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    • 专利摘要:
    Coordinate Measuring Machine (cmm) and Error Compensation Method in a cmm The present invention relates to a coordinate measuring machine (1) for determining at least one spatial coordinate of a measuring point (13) on an object (12) to be measured. the coordinate measuring machine (1) comprises a stationary base (3), a probe head (6) for approaching the measuring point (13) and a frame structure (15) for connecting the probe head (6) ) on the base (3). hereby the frame structure (15) comprises at least one first and a second frame component (14, 22, 24) and at least one linear drive mechanism (2) which movably connects the first and second components. (14, 22, 24) for providing mobility of the probe head (6) to the base (3) in a first direction (x, y, z). According to the invention, a first reference path is provided by an optical reference beam (71), wherein the reference beam (71) extends along a guide of the linear drive mechanism so that the reference is parallel to the first direction (x, y, z). Additionally, at least one displacement sensor (9, 9a, 9b) is designated for the reference beam (71), the reference beam (71) and the displacement sensor (9, 9a, 9b) being designed and disposed. such that a displacement of the movable member of the linear drive mechanism relative to the first reference path is measurable and is indicative of a translational and / or rotational displacement of the movable member from its common support position.
    公开号:BR112012000111B1
    申请号:R112012000111-6
    申请日:2010-07-02
    公开日:2019-10-08
    发明作者:Bo Pettersson；Knut Siercks
    申请人:Leica Geosystems Ag；
    IPC主号:
    专利说明:

    Descriptive Report of the Invention Patent for COORDINATE MEASUREMENT MACHINE (CMM) AND ERROR COMPENSATION METHOD IN A CMM.
    [001] The present invention relates generally to a coordinate measuring machine (CMM) for determining at least one space coordinate of a measuring point and to an error compensation method on a coordinate measuring machine ( CMM).
    [002] It is a common practice after the workpieces have been produced to inspect them on a coordinate positioning device, such as a coordinate measuring machine (CMM) that has a movable probe head within a workload of the machine.
    [003] In a conventional three-dimensional measuring machine, the probe head is supported for movement along three mutually perpendicular geometric axes (in the X, Y, and Z directions).
    [004] In a simple machine form, a suitable transducer mounted parallel to each geometry axis is able to determine the position of the probe head in relation to a machine base and, therefore, to determine the coordinates of a measuring point on a object being approached by the probe.
    [005] There are several possible sources of error if such a technique is employed. A lack of straightness in movement and orthogonality of the geometric axes is a major cause of such errors. An additional cause of error is the angular rotation of the cars around the axes perpendicular to their directions of movement. Such errors, often referred to as Abbé errors, depend not only on the rotation, but also on a lateral displacement of the linear drive mechanisms.
    Petition 870190048652, of 05/24/2019, p. 4/51
    2/37 [006] Additional sources of errors may include external influences such as vibrations, temperature variation, pressure variation, humidity variation, aging of CMM frame structure components, etc.
    [007] Specifically, the following error factors can occur:
    - scale errors on the geometric axes,
    - horizontal straightness errors on the geometric axes,
    - vertical straightness errors on the geometric axes,
    - inclination errors on the geometric axes,
    - yaw errors on the geometric axes,
    - scrolling errors on the geometric axes, and
    - angular errors between the geometric axes.
    [008] Also, the weakness in the CMM frame structure (which can lead to a bending of, for example, the CMM legs or bridge - causes errors.
    [009] Many attempts have been made to provide a correction for the various sources of errors referred to. For example, it is known to introduce a deliberate and known error in the transducers by various means. However, such corrections only apply for a given location in the measurement volume.
    [0010] An alternative technique is to calibrate the machine, measuring existing errors at various points and storing them so that they can be applied when the machine is actually used. Exemplarily in connection with such calibration methods, for each geometric axis (x, y, z) and each linear drive mechanism, some geometric errors dependent on the geometric axis are measured - for example, slope, yaw, straightness (on two geometric axes) orthogonal) and scroll. This measurement can be done by some kind of increment (for example, every 20 mm), and the data accumulates
    Petition 870190048652, of 05/24/2019, p. 5/51
    3/37 of the data are stored in a calibration table (either on the machine or in the software) and are used when operating the machine in such a way that the data in the table corrects geometric errors depending on the position. In addition, there is, of course, the angularity between the geometric axes (x, y, z) and some scale factor for each geometric axis. The calibration method is usually carried out on a complete modified machine.
