Coordinate Movable Probe Or Machine Patents (Class 33/503)
  • Patent number: 11181356
    Abstract: A three-coordinate measuring system includes a three-coordinate measuring apparatus, and a type collector for a product to be measured; the apparatus is provided with a probe, and a control component which controls motion of the probe through a measuring program preset according to product type of the product to be measured, the control component is electrically connected to the probe; the type collector includes an optical collecting head capable of scanning a graphic identifier, the optical collecting head is electrically connected to the control component; the control component acquires the product type of the product to be measured according to the graphic identifier scanned by the optical collecting head, and call a corresponding measuring program to control the motion of the probe in order to measure the product to be measured and acquire measuring data, a method for three-coordinate measuring is also provided.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: November 23, 2021
    Assignee: CITIC Dicastal CO., LTD.
    Inventors: Zuo Xu, Liang Huang, Yuqiang Wang, Honglei Liu, Bao Zhang, Jinqi Lyu, Qingbo Kong
  • Patent number: 11173577
    Abstract: A machine tool holding workpieces has measuring probes disposed on spindles. The spindles move in common relative to the workpieces until a termination criterion is reached for the common displacement movement. During the common displacement movement, a position of a measuring probe relative to a respective workpiece is detected where the measuring probe makes contact with the respective workpiece or loses contact with the respective workpiece, allowing geometric statements about the respective workpiece to be derived. The measuring probes are kept at a rest position relative to their respective spindle during the common displacement movement, as long as the respective measuring probe does not yet make contact with the respective workpiece. Following contact with the respective workpiece, a deflection from a rest position is detected. The termination criterion is satisfied as soon as the deflection of at least one of the measuring probes reaches a maximum deflection.
    Type: Grant
    Filed: May 15, 2019
    Date of Patent: November 16, 2021
    Assignee: Siemens Aktiengesellschaft
    Inventors: Patrick Kunze, Holger Kretschmar
  • Patent number: 11163288
    Abstract: A method is described for analysing probe data collected by a scanning probe carried by a machine tool. The probe data is collected as the machine tool moves or scans the scanning probe along a scan path relative to a workpiece. The method includes a step of identifying a property of the scan path used by the machine tool from a characteristic of the collected probe data. In this manner, the scan path can be identified from the probe data alone without having to receive any position data from the machine tool.
    Type: Grant
    Filed: March 30, 2016
    Date of Patent: November 2, 2021
    Assignee: RENISHAW PLC
    Inventors: Derek Marshall, John Charles Ould
  • Patent number: 11162770
    Abstract: A method of in-line automated inspection of a mechanical part comprising receiving a mechanical part datum, orienting the mechanical part datum within a representative inspection system, and examining each face of the plurality of faces of the mechanical part datum, wherein examining each face of the plurality of faces of the mechanical part datum comprises dividing the face into regions as a function of stylus tip data. The method comprises generating a fixture adapter model for the mechanical part datum as a function of a local region of the mechanical part datum, generating a measurement of at least a pair of part geometric data, wherein generating a measurement comprises selecting the at least a pair of part geometric data as a function of the at least an alignment datum and displaying the measurement of at least the pair of part geometric data. The method comprises producing the fixture adapter.
    Type: Grant
    Filed: February 27, 2020
    Date of Patent: November 2, 2021
    Assignee: Proto Labs, Inc.
    Inventors: Eric M Boyd, Dylan Lundberg, Michael Bruce Laughton, Nicholas John Griffin
  • Patent number: 11146045
    Abstract: An indoor switchgear or controlgear arrangement with unmanned operation and maintenance, for use in low, medium, or high voltage, includes: an arrangement of switching devices in an inner housing, which is furthermore provided with an outer housing; and a robot system, acting mainly in the inner housing. At least the switching devices other than maintenance critical parts are withdrawable. The switchgear or controlgear is provided with interlocks in order to prevent a wrong sequence of operation and prevent access to potentially hazardeous compartments. Metallic segregation is provided internally in the inner housing in order to achieve a needed service continuty level.
