion of the rotating biaxial joint 102d via a joint portion 101a.
  • the supporting members 102a, 102b and 102c are configured to be movable along three axes of X, Y, and Z axes, respectively, and the rotating biaxial joint 102d has rotating axes of two axes of A axis and B axis (see Fig. 6 and Fig. 7) .
  • a position of the non-contact sensor 101 relative to an object to be measured can be arbitrarily achieved by cooperation between the supporting members 102a, 102b, and 102c and the rotating biaxial joint 102d.
  • the non-contact sensor 101 is a sensor for performing scanning of emitted laser beam in one direction, detecting displacement of a reception position of returning light of laser beam, and acquiring a surface shape of an object to be measured. That is, each scanning is a linear scan in one direction. A three-dimensional map of a surface shape of the object to be measured is acquired by gradually moving the non-contact sensor 101 while shifting the linear scanning range of laser beam in parallel bit by bit.
  • the non-contact sensor 101 can be driven by the rotating biaxial joint 102d to rotate the same about B axis.
  • a scanning range of laser beam is Rl in a state before rotation of the rotating biaxial joint 102d.
  • the rotating biaxial joint 102d is rotated about its B axis, the non-contact sensor 101 is rotated so that the scanning range of laser beam becomes R2.
  • An object of the present invention is to provide a rotary unit for a non-contact sensor which can change the direction of a scanning range of a non-contact sensor easily.
  • a rotary unit for a non-contact sensor which is disposed between a non-contact sensor which can perform scanning in one direction and a supporting unit which Supports the non-contact sensor and can rotate by an angle of 90° to the scanning direction of the non-contact sensor.
  • the rotary unit for a non-contact sensor includes a positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor at defined angles for example of at least 0° and 90°.
  • the rotary unit for a non-contact sensor includes a first member positioned on the side of the non-contact sensor and a second member positioned on the side of the supporting unit, and the first member is supported by the second member at three points in the rotating state of the rotary unit for a non-contact sensor at defined angles of at least 0° and 90° by the positioning unit.
  • the second member is provided with a lever for rotating the second member relative to the first member by defined angles, for example of 90°, and the rod can be engaged with a rotation- assisting jig provided separately from the non-contact sensor .
  • the rotary unit for a non-contact sensor includes a driving unit for rotating the rotary unit for a non-contact sensor by defined angles, for example of 90°.
  • the rotary unit for a non-contact sensor is disposed between the non-contact sensor which can perform scanning in one direction and the supporting unit which Supports the non-contact sensor and can rotate by defined angles, for example of 90° to the scanning direction of the non-contact sensor, the direction of the scanning range of the non- contact sensor can be changed by an angle of 90° so that accurate measurement can be performed in response to a Situation of a measurement surface of an object to be measured.
  • the rotary unit for a non-contact sensor includes the positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor at angles of at least 0° and 90°, the rotating state of the non-contact sensor unit at angles of 0 ° and 90° is restricted accurately, so that a measurement error due to rotation of the non-contact sensor unit is prevented from occurring.
  • the rotary unit for a non-contact sensor since the rotary unit for a non-contact sensor includes the first member positioned on the side of the non-contact sensor and the second member positioned on the side of the supporting unit, and the first member is supported by the second member at three points in a rotating state of the rotary unit for a non-contact sensor at angles of at least 0° and 90° by the positioning unit, chattering between the first member and the second member can be prevented from occurring.
  • the rotary unit for a non-contact sensor includes a driving unit for rotating the rotary unit for a non-contact sensor by an angle of 90°, for example, a three-dimensional measuring instrument completely automated can be realized by programming the rotating state of the rotary unit for a non-contact sensor in a program for performing a position control of the supporting unit for the non-contact sensor.
  • a rotary unit for a non-contact sensor 1 is disposed between a non-contact sensor 2 which can perform scanning in one direction and a supporting unit 3 which supports the non-contact sensor 2 to be rotatable by an angle of 90° to a scanning direction of the non-contact sensor 2.
  • a supporting unit 3 is configured to include supporting members 3a, 3b, and 3c configuring three axes and a rotating biaxial joint 3d provided at a distal end portion of the supporting member 3c.
  • the supporting members 3a, 3b, and 3c are configured so as to be movable along three axes of X, Y, and Z axes, respectively.
  • the invention is not limited to bridge type supporting units 3.
  • the supporting unit could be of gantry, horizontal arm or any other type as well.