    [0011] As can be imagined, such a calibration process takes time, especially for a large machine. However, any adjustments to the machine during use would invalidate the calibrations. Another disadvantage with calibration methods is that they will only take care of completely repeatable errors. It is also necessary to calibrate the probe during the same conditions as in the machine's working state. This means that if the machine operates at 100 mm / s, the calibration procedure must also be performed at this speed, and if - for some reason - a change in operating speed is required, a recalibration of the machine with this new speed would be required.
    [0012] Another aspect that needs to be considered is that the accelerations in the probe cause dynamic deflections of the coordinate measuring machine which in turn cause measurement errors. These measurement errors can be reduced by taking measurements at low accelerations. However, productivity demands increased throughput as well as increased inspection speed. With this, the probe experiences higher accelerations during measurements and larger dynamic structural deflections of the system - specifically in the CMM frame structure - result. This causes an inaccurate account of the geometric position of the probe's X, Y, Z.
    [0013] Specifically, some coordinate measuring machines exhibit significant driving vibration at high
    Petition 870190048652, of 05/24/2019, p. 6/51
    4/37 speed. A source of error that causes vibration is the machine's mechanical drive system. The errors caused by these vibrations (typically above 5 Hz) are not suitable for compensation methods calculated for the dynamic errors described above as the vibration causes a non-repeatable behavior at high speed which causes measurement errors.
    [0014] Furthermore, a variety of probes are used in a coordinate measuring machine for measurements within the scale coordinate system, which includes reference scales arranged along geometric axes that configure the three-dimensional measurement space. In order to provide the coordinate measuring machine with an improved measuring accuracy, the structure of its frame is required to have a high static rigidity.
    [0015] Exemplarily, EP 1 559 990 describes a coordinate measurement system and a method for correcting the coordinates measured on a coordinate measuring machine. Hereby, geometric errors are measured while parts with various weights are mounted on the coordinate measuring machine. The compensation parameters are derived from results measured by a part weight and stored. A compensation parameter that corresponds to a part weight to be measured is properly read to correct the measured coordinates of the part to be measured.
    [0016] As an additional example, EP 1 687 589 describes an error compensation method on a coordinate measuring machine with an articulated probe head that has a surface detection device. The surface detection device is rotated around at least one geometric axis of the articulated probe head during measurement. The method comprises the steps of: determining the rigidity of all or part of the device, determining
    Petition 870190048652, of 05/24/2019, p. 7/51
    5/37 to determine one or more factors which refer to the load applied by the articulated probe head at any specific time, and to determine the measurement error in the surface detection device caused by the load.
    [0017] Also, GB 2 042 719 describes a measuring device that has three mutually perpendicular geometric axes, in which errors due to rotations around the various geometric axes are corrected.
    [0018] Another proposal for the correction of errors in measurements of parts working with a coordinate measuring machine (CMM) is described in GB 2 425 840. Through this, the position measurements are made with a probe of detection of work piece, in which a means to measure the acceleration is provided. The measurements are corrected for both high frequency (non-repeatable) errors and those due to vibration, and low frequency (repeatable) errors such as those due to centrifugal forces on the probe. The correction method comprises measuring the workpiece, determining the repeatable measurement errors of an error function, error map or predetermined error lookup table, measuring the acceleration and calculating the non-repeatable measurement errors, combining the first and second measurement errors to determine total errors and correct workpiece measurements using total errors. The predetermined error map is calculated using an artifact of known dimensions.
    [0019] It is also known to use accelerometers mounted on the probe (or Z column) of the machine and on the base table (for a differential measurement). The displacements and errors of the probe position are measured with double integration, and from this it will be possible to adjust the reading with the difference between the double integrated signal and the scales.
    [0020] However, when using accelerometers, these usual
    Petition 870190048652, of 05/24/2019, p. 8/51
    6/37 will become noisy when the frequency is relatively low. This can provide a signal to noise ratio. Furthermore, it may only be possible to measure the differences during acceleration, which means that - in general - it may be necessary to calculate the acceleration of the scale position and compare it with the measured acceleration, and to double-integrate the difference. However, these may not be enough information to accurately calculate the exact position of the probe. The use of such a method also does not allow the measurement of static changes (that is, friction in combination with dynamic changes will not be considered).