    Type: Grant
    Filed: December 27, 2019
    Date of Patent: October 12, 2021
    Assignee: ABB SCHWEIZ AG
    Inventors: Tomas Kozel, Thomas Schmidtchen, Martin Stefanka
  • Patent number: 11135026
    Abstract: The present invention provides an apparatus, system and method for providing robotically assisted surgery that involves the removal of bone or non-fibrous type tissues during a surgical procedure. The system utilizes a multi-axis robot having a reciprocating tool that is constructed and arranged to remove hard or non-fibrous tissues while leaving soft tissues unharmed. The multi-axis robot may be controlled via computer or telemanipulator, which allows the surgeon to complete a surgery from an area adjacent to the patient to thousands of miles away.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: October 5, 2021
    Inventor: Peter L. Bono
  • Patent number: 11130224
    Abstract: A parallel link robot includes: a base portion; a movable portion; link portions coupling the base and movable portions; and actuators attached to the base portion and driving the respective link portions. Each of the link portions includes drive links swung around axes by the respective actuators, and two each of the passive links parallel to each other and swingably arranged between the drive link and the each of the movable portions. The robot includes a drive unit disposed parallel to the two passive links of at least one of the link portions and between the passive links and drives a mechanical unit attached to the movable portion. The drive unit is attached to the drive link with a joint, swingably coupling the drive unit to the drive link around at least mutually intersecting axes, on a straight-line coupling swinging center points of the passive links and the drive link.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: September 28, 2021
    Assignee: FANUC CORPORATION
    Inventor: Hyunchul Souk
  • Patent number: 11130231
    Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nitish Swarup, Paul G. Griffiths, Goran A. Lynch, Daniel N. Miller
  • Patent number: 11118890
    Abstract: A jogbox for a coordinate measuring machine with a movable arm has a body forming an interior, and control hardware at least partially within the interior. The control hardware is configured to control the movable arm of the coordinate measuring machine. The jogbox also has an energizing port for energizing or charging the jogbox, and an auxiliary port formed by the body and operatively coupled with the controlling hardware within the interior. The auxiliary port is configured to directly physically connect with at least one hardware accessory that has a hardware interface port. In addition, the auxiliary port is configured to rigidly, removably, and directly couple with the hardware interface port of the at least one hardware accessory. Some embodiments include a counterweight interface configured to receive and retain a counterweight to counterbalance the weight of an accessory.
    Type: Grant
    Filed: July 23, 2019
    Date of Patent: September 14, 2021
    Assignee: Hexagon Metrology, Inc.
    Inventor: Paul Witkos
  • Patent number: 11085751
    Abstract: Embodiments described herein provide a mobile CMM jogbox that includes one or more ergonomic apparatuses configured and disposed to allow a CMM operator to hold and operate the jogbox, while avoiding or mitigating the fatigue of an operator using the jogbox.
    Type: Grant
    Filed: November 11, 2019
    Date of Patent: August 10, 2021
    Assignee: Hexagon Metrology, Inc.
    Inventor: Milan Kocic
  • Patent number: 11076925
    Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
    Type: Grant
    Filed: September 7, 2017
    Date of Patent: August 3, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Simon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
  • Patent number: 11067382
    Abstract: A three-dimensional coordinate measurement apparatus capable of reducing shaking of a Y carriage and improving measurement accuracy. The Y carriage is supported by two strut members which are across a surface plate and movable in a Y-axis direction. The two strut members include a first strut member having a driving mechanism and a second strut member which moves following the first strut member. A guide portion parallel to the Y-axis direction is formed in the surface plate on a first strut member side. Side surface support members support the first strut member on the surface plate by holding both opposed side surfaces of the guide portion. The driving mechanism includes a roller having an axis perpendicular to a surface plate surface, and the roller is brought into contact with one side surface of the guide portion and rolled to move the Y carriage relatively to the surface plate.
    Type: Grant
    Filed: December 20, 2019
    Date of Patent: July 20, 2021
    Assignee: Tokyo Seimitsu Co., Ltd.
    Inventors: Yukio Kanno, Keiichiro Gomi, Takashi Fujita
  • Patent number: 11060838
    Abstract: There is provided a movement mechanism including a Z spindle the posture of which is hardly changed when the Z spindle is moved upward and downward, and having less measurement errors due to hysteresis. A movement mechanism includes a Z-axis movement mechanism and an X-axis movement mechanism that moves the Z-axis movement mechanism in the horizontal direction. The Z-axis movement mechanism includes a Z spindle having a length in the vertical direction and a Z-axis drive unit that moves the Z spindle in the vertical direction. The Z-axis drive unit includes an open belt having an upper end fixed near an upper end portion of the Z spindle, and a lower end fixed to near a lower end portion of the Z spindle, a drive pulley around which the open belt wounded and that feeds and drives the open belt upward and downward, an upper tension roller that pushes the open belt against the Z spindle, and a lower tension roller that pushes the open belt against the Z spindle.