  • the rotating biaxial joint 3d has rotating axes of two axes of A axis and B axis.
  • the non-contact sensor 2 can be supported at an arbitrary position relative to an object to be measured according to cooperation between the supporting members 3a, 3b, and 3c and the rotating biaxial joint 3d.
  • the non-contact sensor 2 has a joint portion 2a for engagement with the rotary unit for a non-contact sensor 1.
  • the non-contact sensor 2 is a sensor for scanning emitted laser beam in one direction, detecting displacement of a reception position of returning light of the laser beam, and acquiring a surface shape of an object to be measured. That is, each scanning is a linear scan in one direction.
  • a three-dimensional map of a surface shape of the object to be measured is acquired by gradually moving the non-contact sensor 2 while shifting the scanning range of the linear laser beam in parallel bit by bit.
  • the rotary unit for a non-contact sensor 1 is disposed between the distal end portion of the rotating biaxial joint 3d and the joint portion 2a of the non-contact sensor 2.
  • the rotary unit for the non-contact sensor 1 comprises respective members of an outer cover 11, a wave washer 12, a first joint 13, a cam plate 14, a delay plate 15, a lever member 16, an inner cover 17, and a second joint 18.
  • the first joint 13 can be engaged with a distal end portion of the rotating biaxial joint 3d, while the second joint 18 can be engaged with the joint portion 2a of the non- contact sensor 2.
  • the first joint 13 has three semi-spherical protrusions 13a formed so as to be spaced from one another at intervals of an angle of 120°
  • the cam plate 14 has three first line shaped protrusions 14a formed so as to be spaced from one another at intervals of an angle of 120°, each line-shaped protrusion comprising three second line-shaped protrusions 14b which are shifted by an angle of 90° relative to a corresponding first line-shaped protrusion 14a, as shown in Fig. 3B.
  • the protrusions 13a, the first line-shaped protrusions 14a, and the second line-shaped protrusions 14b configure a positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor 1 at angles of at least 0° and 90°.
  • the respective protrusions 13a are biased toward the first line-shaped protrusions 14a and the second line-shaped protrusions 14b.
  • the respective protrusions 13a are engaged with the respective first line-shaped protrusions 14a, and the first joint 13 is retained at a first position (a position at an angle of 0°) to the cam plate 14.
  • a position where the respective protrusions 13a are retained by the respective second line shaped protrusions 14b is a second position (a position at an angle of 90°) .
  • the respective protrusions 13a are engaged with the first line-shaped protrusions 14a or the second line- shaped protrusions 14b, where the first joint 13 is securely supported to the cam plate 14 at three points by biasing force of the wave washer 12.
  • the lever member 16 has a pair of levers 16a and the levers 16a project from sides of the rotary unit for a non-contact sensor 1, as shown in Fig. 2.
  • the levers 16a can be engaged with engagement grooves 4b formed on a pair of arm portions 4a of a U-shaped rotation-assisting jig 4 disposed separately from the non-contact sensor 2, respectively.
  • a method for rotating the rotary unit for a non-contact sensor 1 put in a state that the respective protrusions 13a are retained at the first position by the respective first line-shaped protrusions 14a, to perform a change to a state that the respective protrusions 13a are retained at the second position by the respective second line-shaped protrusions 14b will be explained below.
  • the rotary unit for a non-contact sensor 1 is moved to a position where the respective levers 16a of the lever member 16 of the rotary unit for a non-contact sensor 1 are engaged with the engagement grooves 4b of the pair of arm portions 4a of the U-shaped rotation-assisting jig 4 by first operating the supporting members 3a, 3b, and 3c of the supporting unit 3 and the rotating biaxial joint 3d.
  • the rotating biaxial joint 3d is rotated about the B axis by an angle of 90° by operating the rotating biaxial joint 3d.
  • the rotation of the angle of 90° is rotation in a counter clockwise direction in Fig. 3B, where the respective protrusions 13a of the rotary unit for a non-contact sensor 1 are released from the respective first line-shaped protrusions 14a and they are engaged with the respective second line-shaped protrusions 14b. That is, a position of the first joint 13 to the cam plate 14 is displaced from the first position to the second position by a rotational force of the rotating biaxial joint 3d about the B axis. In the second position, similarly, the first joint 13 is securely supported to the cam plate 14 at three points by biasing force of the wave washer 12.