    [0021] It is, therefore, an objective of the present invention to provide an improved CMM coordinate measuring machine and a method, in which errors caused by dynamic effects (for example, when performing a high-speed scan), errors caused by structures weak or static changes (eg changes brought about by friction or load on the CMM frame structure) and / or errors caused by external influences (eg changes in temperature, vibration, pressure) can be compensated for in an improved way.
    [0022] Specifically, displacement errors in each CMM linear drive mechanism (in X, Y, Z directions) and / or deflections and deformations (for example, bending) in the CMM frame structure caused, for example, by load, the movements and / or accelerations of the probe must be precisely recognized and compensated.
    [0023] This objective is achieved by realizing the characteristics of the invention. The characteristics which further develop the invention in an alternative or advantageous manner are described in the embodiments.
    [0024] The present invention relates to a measuring machine
    Petition 870190048652, of 05/24/2019, p. 9/51
    7/37 coordinates (CMM) for determining at least one spatial coordinate of a measurement point on an object to be measured. The CMM comprises at least one base (specifically a stationary base, for example, a measuring table to support the object to be measured), a probe head to approach the measurement point and a frame structure to connect the probe head at the base.
    [0025] The frame structure comprises at least one first and second frame component and at least one linear drive mechanism that movably connects the first and second frame components in such a way that the probe head is mobile with respect to the base in at least one first direction (X, Y, Z).
    [0026] Here, the at least one linear drive mechanism comprises a linear guide in the first direction, a movable member being supported for movement along the guide by bearings, and a linear measuring instrument for determining a first drive position moving member in the first direction (X, Y, Z).
    [0027] According to the invention, a first reference path is provided with at least one first optical reference element designed as an optical reference beam, in which the reference beam extends along the guide of the linear drive mechanism so that the reference path is parallel to the first direction (X, Y, Z).
    [0028] Furthermore, at least one displacement sensor is designated for the reference beam, the reference beam and the displacement sensor being designed and arranged in such a way that a displacement of the movable member in relation to the first reference path are measurable being indicative of a displacement
    Petition 870190048652, of 05/24/2019, p. 10/51
    8/37 translational and rotational of the movable member from a common support position.
    [0029] Furthermore, displacement sensors are built as photosensitive detector elements being built to measure the distances to the reference beam and / or the impingement positions of the reference beam, the distances respectively from the impingement positions being indicative of the displacement of the movable member in relation to the first reference path in a direction perpendicular to the first direction (X, Y, Z).
    [0030] At least the first displacement sensor is constructed in order to partially transmit the optical reference beam and at least the second displacement sensor is designated for a transmitted part of the optical reference beam.
    [0031] In more details, the displacement sensor can also comprise a beam splitter to couple out at least part of the reference beam and direct it over the photosensitive detector element. Here, the photosensitive detector element can be exemplarily constructed as a CCD network, a CMOS network, a PSD or quadrant detector.
    [0032] In the case where - exemplarily - the linear guide is provided on or by the first frame component and the movable member is provided on or by the second frame component, a laser source can be installed on the first frame component providing the reference beam and at least one displacement sensor can be attached to the second frame component in such a way that it faces in the direction of the laser source.
    [0033] Here, the laser source can, for example, be designed as a laser diode with a collimation optics.
    [0034] According to the invention, two or more displacement sensors - specifically three to five - are designated for the
    Petition 870190048652, of 05/24/2019, p. 11/51
    9/37 reference beam, the reference beam and displacement sensors being designed and arranged in such a way that two or more distances from defined positions on the movable member to the reference beam and / or the beam impingement positions reference values are measurable by the displacement sensors, in which the design is constructed in such a way that the distances respectively from the impingement positions indicate the translational and rotational displacements of the movable member from a common support position.
    [0035] The coordinate measuring machine (CMM) still comprises a calculation unit for determining the space coordinate. According to the invention, not only the linear positions of the drive mechanisms (for example, the first drive position of the first linear drive mechanism), but also the measured translational and / or rotational displacements of the moving member are considered for the determination of the space coordinate.
    [0036] With this, the determination of space coordinates is performed as a function of at least:
    - the first actuation position of the first linear actuation mechanism and
    - the translational and / or rotational displacements of the moving member of the common support position.