    Type: Grant
    Filed: October 17, 2019
    Date of Patent: July 13, 2021
    Assignee: Mitutoyo Corporation
    Inventors: Shingo Kiyotani, Yoshikazu Ooyama, Takao Oneta
  • Patent number: 11054237
    Abstract: A coordinate measurement machine (CMM) includes a manually-positionable articulated arm having first and second ends. The articulated arm includes a plurality of arm segments and a plurality of rotary joints, and an electrical circuit including a main printed circuit board and a plurality of encoder printed circuit boards. The electrical circuit has at least some portions disposed within the plurality of arm segments. The first end includes a connector configured to connect to a measurement probe. The second end includes a base plate for mounting the CMM. The base plate has a cavity with a bottom opening. The main printed circuit board is disposed horizontally within the cavity.
    Type: Grant
    Filed: April 4, 2019
    Date of Patent: July 6, 2021
    Assignee: SA08700334
    Inventor: Allen Sajedi
  • Patent number: 11045944
    Abstract: An articulated arm coordinate measuring machine (AACMM) includes one or more heater elements that cooperate with a processor to maintain one or more components in the AACMM within a predetermined temperature range.
    Type: Grant
    Filed: January 22, 2019
    Date of Patent: June 29, 2021
    Assignee: FARO TECHNOLOGIES, INC.
    Inventor: James P. Phipps
  • Patent number: 11047678
    Abstract: In a probe unit having a measuring probe, a signal processing circuit includes: a signal synthesizing portion configured to process an output of a detection element to output a composite signal obtained by synthesizing displacement components of a contact part in three directions perpendicular to one another; and a signal outputting portion configured to output a digital touch signal to the outside of the probe unit when the composite signal satisfies a predetermined threshold condition. The signal outputting portion includes three comparing portions each configured to compare a threshold condition with the composite signal. When the measuring probe measures the object to be measured, the signal outputting portion outputs the digital touch signal corresponding to outputs of the first and second comparing portions. Thus, there can be provided a probe unit and a measuring system that can stably make measurements with high accuracy while keeping high noise resistance.
    Type: Grant
    Filed: November 21, 2019
    Date of Patent: June 29, 2021
    Assignee: MITUTOYO CORPORATION
    Inventors: Satoshi Koga, Akinori Saito, Hiroyuki Kanamori
  • Patent number: 11045918
    Abstract: In a method for referencing a workpiece (2) arranged in a machine tool, an image of the workpiece (2) is first of all created using a camera device (5) of the machine tool and is then displayed on a display device (6). An X-Y display coordinate (9) is selected by a user using the displayed image. A Z reference coordinate is then determined in an automated manner. An X-Y-Z starting coordinate (7) can be calculated on the basis of the Z reference coordinate determined in an automated manner and the X-Y display coordinate (9) input by the user. A measuring probe (8) of the machine tool is then moved in an automated manner to the X-Y-Z starting coordinate (7) and the X-Y-Z reference coordinate of the workpiece (2) is determined on the basis of the position of the measuring probe (8), as predefined by the X-Y-Z starting coordinate (7), by means of a suitable determination method using the measuring probe (8).
    Type: Grant
    Filed: December 20, 2016
    Date of Patent: June 29, 2021
    Assignee: DATRON AG
    Inventors: Benjamin Böck, Gregor Leinfelder, Maximilian Barnikol
  • Patent number: 11045376
    Abstract: A robotic operating table according to one or more embodiments may include: a table on which to place a patient; a robotic arm including a plurality of joints, and including a first end supported on a base fixed to a floor, and a second end supporting the table; an operation device including: a move operation receiving unit that receives, from a user, a move operation to move the table, and a register operation receiving unit that receives, from a user, a register operation to register a position of a movement destination of the table and a movement-destination set operation; a memory; and a controller that causes the robotic arm to move the table based on the move operation received by the move operation receiving unit.
    Type: Grant
    Filed: February 27, 2018
    Date of Patent: June 29, 2021
    Assignees: MEDICAROID CORPORATION, KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yutaro Yano, Yoshiyuki Tamura, Yukihiko Kitano, Mitsuichi Hiratsuka, Hiroaki Kitatsuji
  • Patent number: 11029142
    Abstract: A coordinate measurement device comprises an articulated arm having a first end, a second end, and a plurality of jointed arm segments therebetween. Each arm segment defines at least one axis of rotation. A laser scanner assembly is coupled to the second end of the arm and is rotatable about a last axis of rotation of the articulated arm. The laser scanner assembly comprises a laser and an image sensor. The laser is positioned on an opposite side of the last axis of rotation from the image sensor.
    Type: Grant
    Filed: May 1, 2019
    Date of Patent: June 8, 2021
    Assignee: HEXAGON METROLOGY, INC.
