US7395606B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
CMM arm with exoskeleton
Assignee: Nikon Metrology NV
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Filing: 2004-11-12
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Granted: 2008-07-08
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Expires: 2024-11-12
Abstract
Abstract Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmissions. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.
Inventors
- 👤 Stephen James Crampton
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 01:46
CPC Classifications
B; B25; B25J; B25J13/00; B25J13/08; B25J13/088; B25J9/00; B25J9/06; G; G01; G01B; G01B11/00; G01B11/02; G01B11/03; G01B5/00; G01B5/004; G01B5/008; G01B5/08; G01B7/00; G01B7/004; G01B7/008; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37274; G05B2219/40; G05B2219/40305
Claims Analysis
Total Claims: 32
Claim 1
Independent Claim
185 words
An apparatus comprising: a movable member having a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel; a continuous movable position reporting device having a base end, an opposing probe end and three or more stiff segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel; a transmission in contact with both said movable member and said movable position reporting device, wherein the contact of said transmission with said movable member is located anywhere between said probe end and the rotational axis of movement closest to said base end; such that movement of said movable member causes movement of said movable position reporting device; wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Claim 2
Independent Claim
185 words
An apparatus comprising: a movable member having a base end, an opposing probe end and three or more segments separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel; a continuous movable position reporting device having a base end, an opposing probe end and three or more stiff segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel; a transmission in contact with both said movable member and said movable position reporting device, wherein the contact of said transmission with said movable member is located anywhere between said probe end and the rotational axis of movement closest to said base end; such that movement of said movable member causes movement of said movable position reporting device; wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Claim 3
Dependent Claim
31 words
Apparatus in accordance with claim 1 wherein said transmission is located between the probe end segment of the movable member and the probe end segment of the movable position reporting device.
Claim 4
Dependent Claim
14 words
Apparatus in accordance with claim 1 wherein all said discrete transmissions are not rigid.
Claim 5
Dependent Claim
16 words
Apparatus in accordance with claim 1 wherein at least one of said discrete transmissions is rigid.
Claim 6
Dependent Claim
27 words
Apparatus in accordance with claim 4 wherein the number of said not rigid discrete transmissions between said movable member and said movable position reporting device is three.
Claim 7
Dependent Claim
13 words
Apparatus in accordance with claim 1 wherein said transmission comprises a continuous transmission.
Claim 8
Dependent Claim
27 words
Apparatus in accordance with claim 1 wherein said base end of said movable member and said base end of said movable position reporting device are rigidly attached.
Claim 9
Dependent Claim
22 words
Apparatus in accordance with claim 1 in which the number of axes of movement in said movable position reporting device is 6.
Claim 10
Dependent Claim
48 words
Apparatus in accordance with claim 8 wherein the types of said 6 axes of movement in said movable position reporting device listed from said base end to said probe end is AOAOAO where A is an axial axis of movement and O is an orthogonal axis of movement.
Claim 11
Dependent Claim
22 words
Apparatus in accordance with claim 1 in which the number of axes of movement in said movable position reporting device is 7.
Claim 12
Dependent Claim
48 words
Apparatus in accordance with claim 10 wherein the types of said 7 axes of movement in said movable position reporting device listed from said base end to said probe end is AOAOAOA where A is an axial axis of movement and O is an orthogonal axis of movement.
Claim 13
Dependent Claim
30 words
Apparatus in accordance with claim 10 wherein the groupings of said axes of movement in said movable position reporting device listed in order of shoulder, elbow and wrist is 2-2-3.
Claim 14
Dependent Claim
26 words
Apparatus in accordance with claim 1 wherein said movable member and said movable position reporting device have the same number of segments and axes of movement.
Claim 15
Dependent Claim
33 words
Apparatus in accordance with claim 1 wherein said movable member and said movable position reporting device are approximately coaxial and have similar segment lengths, similar axis orientations and similar centers of axis movement.
Claim 16
Dependent Claim
18 words
Apparatus in accordance with claim 1 wherein said movable member is exterior to said movable position reporting device.
Claim 17
Dependent Claim
13 words
Apparatus in accordance with claim 1 wherein said movable member is a robot.