    [0037] According to the methodological aspects of the invention, the following steps are performed:
    - provide a first reference path parallel to the first direction (X, Y, Z) generating an optical reference beam that extends along the guide of the linear drive mechanism,
    - measure at least two displacements of the movable member in relation to the first reference path so that the displacements are indicative of a translational and rotational displacement
    Petition 870190048652, of 05/24/2019, p. 12/51
    10/37 of the movable member of a common support position, in which:
    - measuring the displacements is provided by displacement sensors being built as photosensitive detector elements being built to measure the distances to the reference beam and / or an impingement position of the reference beam indicative of the displacement of the movable member in relation to the first path reference in a direction perpendicular to the first direction (X, Y, Z) and
    - at least one first displacement sensor being partially transmissible to the optical reference beam and at least one second displacement sensor being assigned to a transmitted part of the optical reference beam, and
    - compensate for the errors that occur in connection with the measurements performed by the inventive CMM and described above, specifically the weaknesses in the bearing of the linear drive mechanism, using at least one actual determined displacement. [0038] According to the invention, there will be no need (at least not necessarily) to perform a separate and time-consuming calibration procedure for geometrical axis-dependent geometric errors on a machine assembled in advance - as known from modern best practice.
    [0039] With this, as geometrical axis-dependent geometric errors can be detected in parallel and concurrent with actual measurements, the disadvantages of compensating for errors by executing a calibration method according to modern best practice (ie, a process extended time calibration; different conditions invalidate calibrations; only completely repeatable errors can be considered; etc.) can be removed or at least significantly reduced according to the invention.
    [0040] According to additional CMM aspects of the invention,
    Petition 870190048652, of 05/24/2019, p. 13/51
    11/37 not only can an optical reference beam (ie, the first optical reference element) be provided, but also a second or more reference elements can be arranged on the frame structure, each to provide a path of substantially unloaded reference over a part of the frame structure in which at least one displacement sensor, specifically two to five displacement sensors, can be assigned to each of the reference elements. According to a more general scope, the reference elements and displacement sensors are then designed and arranged in such a way that the displacements and / or deformations of the frame structure are measurable in relation to the unloaded reference paths.
    [0041] Here, the second or more reference elements can each be designed as additional optical reference beams analogous to the first optical reference element as described above. Alternatively, however, one or more of the second or more reference elements can also be designed as a mechanical reference element that extends along a part of the frame structure, where the mechanical reference element can be fixedly attached to the structure frame in a substantially unloaded mode.
    [0042] Referring to both the optical and mechanical alternatives, as a more general aspect, the second or more reference elements can be arranged on the frame structure to provide a substantially unloaded reference path over part of the frame structure.
    [0043] Furthermore, at least one displacement sensor is designated for the reference elements, in which the reference elements and the displacement sensor are designed and arranged in such a way that the displacements and / or deformations of the structure of
    Petition 870190048652, of 05/24/2019, p. 14/51
    12/37 framework in the region of the respective parts are measurable in relation to the reference paths.
    [0044] Specifically, the reference elements and displacement sensors are designed and arranged in such a way that the distances between the reference paths and the locations defined on the frame structure are measurable by the displacement sensors, where the distances indicate the displacements and / or deformations of the frame structure in the region of the respective parts.
    [0045] In general, the reference element can extend over the linear drive mechanism and at least a part of one of the frame components. Here, the reference element is fixedly attached to the first frame component and the displacement sensor is arranged in such a way that a distance from the reference element to a defined location on the frame component is measurable. For example, the mechanical reference element can be installed in such a way that it elongates along the linear drive mechanism parallel to the linear movement direction of the movable member, where the reference element is mounted in a mode decoupled from the structural forces. CMM staff. One or more displacement sensors can then be arranged to detect a distance between a defined location of the movable member and the mechanical reference element. This distance can indicate a translational displacement of the movable member from a common support position (in the case of more than one measured distance, rotational displacements can also be indicated).
    [0046] As you know from modern best practice, the linear drive mechanism can comprise a linear guide in the first direction, a movable member being supported for movement along the guide by bearings, and the linear measuring instrument for determining from a first trigger position of the
    Petition 870190048652, of 05/24/2019, p. 15/51
    13/37 movable member in the first direction (X, Y, Z). Furthermore, the coordinate measuring machine may comprise a calculation unit for determining the space coordinate of the point to be measured (and being approached by the probe) as a function of at least the first trigger position. According to the invention, the deformation and / or the detected displacements are also considered for determining the space coordinate. For example, the detected displacements and / or deformations can be directly considered when calculating the spatial position of the probe head with respect to a reference position and / or be used in order to compensate for scale errors in connection with the determination of positions displacement by linear measuring instruments.