    Inventor: Paul Ferrari
  • Patent number: 10996152
    Abstract: A two-dimensional nanoindentation measurement apparatus includes a first actuator that imparts a first force in a first direction, and a second actuator that imparts a second force in a second direction orthogonal to the first direction. A first elongate member has a first end attached to the first actuator and a second end attached to an indenter tip that engages the surface of the sample. A second elongate member includes a first end attached to the second actuator and a second end connected to the second end of the first elongate member. The first elongate member is rigid in the first direction and compliant in the second direction, and the second elongate member is rigid in the second direction and compliant in the first direction. The first force is imparted to the indenter tip in the first direction through the first elongate member, and the second force is imparted to the indenter tip in the second direction through the second elongate member.
    Type: Grant
    Filed: January 14, 2019
    Date of Patent: May 4, 2021
    Assignee: KLA-Tencor Corporation
    Inventors: Warren C. Oliver, Kermit H. Parks, Kurt Johanns, P. Sudharshan Phani, John B. Pethica
  • Patent number: 10969221
    Abstract: Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.
    Type: Grant
    Filed: March 17, 2020
    Date of Patent: April 6, 2021
    Assignee: HEXAGON TECHNOLOGY CENTER GMBH
    Inventors: Bernhard Sprenger, Claudio Iseli
  • Patent number: 10960542
    Abstract: A control device comprising: a processor controls a robot having a robot arm and accept a command from an input unit which enables an input operation; and a storage that stores information about a driving of the robot, wherein the processor carries out first drive control to move a predetermined part of the robot arm or of an end effector connected to the robot arm from a first position toward a second position if the processor accepts a first command to move the predetermined part, and second drive control to move the predetermined part in such a way as to return along at least a part of a route which the predetermined part traces when moving from the first position toward the second position, based on the information stored in the storage, if the processor accepts a second command to retract the predetermined part after the first command.
    Type: Grant
    Filed: June 8, 2018
    Date of Patent: March 30, 2021
    Inventor: Hiroto Hirabayashi
  • Patent number: 10962166
    Abstract: Calibration of a hexapod structure includes measuring a head pose of the hexapod structure relative to a base of the hexapod structure. Calibration of the hexapod structure also includes for each strut, independently increasing a length of each strut by a predefined amount from an original length and repeating the measuring of the head pose relative to the base. Calibration of the hexapod structure further includes for each strut, independently decreasing a length of each strut by a predefined amount from the original length and repeating the measuring of the head pose relative to the base. Additionally, calibration of the hexapod structure includes moving each strut back to the original length, and estimating joint errors for each strut prior to calibrating of the hexapod structure.
    Type: Grant
    Filed: August 2, 2018
    Date of Patent: March 30, 2021
    Assignee: United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventor: Yong Liu
  • Patent number: 10962361
    Abstract: A machine state monitoring system for recurrently determining a change in static or dynamic properties of a geometry of a machine with positional encoders to derive a coordinate information of at least a first machine portion with respect to a second machine portion, which are movable with respect to one another. The monitoring system includes one calibration-monitoring-unit with an optical, at least two-dimensional measuring location sensing unit which is fixed to the first machine portion and configured to optically sense an at least two dimensional location information of an artifact which is provided at the second machine portion, and temporarily moved into a sensing range for determining the change in the static or dynamic properties of the geometry of the machine by a comparison of multiple of such sensings, the compensation parameters are then updated and is used to derive the coordinate information from the encoders.
    Type: Grant
    Filed: November 26, 2018
    Date of Patent: March 30, 2021
    Assignee: HEXAGON TECHNOLOGY CENTER GMBH
    Inventors: Claudio Iseli, Johan Stigwall, Thomas Jensen, Frank Przygodda
  • Patent number: 10946519
    Abstract: Implementations are described herein for offline computation and caching of precalculated joint trajectories. In various implementations, an instruction may be obtained to move an end effector of a robot between start and target positions. A first type of trajectory planning may be performed in real time or “online” to calculate a first joint trajectory of the robot that moves the end effector from the start to target position. The robot may then implement the first joint trajectory. A second type of trajectory planning may be performed offline, e.g., during downtime of the robot, to precalculate a second joint trajectory of the robot to move the end effector from the start to target position. The second type of trajectory planning may require more resources than were required by the first type of trajectory planning. Data indicative of the precalculated second joint trajectory of the robot may be stored for future use.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: March 16, 2021
    Assignee: X DEVELOPMENT LLC
    Inventor: Mario Prats
  • Patent number: 10946526
    Abstract: A robot taping system for applying a sticky tape onto of an object; the robot taping system comprising: a scanner to scan the object; a computer to generate a 3D model of the object from a scan of the object obtained by the scanner, the computer allowing a user to define a selected area and the computer generating a taping path for covering the selected area with the tape; a programmable robotic arm configured to move along a trajectory corresponding to the taping path; a taping tool attached to a free end of the robotic arm and comprising a tape holder rod to support a roll of the tape thereabout and from where the tape is dispensed; and a taping roller to contact a non-sticky side of the tape and to press the sticky side of a tape onto the selected area during movement of the robotic arm along the trajectory.