  • the non-contact sensor 2 According to displacement of the position of the first joint 13 to the cam plate 14 from the first position to the second position, the non-contact sensor 2 is rotated by an angle of 90°, so that a direction of the scanning range of the non-contact sensor 2 can be rotated by an angle of 90° according to the rotation of the non-contact sensor 2.
  • a method for rotating the rotary unit for a non-contact sensor 1 put in a state where the respective protrusions 13a are retained at the second position by the respective second line-shaped protrusions 14b to perform a change to a state where the respective protrusions 13a are retained at the first position by the respective second line-shaped protrusions 14a can also be performed by causing the levers 16a to engage the engagement grooves 4b to operate the rotating biaxial joint 3d like the above.
  • the rotation of 90° is rotation in a clockwise direction in Fig. 3B.
  • the rotary unit for a non-contact sensor 1 is configured such that the first joint 13 is securely supported to the cam plate 14 at three points in each of the first position and the second position by biasing force of the wave washer 12. Accordingly, it is possible to rotate the rotary unit for a non-contact sensor 1 by manually operating the levers 16a.
  • the rotary unit for a non-contact sensor 1 is only one example of a mechanical rotary unit for a non-contact sensor.
  • any engaging means between the first member and the second member which can retain or define the rotating positions of defined angles, preferably of 0° and 90°, can be adopted regardless of its configuration.
  • Any part for performing biasing between the first member and the second member can be used instead of the wave washer. It is ideal that the engaging means between the first member and the second member has a three-point supporting structure in the engaged state, but a structure other than the three-point supporting structure can be adopted.
  • a rotary unit for a non-contact sensor 5 is an automatic rotary unit provided with an ultrasonic transducer 51.
  • the rotary unit for a non-contact sensor 5 includes the ultrasonic transducer 51, a vibration-movable rod 52, a pair of stoppers 53, a first joint 54, a second joint 55, an electric circuit board 56, a first bearing 57, and a second bearing 58.
  • Both members of the ultrasonic transducer 51 and the vibration-movable rod 52 configure a driving unit for rotating the rotary unit for a non-contact sensor 5 by an angle of 90°.
  • the first joint 54 can be engaged with the distal end portion of the rotating biaxial joint 3d explained in the first embodiment
  • the second joint 55 can be engaged with the joint portion 2a of the non-contact sensor 2.
  • the ultrasonic transducer 51 is mechanically coupled to the first joint 54, while the vibration-movable rod 52 is mechanically coupled to the second joint 55.
  • the vibration movable rod 52 is formed in an are shape, it is disposed along a circular periphery of the second joint 55, and it has a pair of stoppers 53 spaced from each other at an interval of an angle of 90°.
  • the ultrasonic transducer 51 can be driven by vibration electric signal supplied from the electric circuit board 56 to rotate the vibration-movable rod 52. Since a rotation range is restricted by the pair of stoppers 53, a relative angle between the first joint 54 and the second joint 55 is determined to be one of angles of 0° and 90°.
  • the vibration-movable rod 52 is locked by the ultrasonic transducer 51, so that the first joint 54 and the second joint 55 are firmly fixed and chattering between both the members is prevented from occurring at a stopping time of the ultrasonic transducer 51.
  • a completely automated three-dimensional measuring instrument can be realized by programming a rotating state of the rotary unit for a non-contact sensor 5 in a program for performing position control of the supporting unit 3 for the non-contact sensor 2.
  • the rotary unit for a non-contact sensor 5 is only one example of the automatic rotary unit.
  • the automatic rotary unit can be configured by adopting any structure which can define rotational positions of angle of 0° and 90° utilizing a combination of an ordinary electric motor, gears, and the like.
  • FIG. 1 is a perspective view showing a three-dimensional measuring instrument attached with a rotary unit for a non- contact sensor 1 according to a first embodiment of the present invention
  • Fig. 2 is a partial enlarged perspective view showing an attachment state of the rotary unit for a non-contact sensor 1 shown in Fig. 1 ;
  • Fig. 3A is an exploded perspective view of the rotary unit for a non-contact sensor 1 shown in Fig. 1 and Fig. 3B is a front view of a cam plate 14;
  • Fig. 4 is an explanatory perspective view showing an internal structure of a rotary unit for a non-contact sensor 5 according to a second embodiment of the present invention
  • Fig. 5 is a perspective view showing a conventional three- dimensional measuring instrument 100
  • Fig. 6 is a partially enlarged perspective view showing an attached state and a rotating state of a non-contact sensor 101 shown in Fig. 5;
  • Fig. 7 is a partially enlarged view showing the attached state and the rotating state of the non-contact sensor 101 shown in Fig. 5 and showing a state where A axis of a rotary biaxial joint 102d has been rotated by an angle of 90°;
  • Fig. 8A is an explanatory diagram showing a state that a scanning range of the non-contact sensor 101 shown in Fig. 5 extends in a horizontal direction to a measurement face of an object to be measured having a step portion extending in a vertical direction
  • Fig. 8B is an explanatory diagram showing a state that the scanning range extends in a vertical direction to the measurement face of the object to be measured
  • Fig. 9 is an explanatory diagram showing a state that the scanning range of the non-contact sensor 101 shown in Fig. 5 extends in a cross sectional direction of an object to be measured.