    [0047] Alternatively to the modality here the reference element extends over a part of the CMM which comprises a drive mechanism, one of the reference elements can also be designed and arranged in such a way that it extends only along a part not frame structure (for example, along at least part of the legs or bridge). The reference element can be installed, for example, parallel to and - specifically minimally - away from the surface of the frame structure. Specifically, the reference element can be fixed to the frame structure at only one of its ends and the displacement sensor can be arranged in order to detect a distance between the other end of the reference element and a defined location facing the structure of the frame. painting. This means that only a first end of the reference element is fixedly attached to the frame structure and the displacement sensor is arranged in such a way that displacement and / or deformation is indicated by measuring a position from a defined location
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    14/37 on the frame structure with respect to the second facing end of the reference element.
    [0048] As mentioned, one of the second or more reference elements can be designed with an elongated mechanical reference element - for example, a reference frame or a reference rod - that extends along a first part of the frame structure . The frame or reference rod is fixedly attached to the frame structure in a substantially unloaded manner. Specifically, the frame of reference can be attached to only one end of the frame structure. The displacement sensor can be constructed as a capacitive or inductive optical distance sensor and can be arranged either on the reference frame or at the location defined on the frame structure. The detected distance indicates a deformation of a known part of the frame structure or a displacement in the linear drive mechanism (for example, a displacement of the movable member from its common bearing position).
    [0049] The mechanical reference element can be designed from a material that is highly resistant to deformations caused by temperature, pressure, humidity, aging or similar factors. Exemplarily, the mechanical reference element (e.g., the reference rod) may consist of or comprise invar or a carbon fiber material.
    [0050] Alternatively to a mechanical design of the reference element, according to the invention, the first reference element (and also one or more of the second or more reference elements) can also be designed as an optical reference beam, specifically a collimated or focused laser beam, which extends along a known part of the frame structure. The reference beam can be emitted by a direct mounted laser source
    Petition 870190048652, of 05/24/2019, p. 17/51
    15/37 about the frame structure in a known location and in a defined and known direction. Specifically, the laser beam is directed parallel to a surface of the CMM frame structure. Here, the displacement sensor can be constructed as a photosensitive detector element being constructed to measure a distance to the reference beam and / or an impingement position of the reference beam. Specifically, the displacement sensor may further comprise a beam splitter to couple out at least a part of the reference beam and direct it over the photosensitive detector element. The photosensitive detector element can be designed as a CCD network, a CMOS network, a PSD sensor or quadrant detector.
    [0051] Here, the reference path is functionally generated or represented by the reference element. In the case where the reference element is designed as a mechanical reference element, the reference path can, for example, be represented by its surface, where the shape of the element can be highly precisely measured and calibrated before installing it. about CMM. In the case where the reference element is projected as an optical reference beam, the path can be represented by the optical geometric axes of the beam.
    [0052] Furthermore, according to the invention, also two or more displacement sensors, specifically three to five, can be assigned to each reference element, in which the reference element and displacement sensors are designed and arranged in such that two or more distances between the first reference element (that is, the reference path) and the locations defined on the frame structure are measurable by the displacement sensors. The detected distances, thus, can indicate the displacements and / or deformations of the frame structure in the region of
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    16/37 first part with more than a degree of freedom.
    [0053] According to the generic CMM technique, the frame structure preferably comprises four frame components and three linear drive mechanisms that connect the four frame components movably, to provide mobility of the probe head in relation to the base in a first, second and third directions X, Y, Z. As you know, each linear drive mechanism may comprise a linear guide in the first, second in the third directions respectively X, Y, Z, a movable member being supported for movement along the guide by bearings and a linear measuring instrument for determining the first, second or third actuation position, respectively, of the movable member in the first, second and third directions X, Y, Z, respectively . The CMM calculation unit can be designed to determine the space coordinate as a function of at least the first, second and third actuation positions as well as - according to the invention - the deformation and / or the displacement indicated by the displacement sensors.