    Type: Grant
    Filed: October 5, 2016
    Date of Patent: March 16, 2021
    Assignee: NANYANG TECHNOLOGICAL UNIVERSITY
    Inventors: I-Ming Chen, Qilong Yuan, Teguh Santoso Lembono
  • Patent number: 10914581
    Abstract: A power transfer configuration is disclosed for providing power to a stored coordinate measurement machine (CMM) probe. A storage rack comprising at least one CMM probe receptacle is mounted proximate to a CMM. The CMM may automatically attach and detach from the CMM probe and insert and remove it from the storage rack probe receptacle. The power transfer configuration comprises a primary electromagnetic winding mounted to the storage rack proximate to the probe receptacle, and a secondary electromagnetic winding located internal to and proximate to the CMM probe housing. When the CMM probe is in the probe receptacle, the primary electromagnetic winding receives alternating current and generates a changing electromagnetic field proximate to the CMM probe housing. The secondary electromagnetic winding generates power in the CMM probe in response to receiving the changing electromagnetic field. The CMM probe may be internally heated while stored, using the generated power.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: February 9, 2021
    Assignee: Mitutoyo Corporation
    Inventor: Kim Atherton
  • Patent number: 10905504
    Abstract: A robotic system includes a base, a grounding arm, a working arm, and one or more sensors. The grounding arm extends from the base and is configured to be coupled to a fixed structure within the mouth of the patient for establishing an origin for the robotic system. The working arm extends from the base and is configured to be coupled with one or more tools for use during an installation of a dental implant in the mouth. The one or more sensors are for monitoring positions of the grounding arm and/or the working arm and to generate positional data that is used to create a post-operative virtual three-dimensional model of at least a portion of the mouth of the patient.
    Type: Grant
    Filed: June 1, 2016
    Date of Patent: February 2, 2021
    Assignee: Biomet 3I, LLC
    Inventors: Zachary B Suttin, Stephen S. Porter
  • Patent number: 10900764
    Abstract: A measuring apparatus management system of the present invention includes an acquirer acquiring condition information indicating a status of a replacement component in each of a plurality of measuring apparatuses, and a predictor predicting a replacement time of the replacement component based on the condition information obtained by the acquirer.
    Type: Grant
    Filed: July 5, 2018
    Date of Patent: January 26, 2021
    Assignee: MITUTOYO CORPORATION
    Inventors: Toshiyuki Tamai, Kozaburo Suzuki
  • Patent number: 10895445
    Abstract: Rotary assemblies for arm segments of an articulated arm coordinate measuring machines are provided. The rotary assemblies include a drive assembly having an output shaft passing therethrough. The drive assembly includes a motor subassembly and an output subassembly having a gear assembly and a shaft engagement element. The motor subassembly is configured to drive the gear assembly and the shaft engagement element to drive the output shaft. In some embodiments, a motor controller is operably coupled to the motor subassembly. The motor assembly provides a torque on an arm segment about a second axis in response to a signal from the motor controller.
    Type: Grant
    Filed: September 14, 2018
    Date of Patent: January 19, 2021
    Assignee: FARO TECHNOLOGIES, INC.