Claim 18
Dependent Claim
16 words
Apparatus in accordance with claim 1 wherein said movable position reporting device is a CMM arm.
Claim 19
Dependent Claim
32 words
Apparatus in accordance with claim 1 that further comprises a controller for causing said probe end of said movable member to move in relation to said base end of said movable member.
Claim 20
Dependent Claim
14 words
Apparatus in accordance with claim 18 that comprises a single unit and is portable.
Claim 21
Dependent Claim
23 words
Apparatus in accordance with claim 1 further comprising one or more probes disposed on said movable position reporting device for collecting probe data.
Claim 22
Dependent Claim
18 words
Apparatus in accordance with claim 20 wherein any of said one or more probes is a stripe probe.
Claim 23
Dependent Claim
18 words
Apparatus in accordance with claim 20 wherein any of said one or more probes is an area probe.
Claim 24
Dependent Claim
19 words
Apparatus in accordance with claim 20 wherein any of said one or more probes is a touch trigger probe.
Claim 25
Dependent Claim
16 words
Apparatus in accordance with claim 1 further comprising a probe cover attached to said movable member.
Claim 26
Dependent Claim
23 words
Apparatus in accordance with claim 1 further comprising one or more tools disposed on said movable position reporting device for performing an operation.
Claim 27
Dependent Claim
21 words
Apparatus in accordance with claim 1 further comprising one or more tools disposed on said movable member for performing an operation.
Claim 28
Dependent Claim
66 words
Apparatus in accordance with claim 4 wherein said movable member and said movable position reporting device both have eight segments, and said not rigid discrete transmissions are located: on the base end side of the segment closest the probe end; on the base end side of the third segment from the probe end; and on the base end side of fifth segment from the probe end.
Claim 29
Independent Claim
157 words
A method for positioning a continuous movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps: a controller causes a motor to generate a driving torque; said driving torque is applied to a movable member resulting in movement of said movable member; said movable member causes movement of said transmission; said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device; said probe collects data of said object; a data processor receives a position from said movable position reporting device; said data processor receives said data from said probe; wherein said movable position reporting device has a plurality of segments connected in tandem by mechanical joints, and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Claim 30
Independent Claim
157 words
A method for positioning a continuous movable position reporting device with a probe disposed on said movable position reporting device for determining data of an object comprising the following steps: a controller causes a motor to generate a driving torque; said driving torque is applied to a movable member resulting in movement of said movable member; said movable member causes movement of said transmission; said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device; said probe collects data of said object; a data processor receives a position from said movable position reporting device; said data processor receives said data from said probe; wherein said movable position reporting device has a plurality of segments connected in tandem by mechanical joints, and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Claim 31
Independent Claim
186 words
A method for automatically positioning a continuous movable position reporting device comprising the following steps: a controller causes a motor to generate a driving torque; said driving torque is applied to a movable member resulting in movement of said movable member; said movable member causes movement of said transmission; said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device; wherein said movable member and said movable position reporting device both have a base end, an opposing probe end and three or more segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel wherein the contact location of said transmission with said movable member is anywhere between said probe end and the rotational axis of movement closest to said base end and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
Claim 32
Independent Claim
186 words
A method for automatically positioning a continuous movable position reporting device comprising the following steps: a controller causes a motor to generate a driving torque; said driving torque is applied to a movable member resulting in movement of said movable member; said movable member causes movement of said transmission; said transmission causes a force to be applied on a rigid part of said movable position reporting device resulting in movement of said movable position reporting device; wherein said movable member and said movable position reporting device both have a base end, an opposing probe end and three or more segments connected in tandem by mechanical joints, separated by two or more rotational axes of movement between said base end and said probe end wherein at least two of the said rotational axes of movement are not parallel wherein the contact location of said transmission with said movable member is anywhere between said probe end and the rotational axis of movement closest to said base end and wherein said transmission comprises a plurality of discrete transmissions and at least one of said discrete transmissions is not rigid.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2011-07-08 | 2012-01-07 | 2012-07-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2015-07-08 | 2016-01-07 | 2016-07-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2019-07-08 | 2020-01-07 | 2020-07-08 | $7700.00 | Window Closed / Lapsed |