    [0054] In summary, by measuring the distances between the locations defined on the frame structure and the reference elements / paths, displacements and / or deflections of the frame structure as well as the displacements of the displacement members (cars) can be detected and determined. As an advantage over modern best practice, the method can be used to compensate for static changes (changes introduced by friction, etc.) as well as dynamic effects (accelerations of the probe head).
    [0055] Also a method to compensate for errors in a coordinate measuring machine as described above is provided, the CMM determining at least one spatial coordinate of a
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    17/37 measurement point on an object to be measured. According to the method, at least one displacement of the frame structure in the region of a first part is measured in relation to an external reference element, substantially unloaded, which extends along the first part of the frame structure and is arranged about it. Errors, specifically the weakness in a linear drive mechanism bearing and / or deformations in the frame material (caused by probe load and / or variations in temperature, pressure, humidity) are compensated for using at least displacement and / or determined actual deformation.
    [0056] With this, there will be no need (at least not necessarily) to perform a separate and extensive calibration procedure for geometrical axis-dependent geometric errors on a machine assembled in advance - as known from modern best practice.
    [0057] In the case where the reference element is projected as an optical reference (a collimated laser beam or similar), it can be assumed that the beam is straight and that geometric errors dependent on the geometric axis can be measured directly using the displacement sensors (which measure deviations from the beam preferably in different directions). In the case where the reference element is designed as a mechanical reference (for example, a physical beam) the reference beam can be separately measured and calibrated before installing it on the CMM doing this the same results can be achieved that for the beam of light, that is, that the shape and stroke of the mechanical reference element are known with high precision. This generally means that the geometric precision is located on the reference element and not the machine structure.
    [0058] With this, as the axis-dependent geometric errors
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    18/37 geometry can be detected in parallel and concurrent with the actual measurements, the disadvantages of compensating for the errors by executing a calibration method according to modern best practice (ie, the extended time calibration process; different conditions invalidate the calibrations; only fully repeatable errors can be considered; etc.) can be removed or at least significantly reduced according to the invention.
    [0059] The invention will be explained in more detail below with reference to examples of possible modalities schematically shown in the drawings, in which;
    [0060] Figure 1 shows an example of the bridge type coordinate measuring machine according to the invention;
    [0061] Figure 2 shows reference rods as mechanical reference elements being mounted on the frame structure only on one of its ends;
    [0062] Figure 3 shows a reference laser beam as the optical reference element for the X car;
    [0063] Figure 4 shows a linear X drive mechanism, in which a collimated reference laser beam as the reference element extends along the bridge and two displacement sensors are arranged on the X carriage;
    [0064] Figure 5 shows the optical displacement sensors, each to measure a distance from the reference laser beam;
    [0065] Figure 6 shows a side view of a bridge-type CMM with a mechanical reference element, in which the displacement sensors are designated for the reference element;
    [0066] Figure 7 shows a side view of a bridge-type CMM with a mechanical reference element, in which the displacement sensors are assigned to the reference element;
    [0067] Figure 8 shows a side view of a CMM of the type of
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    19/37 bridge with a mechanical reference element, in which the displacement sensors are assigned to the reference element;
    [0068] Figure 9 shows a front view of a gantry-type CMM - according to the invention - with a mechanical reference element and an optical reference element;
    [0069] Figure 10 shows a side view of the CMM of the gantry type of Figure 9;
    [0070] Figure 11 shows a front view of a bridge type CMM with an optical reference element to indicate a bridge fold;
    [0071] Figure 12 shows a front view of a bridge-type CMM with an optical reference element to indicate a bridge fold; and [0072] Figure 13 shows a front view of a bridge type CMM with an optical reference element to indicate a bridge fold.
    [0073] In Figure 1, an exemplary embodiment of the coordinate measuring machine 1 that has a frame structure 15 for connecting probe head 6 to base 3 (where frame structure 15 comprises several frame components 14, 22 , 24 being mobile with respect to each other) according to the invention is presented.
    [0074] In detail, the coordinate measuring machine 1 comprises the base 3, on which a portal 15 (as one of the frame components) - being supported by bearings - is arranged so that it can be moved in the direction longitudinal (Y direction). Portal 14 has two portal legs 16, 18, which are connected by a bridge 20 at their upper ends.