  • 1, 5 rotary unit for a non-contact sensor

Abstract

A measuring instrument for making linear scans of an object is including a linear scanning laser sensor (2), a supporting unit (3) for positioning the sensor (2) and an adapter for connecting a sensor joint portion (2a) to a distal end portion of the supporting unit (3). The supporting unit (3) includes a rotating biaxial joint (3d) for alignment of the distal end portion. The adapter is a rotary unit (1) with a first member engaged with the distal end portion and a second member engaged with the sensor joint portion (2a) wherein the first and the second members are rotatable relative to one another by an angle of 90°. In case of interferences in a first direction, the direction of the linear scanning laser sensor (2) can be changed to allow accurate three- dimensional measurements.

Description

ROTARY UNIT FOR NON-CONTACT SENSOR
The present invention relates to a rotary unit for a non-contact sensor used in a three-dimensional measuring instrument, or the like utilizing a non-contact sensor which can perform scanning in one direction.
As shown in Fig. 5, an example of a three-dimensional measuring instrument 100 includes a non-contact sensor 101 which can perform scanning in one direction and a supporting unit 102 for movably supporting the non-contact sensor 101. The supporting unit 102 is configured to include supporting members 102a, 102b and 102c configuring three axes and a rotating biaxial joint 102d provided at a distal end portion of the supporting member 102c.
As shown in Fig. 6, the non-contact sensor 101 is fixed to a distal end portion of the rotating biaxial joint 102d via a joint portion 101a. The supporting members 102a, 102b and 102c are configured to be movable along three axes of X, Y, and Z axes, respectively, and the rotating biaxial joint 102d has rotating axes of two axes of A axis and B axis (see Fig. 6 and Fig. 7) . A position of the non-contact sensor 101 relative to an object to be measured can be arbitrarily achieved by cooperation between the supporting members 102a, 102b, and 102c and the rotating biaxial joint 102d.
The non-contact sensor 101 is a sensor for performing scanning of emitted laser beam in one direction, detecting displacement of a reception position of returning light of laser beam, and acquiring a surface shape of an object to be measured. That is, each scanning is a linear scan in one direction. A three-dimensional map of a surface shape of the object to be measured is acquired by gradually moving the non-contact sensor 101 while shifting the linear scanning range of laser beam in parallel bit by bit.
As shown in Fig. 6, the non-contact sensor 101 can be driven by the rotating biaxial joint 102d to rotate the same about B axis. A scanning range of laser beam is Rl in a state before rotation of the rotating biaxial joint 102d. When the rotating biaxial joint 102d is rotated about its B axis, the non-contact sensor 101 is rotated so that the scanning range of laser beam becomes R2.
As shown in Fig. 7, however, it is impossible to change the direction of a scanning range R3 of the laser beam to a direction of a scanning range R4 in a state that rotation about A axis by an angle of 90° has been performed by driving the rotating biaxial joint 102d. This is because, even if rotation of the rotating biaxial joint 102d about the B axis is performed, the non-contact sensor 101 merely rotates around the rotating biaxial joint 102d in an arc.
When the direction of the scanning range of the non-contact sensor 101 can not be changed properly in this manner, such a case that an accurate three-dimensional measurement can not be performed occurs. For example, in case that a measurement surface of an object to be measured is a mirror finished surface, as shown in Fig. 8A, when a non- contact sensor 101 is disposed, it is impossible to conduct accurate measurement because returning light is reflected by the mirror finished surface. In this case, as shown in Fig. 8B, it is necessary to rotate the non-contact sensor 101 by an angle of 90° to change the direction of the scanning range. In a non-contact sensor 101 attached to a conventional rotating biaxial joint 102d, it is impossible to perform such change of the direction of the scanning range .