    Inventors: Kishore Lankalapalli, Yue Li, John Lucas Creachbaum, Dragos M. Stanescu, Paul C. Atwell
  • Patent number: 10871366
    Abstract: A supplementary metrology position coordinates determination system is provided for use with a robot. A first accuracy level defined as a robot accuracy (e.g., for controlling and sensing an end tool position of an end tool that is mounted proximate to a distal end of a movable arm configuration of the robot) is based on using position sensors (e.g., encoders) included in the robot. The supplementary metrology position coordinates determination system includes an imaging configuration, XY scale, image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the movable arm configuration and the other is coupled to a stationary element (e.g., a frame above the robot). The imaging configuration acquires an image of the XY scale, which is utilized to determine metrology position coordinates that are indicative of the end tool position, with an accuracy level that is better than the robot accuracy.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: December 22, 2020
    Assignee: Mitutoyo Corporation
    Inventor: Michael Nahum
  • Patent number: 10850386
    Abstract: A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: December 1, 2020
    Assignee: Willow Garage, LLC
    Inventors: Eric H. Berger, Keenan Wyrobek
  • Patent number: 10837752
    Abstract: A method for capturing dynamic vibrations of a roughness sensor of a roughness measuring apparatus is provided. The movement of the roughness sensor relative to the roughness measuring apparatus and/or relative to a surface of a workpiece is captured by a measuring system in the frequency range below 100 Hz with a data capturing rate of greater than 100 Hz. The captured data of the relative movement are made available for further data processing in and/or stored. Moreover, a method for measuring the roughness of a workpiece surface is provided, in which the method for capturing the dynamic vibrations of a roughness sensor is used. In addition, a computer program product for controlling a roughness sensor of a roughness measuring apparatus in accordance with one of the methods is provided, and a roughness measuring device that is configured to carry out one of the methods.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: November 17, 2020
    Assignee: Carl Zeiss Industrielle Messtechnik GmbH
    Inventor: Philipp Mayinger
  • Patent number: 10830567
    Abstract: A non-Cartesian coordinate positioning machine that includes an extendable leg assembly for positioning a component such as a measurement probe within a working volume of the machine. The extendable leg assembly includes a first member and a second member which move relative to one another when the extendable leg assembly changes length. The first member including an axial arrangement of magnets forming part of a linear motor for extending and retracting the extendable leg assembly, and at least one resilient member for absorbing at least some of any axial thermal expansion or contraction of the magnets in use.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: November 10, 2020
    Assignee: RENISHAW PLC
    Inventor: Stephen Mark Angood
  • Patent number: 10814482
    Abstract: A robot controller controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement path including an arc portion, the robot controller including: a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data; a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of frequency data of the centrifugal force.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: October 27, 2020
    Assignee: Fanuc Corporation
    Inventors: Masakazu Ichinose, Takahiro Okamoto
  • Patent number: 10816484
    Abstract: The present invention aims at providing a defect inspection technique capable of setting parameters used for detecting a defect with a less burden to a user. A defect inspection device according to the present invention receives multiple reference values input by the user and calculates a defect extraction condition so as to optimize an evaluation value calculated with the use of the reference values, the number of actual reports, and the number of false reports.
    Type: Grant
    Filed: October 23, 2019
    Date of Patent: October 27, 2020
    Assignee: HITACHI HIGH-TECH CORPORATION
    Inventors: Toshifumi Honda, Takahiro Urano, Mamoru Kobayashi, Hisashi Hatano, Hironori Sakurai
  • Patent number: 10816334
    Abstract: Aspects of the present disclosure include apparatus, method, and computer readable medium for identifying a first geometric position of a first point in space and one or more second geometric positions of one or more respective second points in space associated with placement of the first tool member and a second tool member of a measurement tool, generating a final dimension of a part of the real-world structure based on at least the one or more second geometric positions according to relative geometric relationship with respect to the first point, and displaying a virtual schematic diagram of the real-world structure having the final dimension.
    Type: Grant
    Filed: December 4, 2017
    Date of Patent: October 27, 2020
    Assignee: Microsoft Technology Licensing, LLC
    Inventor: Jonathan Steven Robinson
  • Patent number: 10802679
    Abstract: A method for configuring a data analyzer is provided. The method comprises displaying to a user, on a presentation interface coupled to a processor, a graphical representation of at least a portion of the data analyzer. A data analyzer configuration for the data analyzer is then generated using a user input interface, which is coupled to the presentation interface and the processor. The presentation interface then displays to the user a plurality of selectable machine train components. The method also comprises generating, using the user input interface, an interactive graphical representation of a machine train including at least one of the selectable machine train components. Using the processor, a configuration file is generated based on the data analyzer configuration and the graphical representation of the machine train. The configuration file facilitates diagnosing operation of the machine train using the data analyzer.
    Type: Grant
    Filed: July 22, 2019
    Date of Patent: October 13, 2020
    Assignee: General Electric Company
    Inventors: Gregory Mark Alldredge, Daryl Ronald Frogget, Donald Evan Marshall, Brian Dean Abbott, Jacqueline Marie Tappan, John Whitney Kingham
  • Patent number: 10775150
    Abstract: An optical roughness sensor for a coordinate measuring machine, comprising a beam coupling unit for coupling and decoupling optical radiation, a local reference oscillator element for providing a reference path and an interferometric reference signal by means of a reference radiation component of the radiation, a first decoupling path comprising a first beam passage window for bidirectional transmission of a measuring radiation component of the radiation such that the measuring radiation component is aligned onto an object surface to be measured and a reflection of the measuring radiation component is acquired and a surface signal is provided by the reflected measuring radiation component. The reference path and the decoupling path interact such that the reference signal and the surface signal interfere and a roughness signal is derivable.