    [0075] An X 22 car (as an additional frame component), which can be driven along the bridge, that is, in a direction of
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    20/37 space that connects the two portal legs 16, 18 (X direction), is placed on the bridge 20. A plunger or column Z 24 (as an additional frame component) can be moved in a third direction of space ( direction Z). Therefore, the column Z 24 is supported for movement in the Z direction by bearings which are integral with the X 22 carriage. The three space directions X, Y and Z are preferably orthogonal to each other, although this is not necessary for the present invention.
    [0076] Usually, the components of the frame structure of the
    CMM (ie, the X carriage, the X beam (bridge)) can be made of aluminum, granite, ceramic or steel / iron and have a wall thickness and rigidity adapted to the load.
    [0077] The two most common types of bearings between moving members and guides are air bearings or mechanical bearings (for example, linear circulation plus rails). Air bearings have the advantage that there is no friction in the movement (which can introduce different types of errors such as angle errors or hysteresis). The disadvantage of air bearings is that the stiffness is usually lower than that of mechanical bearings, so that specifically dynamic errors can occur. In mechanical types, the stiffness in the bearing system is usually higher, but there is friction and frictional forces can introduce errors. However, the invention can be applied to both types of bearings.
    [0078] In summary, the coordinate measuring machine 1 is built for determining three space coordinates of a measuring point 13 under an object 12 to be measured and, therefore, comprises three linear drive mechanisms for the provision of mobility of the probe head 6 in relation to the base 3 in the first, second and third directions (direction X, Y and Z).
    [0079] Each linear drive mechanism has a line guide
    Petition 870190048652, of 05/24/2019, p. 23/51
    21/37 air, one in the first, one in the second and one in the third direction (direction X, Y and Z), respectively. In a simple embodiment, the linear guide of the Y direction drive mechanism is formed by two edge construction surfaces of the base 3, the linear guide of the X direction drive mechanism is formed by two or three surfaces of the bridge 20 and the linear guide of the Z direction drive mechanism is formed by a cubic hole in the carriage member X.
    [0080] Furthermore, each linear drive mechanism comprises a movable member being supported for movement along the guide by bearings. Specifically, the movable member of the X steering drive mechanism is incorporated as the Y 28 carriage which has mutually facing surfaces with respect to the two aforementioned guide surfaces of the base 3. The movable member of the X steering drive mechanism is incorporated as the carriage X 22 which has mutually facing surfaces with respect to the two or three aforementioned guide surfaces of the bridge 20. And, the movable member of the Z steering drive mechanism is formed by column Z 24 which has mutually facing surfaces with respect to the internal surfaces of the X 22 cubic hole.
    [0081] Furthermore, each linear drive mechanism comprises a linear measurement instrument for determining a first, second or third drive position, respectively, for each movable member in the first, second or third direction (direction X, Y and Z), respectively.
    [0082] A probe head 6, on which a stylus is exemplarily disposed, is attached to the lower free end of column Z 24. The stylus is used in a manner known to you to touch the object 12 to be measured. However, the present invention is not restricted to a tactile coordinate measuring machine and can
    Petition 870190048652, of 05/24/2019, p. 24/51
    22/37 likewise be used for coordinate measuring machines in which a measuring point is approached in a non-contact mode, that is, for example, a coordinate measuring machine with an optical scanning head. More generally, probe head 6 can be designed to provide a contact probe, for example, a scanning or touch trigger probe, or a non-contact probe, specifically an optical, capacitance or inductance probe.
    [0083] Furthermore, the invention is not restricted to a coordinate measuring machine in the portal bridge design as shown here. This can also be used for coordinate measuring machines in a gantry design as shown in Figures 8 and 9, in which only bridge 20 with two supports, which function as very short feet, can travel along two tracks highly placed fixtures. Furthermore, the invention can generally be used for all types of coordinate measuring machines, that is, for a CMM being designed as a parallel kinematics machine as well as for a CMM having linear or serial kinematics. Exemplarily, the CMM can be designed in bridge type, L-bridge type, horizontal arm type, cantilever type or gantry type.
    [0084] In this exemplary embodiment of Figure 1, the portal legs 16, 18 each have a mobile Y carriage 28 which allows the movement of the portal 14 - which includes the bridge 20 - in the Y direction.