As shown in Fig. 9, it is desirable that scanning conducted by the non-contact sensor 101 is performed in a cross sectional direction of an object to be measured in principle. Even in this case, it is necessary to change the direction of a scanning range of the non-contact sensor 101.
An object of the present invention is to provide a rotary unit for a non-contact sensor which can change the direction of a scanning range of a non-contact sensor easily.
According to an aspect of the present invention, there is provided a rotary unit for a non-contact sensor which is disposed between a non-contact sensor which can perform scanning in one direction and a supporting unit which Supports the non-contact sensor and can rotate by an angle of 90° to the scanning direction of the non-contact sensor.
It is further preferable that the rotary unit for a non-contact sensor according to the present invention includes a positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor at defined angles for example of at least 0° and 90°.
It is further preferable that the rotary unit for a non-contact sensor according to the present invention includes a first member positioned on the side of the non-contact sensor and a second member positioned on the side of the supporting unit, and the first member is supported by the second member at three points in the rotating state of the rotary unit for a non-contact sensor at defined angles of at least 0° and 90° by the positioning unit.
It is further preferable in the rotary unit for a non-contact sensor according to the present invention that the second member is provided with a lever for rotating the second member relative to the first member by defined angles, for example of 90°, and the rod can be engaged with a rotation- assisting jig provided separately from the non-contact sensor .
It is further preferable that the rotary unit for a non-contact sensor according to the present invention includes a driving unit for rotating the rotary unit for a non-contact sensor by defined angles, for example of 90°.
According to the present invention described in claim 1, since the rotary unit for a non-contact sensor is disposed between the non-contact sensor which can perform scanning in one direction and the supporting unit which Supports the non-contact sensor and can rotate by defined angles, for example of 90° to the scanning direction of the non-contact sensor, the direction of the scanning range of the non- contact sensor can be changed by an angle of 90° so that accurate measurement can be performed in response to a Situation of a measurement surface of an object to be measured.
According to the present invention described in claim 2, since the rotary unit for a non-contact sensor includes the positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor at angles of at least 0° and 90°, the rotating state of the non-contact sensor unit at angles of 0 ° and 90° is restricted accurately, so that a measurement error due to rotation of the non-contact sensor unit is prevented from occurring.
According to the present invention described in claim 3, since the rotary unit for a non-contact sensor includes the first member positioned on the side of the non-contact sensor and the second member positioned on the side of the supporting unit, and the first member is supported by the second member at three points in a rotating state of the rotary unit for a non-contact sensor at angles of at least 0° and 90° by the positioning unit, chattering between the first member and the second member can be prevented from occurring.
According to the present invention described in claim 4, since the lever for rotating the second member relative to the first member of the rotary unit by 90° is provided on the rotary unit for a non-contact sensor in a projecting manner and the rod can be engaged with a rotation-assisting jig disposed separately from the non-contact sensor, it is unnecessary to provide a rotation-driving unit on the rotary unit for a non-contact sensor.
According to the present invention described in claim 5, since the rotary unit for a non-contact sensor includes a driving unit for rotating the rotary unit for a non-contact sensor by an angle of 90°, for example, a three-dimensional measuring instrument completely automated can be realized by programming the rotating state of the rotary unit for a non-contact sensor in a program for performing a position control of the supporting unit for the non-contact sensor.
A first embodiment of the present invention will be explained below in detail with reference to Fig. 1 to Fig. 4.
A rotary unit for a non-contact sensor 1 according to the present embodiment is disposed between a non-contact sensor 2 which can perform scanning in one direction and a supporting unit 3 which supports the non-contact sensor 2 to be rotatable by an angle of 90° to a scanning direction of the non-contact sensor 2.
As shown in Fig. 1 and Fig. 2, in a three-dimensional measuring instrument, a supporting unit 3 is configured to include supporting members 3a, 3b, and 3c configuring three axes and a rotating biaxial joint 3d provided at a distal end portion of the supporting member 3c. As illustrated, the supporting members 3a, 3b, and 3c are configured so as to be movable along three axes of X, Y, and Z axes, respectively. The invention is not limited to bridge type supporting units 3. The supporting unit could be of gantry, horizontal arm or any other type as well. The rotating biaxial joint 3d has rotating axes of two axes of A axis and B axis. The non-contact sensor 2 can be supported at an arbitrary position relative to an object to be measured according to cooperation between the supporting members 3a, 3b, and 3c and the rotating biaxial joint 3d.