    Type: Grant
    Filed: July 25, 2018
    Date of Patent: September 15, 2020
    Assignee: HEXAGON TECHNOLOGY CENTER GMBH
    Inventor: Thomas Jensen
  • Patent number: 10757393
    Abstract: The invention is one optical measurement based three-dimension (3D) topology detection equipment. It is conducted to improve the reconstruction accuracy and achieve the objective of acquiring both macro and micro texture morphology. The invention provides a method to acquire both macro and micro texture morphology of pavement at the same time, which can be used to measure characteristics of a surface topology. The proposed method requires six light sources and is improved by adopting low-rank decomposition method, control point-based interpolation surface algorithm to solve normal vector, which can reduce the measurement error and improve the test accuracy. Six highlighting concentrated parallel light sources (HSL-58-105-W) are required in the method. The slant angles of six light sources are all 45° and the tilt angle of six light sources is 0°, 60°, 120°, 180°, 240°, 300°, respectively.
    Type: Grant
    Filed: May 6, 2018
    Date of Patent: August 25, 2020
    Assignee: AMERICAN ADVANCED TECHNOLOGY, LLC
    Inventors: Lu Sun, Yuanyuan Wang
  • Patent number: 10719947
    Abstract: A three-dimensional (3D) measurement system and method is provided. The system includes a noncontact measurement device, an annotation member and a processor. The noncontact measurement device being operable to measure a distance from the noncontact measurement device to a surface. The annotation member is coupled to the noncontact measurement device. The processor is operably coupled to the noncontact measurement device and the annotation member, the processor operable to execute computer instructions when executed on the processor for determining 3D coordinates of at least one point in a field of view based at least in part on the distance, recording an annotation in response to an input from a user, and associating the annotation with the at least one point.
    Type: Grant
    Filed: April 23, 2018
    Date of Patent: July 21, 2020
    Assignee: FARO TECHNOLOGIES, INC.
    Inventors: Reinhard Becker, Martin Ossig, Joseph A. Arezone, Gerrit Hillebrand, Rene Pfeiffer, Daniel Döring
  • Patent number: 10671047
    Abstract: A method and system for drilling holes in a repaired composite structure. Four corner holes are selected from holes outside of a repaired area in the repaired composite structure. The four corner holes define a rectangle encompassing the repaired area with sides that each include a pair of corner holes with intermediate holes in between. A surface representation is generated based on a scan of the repaired composite structure that includes the rectangle. Side hole locations between a corresponding pair of corner holes are generated for each side of the rectangle. Grid vector lines are generated between corresponding pairs of side hole locations on opposite sides of the rectangle. The grid vector lines intersect each other at intersection points on the surface representation. Point coordinates are determined for intersection points that lie within the repaired area. A path is created for drilling holes at point coordinates for the intersection points.
    Type: Grant
    Filed: March 15, 2018
    Date of Patent: June 2, 2020
    Assignee: The Boeing Company
    Inventors: Michelle Crivella, Christopher L. Brooks, Jr.
  • Patent number: 10663273
    Abstract: A coordinate measuring machine includes: a table and a column which are configured to relatively move in a predetermined moving direction; a guide surface formed on the table and having a guide region and a drive region extending in the moving direction in parallel to each other; at least one air pad formed to the column and facing the guide region; and a drive roller formed to the column and rolling on the drive region.
    Type: Grant
    Filed: January 2, 2018
    Date of Patent: May 26, 2020
    Assignee: MITUTOYO CORPORATION
    Inventors: Masahiro Sakamoto, Yoshikazu Ooyama, Masato Takizawa, Koji Takesako
  • Patent number: 10656616
    Abstract: A control device, a control program and a control system are provided. The control device includes: a first identification device for giving a first command as a command value to a drive device and determining a torque required for the controlled object to execute the first command; a second identification device for giving a second command as the command value and a third command as a compensation command to the drive device and determining a preceding switching time based on a response from the controlled object; a command value updating device for sequentially updating the command value based on a predetermined target trajectory; and a compensation command updating device for sequentially updating the compensation command based on the command value. The compensation command updating device updates the compensation command according to a moving direction after a reversal of the moving direction of the controlled object in the target trajectory.