The non-contact sensor 2 has a joint portion 2a for engagement with the rotary unit for a non-contact sensor 1. The non-contact sensor 2 is a sensor for scanning emitted laser beam in one direction, detecting displacement of a reception position of returning light of the laser beam, and acquiring a surface shape of an object to be measured. That is, each scanning is a linear scan in one direction. A three-dimensional map of a surface shape of the object to be measured is acquired by gradually moving the non-contact sensor 2 while shifting the scanning range of the linear laser beam in parallel bit by bit.
The rotary unit for a non-contact sensor 1 is disposed between the distal end portion of the rotating biaxial joint 3d and the joint portion 2a of the non-contact sensor 2. As shown in Fig. 3A, the rotary unit for the non-contact sensor 1 comprises respective members of an outer cover 11, a wave washer 12, a first joint 13, a cam plate 14, a delay plate 15, a lever member 16, an inner cover 17, and a second joint 18. The first joint 13 can be engaged with a distal end portion of the rotating biaxial joint 3d, while the second joint 18 can be engaged with the joint portion 2a of the non- contact sensor 2. The respective members of the outer cover 11, the first joint 13, and the inner cover 17 are fixed to one another to configure a first member, while the respective members of the cam plate 14, the delay plate 15, the lever member 16, and the second joint 18 are fixed to one another to configure a second member. Rotation of the rotary unit for a non-contact sensor 1 is performed by rotation of the second member relative to the first member by an angle of 90°.
The first joint 13 has three semi-spherical protrusions 13a formed so as to be spaced from one another at intervals of an angle of 120°, and the cam plate 14 has three first line shaped protrusions 14a formed so as to be spaced from one another at intervals of an angle of 120°, each line-shaped protrusion comprising three second line-shaped protrusions 14b which are shifted by an angle of 90° relative to a corresponding first line-shaped protrusion 14a, as shown in Fig. 3B. The protrusions 13a, the first line-shaped protrusions 14a, and the second line-shaped protrusions 14b configure a positioning unit for maintaining a rotating state of the rotary unit for a non-contact sensor 1 at angles of at least 0° and 90°.
Since the first joint 13 is biased by the wave washer 12, the respective protrusions 13a are biased toward the first line-shaped protrusions 14a and the second line-shaped protrusions 14b. In a state shown in Fig. 3B, the respective protrusions 13a are engaged with the respective first line-shaped protrusions 14a, and the first joint 13 is retained at a first position (a position at an angle of 0°) to the cam plate 14. A position where the respective protrusions 13a are retained by the respective second line shaped protrusions 14b is a second position (a position at an angle of 90°) . At the first position or the second position, the respective protrusions 13a are engaged with the first line-shaped protrusions 14a or the second line- shaped protrusions 14b, where the first joint 13 is securely supported to the cam plate 14 at three points by biasing force of the wave washer 12.
The lever member 16 has a pair of levers 16a and the levers 16a project from sides of the rotary unit for a non-contact sensor 1, as shown in Fig. 2. The levers 16a can be engaged with engagement grooves 4b formed on a pair of arm portions 4a of a U-shaped rotation-assisting jig 4 disposed separately from the non-contact sensor 2, respectively.
A method for rotating the rotary unit for a non-contact sensor 1 put in a state that the respective protrusions 13a are retained at the first position by the respective first line-shaped protrusions 14a, to perform a change to a state that the respective protrusions 13a are retained at the second position by the respective second line-shaped protrusions 14b will be explained below.
The rotary unit for a non-contact sensor 1 is moved to a position where the respective levers 16a of the lever member 16 of the rotary unit for a non-contact sensor 1 are engaged with the engagement grooves 4b of the pair of arm portions 4a of the U-shaped rotation-assisting jig 4 by first operating the supporting members 3a, 3b, and 3c of the supporting unit 3 and the rotating biaxial joint 3d.
After the levers 16a are engaged with the engagement grooves 4b, the rotating biaxial joint 3d is rotated about the B axis by an angle of 90° by operating the rotating biaxial joint 3d. The rotation of the angle of 90° is rotation in a counter clockwise direction in Fig. 3B, where the respective protrusions 13a of the rotary unit for a non-contact sensor 1 are released from the respective first line-shaped protrusions 14a and they are engaged with the respective second line-shaped protrusions 14b. That is, a position of the first joint 13 to the cam plate 14 is displaced from the first position to the second position by a rotational force of the rotating biaxial joint 3d about the B axis. In the second position, similarly, the first joint 13 is securely supported to the cam plate 14 at three points by biasing force of the wave washer 12.