    Type: Grant
    Filed: October 18, 2017
    Date of Patent: May 19, 2020
    Assignee: OMRON Corporation
    Inventors: SitiAisyah Azizan, Masaki Namie, Mikiko Manabe
  • Patent number: 10654172
    Abstract: A robot includes a movable unit that is movable in a first region and a second region. In a case where a first portion of the movable unit is positioned within the second region, a speed of the first portion is not 0 and is limited to a speed lower than the maximum speed of the first portion in a case where the first portion is positioned within the first region.
    Type: Grant
    Filed: May 12, 2017
    Date of Patent: May 19, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Izumi Iida, Hiroyuki Kawada
  • Patent number: 10641592
    Abstract: A portable coordinate measurement machine (CMM) includes an articulated arm including rotary joints. At least one of the rotary joints includes bearings; a shaft that engages an inner diameter of the bearings, the shaft configured to rotate about an axis of rotation of the bearings; a housing having at least one port that engages an outer diameter of at least one of the bearings; and at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft relative to the housing about the axis of rotation. The shaft has two ends, the two ends may be concentric to within one tenth of thousands of an inch (0.0001?), or the at least one port of the housing may have no portion whose diameter is narrower than the outer diameter of the first bearing or the second bearing.
    Type: Grant
    Filed: March 23, 2019
    Date of Patent: May 5, 2020
    Assignee: SA08700334
    Inventor: Allen Sajedi
  • Patent number: 10634478
    Abstract: A portable coordinate measurement machine (CMM) includes a manually-positionable articulated arm having first and second ends, the articulated arm including a plurality of arm segments and a plurality of rotary joints. At least one of the rotary joints from the plurality of rotary joints includes first and second bearings, a shaft configured to rotate about an axis of rotation of the first bearing and the second bearing, at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft about the axis of rotation, and a serial communication circuit configured to receive via serial communication a capture command.
    Type: Grant
    Filed: March 11, 2019
    Date of Patent: April 28, 2020
    Assignee: SA08700334
    Inventor: Allen Sajedi
  • Patent number: 10620609
    Abstract: A control device, a control program and a control system are provided. The control device includes: a first identification device for giving a first command as a command value to a drive device and determining a torque required for the controlled object to execute the first command; a second identification device for giving a second command as the command value and a third command as a compensation command to the drive device and determining a preceding switching time based on a response from the controlled object; a command value updating device for sequentially updating the command value based on a predetermined target trajectory; and a compensation command updating device for sequentially updating the compensation command based on the command value. The compensation command updating device updates the compensation command according to a moving direction after a reversal of the moving direction of the controlled object in the target trajectory.
    Type: Grant
    Filed: October 18, 2017
    Date of Patent: April 14, 2020
    Assignee: OMRON Corporation
    Inventors: SitiAisyah Azizan, Masaki Namie, Mikiko Manabe
  • Patent number: 10612907
    Abstract: The invention relates to a device and a method for tactile/optical measuring of geometric features and structures on a workpiece. In order to be able to precisely align the probe extension for performing precise measurements without problems, a probe is proposed comprising a probe extension (13) having a flexurally elastic design at least in segments and having a mounting segment for mounting in a receptacle (14) comprising a mounting segment (60) implemented as a rotational lock.
    Type: Grant
    Filed: June 13, 2019
    Date of Patent: April 7, 2020
    Assignee: WERTH MESSETECHNIK GMBH
    Inventors: Ralf Christoph, Ingomar Schmidt, Benjamin Hopp, Sebastian Zoeller, Markus Hechler, Stefan Gruenwald, Andreas Ettemeyer, Sabine Linz-Dittrich, Matthias Andraes
  • Patent number: 10598521
    Abstract: Apparatuses, systems and methods associated with a metrology system for high-speed, non-contact coordinate measurements of parts are disclosed herein. In embodiments, the metrology system includes a metrology bridge to be coupled to a measurement assembly. The measurement assembly may include a stage moveable across multiple independent axes. The bridge may include a housing, mounting members coupled to the housing, and a plurality of sensors mounted within the housing. The mounting members may rotatably couple the housing to the measurement assembly. Further, sensor elements of the plurality of sensor devices may be aligned along a length of the housing and may be directed out of the housing.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: March 24, 2020
    Assignee: DWFritz Automation, Inc.
    Inventors: Derek Aqui, Mark Baker, Chris Barns, Robert Batten, Shawn Boling, Jared Greco, Garrett Headrick, Clint Vandergiessen