According to displacement of the position of the first joint 13 to the cam plate 14 from the first position to the second position, the non-contact sensor 2 is rotated by an angle of 90°, so that a direction of the scanning range of the non-contact sensor 2 can be rotated by an angle of 90° according to the rotation of the non-contact sensor 2.
Incidentally, a method for rotating the rotary unit for a non-contact sensor 1 put in a state where the respective protrusions 13a are retained at the second position by the respective second line-shaped protrusions 14b to perform a change to a state where the respective protrusions 13a are retained at the first position by the respective second line-shaped protrusions 14a can also be performed by causing the levers 16a to engage the engagement grooves 4b to operate the rotating biaxial joint 3d like the above. The rotation of 90° is rotation in a clockwise direction in Fig. 3B.
The rotary unit for a non-contact sensor 1 according to the present embodiment is configured such that the first joint 13 is securely supported to the cam plate 14 at three points in each of the first position and the second position by biasing force of the wave washer 12. Accordingly, it is possible to rotate the rotary unit for a non-contact sensor 1 by manually operating the levers 16a.
The rotary unit for a non-contact sensor 1 according to the present embodiment is only one example of a mechanical rotary unit for a non-contact sensor. For example, any engaging means between the first member and the second member which can retain or define the rotating positions of defined angles, preferably of 0° and 90°, can be adopted regardless of its configuration. Any part for performing biasing between the first member and the second member can be used instead of the wave washer. It is ideal that the engaging means between the first member and the second member has a three-point supporting structure in the engaged state, but a structure other than the three-point supporting structure can be adopted.
Next, a second embodiment of the present invention will be explained with reference to Fig. 4. A rotary unit for a non-contact sensor 5 according to the present embodiment is an automatic rotary unit provided with an ultrasonic transducer 51. The rotary unit for a non-contact sensor 5 includes the ultrasonic transducer 51, a vibration-movable rod 52, a pair of stoppers 53, a first joint 54, a second joint 55, an electric circuit board 56, a first bearing 57, and a second bearing 58. Both members of the ultrasonic transducer 51 and the vibration-movable rod 52 configure a driving unit for rotating the rotary unit for a non-contact sensor 5 by an angle of 90°. Incidentally, the first joint 54 can be engaged with the distal end portion of the rotating biaxial joint 3d explained in the first embodiment, and the second joint 55 can be engaged with the joint portion 2a of the non-contact sensor 2.
The ultrasonic transducer 51 is mechanically coupled to the first joint 54, while the vibration-movable rod 52 is mechanically coupled to the second joint 55. The vibration movable rod 52 is formed in an are shape, it is disposed along a circular periphery of the second joint 55, and it has a pair of stoppers 53 spaced from each other at an interval of an angle of 90°. The ultrasonic transducer 51 can be driven by vibration electric signal supplied from the electric circuit board 56 to rotate the vibration-movable rod 52. Since a rotation range is restricted by the pair of stoppers 53, a relative angle between the first joint 54 and the second joint 55 is determined to be one of angles of 0° and 90°. When the vibration electric signal is stopped, the vibration-movable rod 52 is locked by the ultrasonic transducer 51, so that the first joint 54 and the second joint 55 are firmly fixed and chattering between both the members is prevented from occurring at a stopping time of the ultrasonic transducer 51.
Operation effect in the present embodiment are approximately similar to those in the first embodiment, but the rotary unit for a non-contact sensor 5 according to the present embodiment does not require such a member such as the rotation assisting jig 4 because it is the automatic rotary unit.
A completely automated three-dimensional measuring instrument can be realized by programming a rotating state of the rotary unit for a non-contact sensor 5 in a program for performing position control of the supporting unit 3 for the non-contact sensor 2.
The rotary unit for a non-contact sensor 5 according to the present embodiment is only one example of the automatic rotary unit. For example, the automatic rotary unit can be configured by adopting any structure which can define rotational positions of angle of 0° and 90° utilizing a combination of an ordinary electric motor, gears, and the like.
Fig. 1 is a perspective view showing a three-dimensional measuring instrument attached with a rotary unit for a non- contact sensor 1 according to a first embodiment of the present invention; Fig. 2 is a partial enlarged perspective view showing an attachment state of the rotary unit for a non-contact sensor 1 shown in Fig. 1 ;
Fig. 3A is an exploded perspective view of the rotary unit for a non-contact sensor 1 shown in Fig. 1 and Fig. 3B is a front view of a cam plate 14;
Fig. 4 is an explanatory perspective view showing an internal structure of a rotary unit for a non-contact sensor 5 according to a second embodiment of the present invention;
Fig. 5 is a perspective view showing a conventional three- dimensional measuring instrument 100;
Fig. 6 is a partially enlarged perspective view showing an attached state and a rotating state of a non-contact sensor 101 shown in Fig. 5;
Fig. 7 is a partially enlarged view showing the attached state and the rotating state of the non-contact sensor 101 shown in Fig. 5 and showing a state where A axis of a rotary biaxial joint 102d has been rotated by an angle of 90°;
Fig. 8A is an explanatory diagram showing a state that a scanning range of the non-contact sensor 101 shown in Fig. 5 extends in a horizontal direction to a measurement face of an object to be measured having a step portion extending in a vertical direction, and Fig. 8B is an explanatory diagram showing a state that the scanning range extends in a vertical direction to the measurement face of the object to be measured; and Fig. 9 is an explanatory diagram showing a state that the scanning range of the non-contact sensor 101 shown in Fig. 5 extends in a cross sectional direction of an object to be measured.
Explanation of Reference Numerals
1, 5: rotary unit for a non-contact sensor
2, 101: non-contact sensor 2a, 101a: joint portion
3, 102: supporting unit
3a, 3b, 3c, 102a, 102b, 102c: supporting member
3d, 102d: rotary biaxial joint
4: rotation-assisting jig 4a: arm portion
4b: engagement groove
11: outer cover
12: wave washer
13, 54: first joint 13a: Protrusion
14 : cam plate
14a: first line-shaped Protrusion
14b: second line-shaped Protrusion
15: delay plate 16: lever member
16a: lever
17: inner cover
18, 55: second joint
51 ultrasonic transducer 52 vibration-movable rod 53 stopper 56 electric circuit board first bearing second bearing 100: three-dimensional measuring instrument

Claims

1. A measuring instrument for making linear scans of an object including a linear scanning laser sensor (2) , a supporting unit (3) for positioning the sensor (2) and a adapter for connecting a sensor joint portion (2a) to a distal end portion of the supporting unit (3) , wherein the supporting unit (3) includes a rotating biaxial joint (3d) for alignment of the distal end portion and the adapter is a rotary unit (1) with a first member engaged with the distal end portion and a second member engaged with the sensor joint portion (2a) wherein the first and the second members are rotatable relative to one another by an angle, particularly an angle of 90° .
2. The measuring instrument according to claim 1, wherein the rotary unit includes a positioning unit for maintaining a rotating state of the first and second members of the rotary unit at least at angles of 0° and 90°.
3. The measuring instrument according to claim 2, wherein for maintaining a rotating state at angles of at least 0° and 90° the first member is in engaging contact with the second member at least one point, preferably at three points.
4. The measuring instrument according to claim 3, wherein the rotary unit (1) includes a cover, cooperating protrusions at the first and the second member and a biasing element for bringing the protrusions in engaging contact, wherein the cooperating protrusions and the biasing element are hold together by the cover.
5. The measuring instrument according to claim 4, wherein three semi-spherical protrusions at one member are spaced from one another at intervals of an angle of 120° and pairs of line shaped protrusions at the other member are arranged in two sets corresponding to the semi-spherical protrusions, wherein between the two sets there is a shifting angle, particularly an angle of 90°.
6. The measuring instrument according to claim 2, wherein a lever for rotating the second member relative to the first member is provided on the second member in a projecting manner
7. The measuring instrument according to claim 6, including a rotation-assisting jig for holding the lever at a fixed orientation while the biaxial joint (3d) is rotating the distal end portion.
8. The measuring instrument according to any one of the preceding claims, wherein the rotary unit includes a driving unit for rotating the rotary unit.
9. The measuring instrument according to claim 8, wherein the driving unit includes an ultrasonic transducer (51) fixed to one of the two members of the rotary unit, a vibration-movable element (52) fixed to the other of the two members of the rotary unit and stoppers (53) .
10. The measuring instrument according to claim 8, wherein the driving unit includes an electric motor.
PCT/EP2008/059952 2007-07-30 2008-07-29 Rotary unit for non-contact sensor WO2009016185A1 (en)

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