    [0085] A 30Y measuring scale being part of the Y measuring instrument is schematically represented on the long side of the base 3, where the 30Y scale extends parallel to the Y direction. The scale can be a glass measuring scale, for example example, which has an incremental or absolute coding, with which a trigger position in the Y direction of the Y 28 carriage can be determined. It should
    Petition 870190048652, of 05/24/2019, p. 25/51
    23/37 it should be understood that the measuring instrument may further contain sensors suitable for reading the 30Y measurement scale, although for the sake of simplicity these are not represented here. However, it should be noted that the invention is not restricted to the use of glass measuring scales, and therefore can also be used with other measuring instruments to record the actuating positions / displacements of the moving members of the actuation mechanisms.
    [0086] Another measuring scale 30X is arranged parallel to the X direction on the bridge 20. Finally, another measuring scale 30Z is also arranged parallel to the Z direction on the Z plunger 24. Using the measuring scales 30X, 30Z as part of the linear measuring instruments, it is possible to record the current drive positions of the car X 22 in the X direction and of the column Z 24 in the Z direction metrologically in a mode which is known to you.
    [0087] In the embodiment shown, the base 3 comprises a table with a granite surface plate to support an object 12 to be measured, on which the space coordinates of the measuring point 13 are to be determined.
    [0088] Also shown is a control and calculation unit 11, which is designed to actuate the motor drives of the coordinate measuring machine 1 so that the probe head 6 moves to the measuring point 13. For operation manual, the control unit 11 can be connected to a user console 32. It is also possible for the control unit 11 to automatically approach and measure the measuring points 13 of the object 12 to be measured.
    [0089] The control and calculation unit 11 contains a processor and a plurality of memories 36, 38. Specifically, the control and calculation unit 11 is designed to determine the three coor
    Petition 870190048652, of 05/24/2019, p. 26/51
    24/37 space of measurement point 13 on object 12 as a function of at least the first, second and third actuation positions of the three actuation mechanisms.
    [0090] According to the invention, as shown in more detail in the following figures, the reference element 71 can be installed in such a way that it extends along the linear drive mechanism parallel to the linear movement direction Y of the movable member, wherein the reference element 71 is unloaded and therefore decoupled from forces which are loaded by the CMM frame structure. For example, reference element 71 is designed as a collimated reference laser beam emitted by a laser source 75. One or more displacement sensors 9a, 9b can then be arranged on the carriage of the movable member so that they are capable of detecting a distance between defined locations of the movable member and the reference laser beam. These distances indicate a translational or rotational displacement of the movable member from a common support position (for example, a translational displacement in the X and / or Z direction or an inclination error).
    [0091] The displacement or displacements hereby detected, with this, can additionally be used, for example, in order to:
    - directly compensate for scale errors in connection with the determination of displacement positions by linear measuring instruments and / or
    - compensate for horizontal straightness errors, vertical straightness errors, inclination errors, yaw errors and / or rolling errors of the carriage (moving member) in connection with the control and calculation unit 11 (ie when deriving the space coordinate of the measurement point on the object to be measured).
    [0092] How to design coordinate measuring machines
    Petition 870190048652, of 05/24/2019, p. 27/51
    25/37 of the generic type as well as the design of different linear guides and different linear measurement instruments are well known to those skilled in the art, it should be understood that numerous modifications and combinations of different characteristics can be made. All of these modifications are within the scope of the invention. [0093] Figure 2 shows two reference rods as the mechanical reference elements 72a, 72b being mounted on the frame structure only on one of its ends. As a result, for the sake of simplicity, only bridge 20 (beam X) with carriage X 22 and beam Z 24 are presented as CMM components. The X 22 carriage is supported for linear X movement with respect to the bridge 20 - which itself serves as a linear X guide by bearings. The guide Z can be formed by a cubic hole in the carriage member X 22, through which the beam Z 24 can be moved along the geometric axis Z.
    [0094] The mechanical reference elements 72a, 72b, are preferably made of a material with a high dimensional stability and a high solid gauge, so that they are not susceptible to external influences such as temperature, pressure, humidity, aging, etc.
    [0095] Specifically, the mechanical reference elements
    72a, 72b can be fixedly attached to the frame structure only at one of its ends such that they extend parallel along a part of the frame structure. This can allow the reference element to be mounted decoupled from the CMM frame structure, so that the reference path generated by the reference element is completely or at least substantially unloaded.
    [0096] A displacement sensor 9a is designed for the first reference rod 72a (which extends along the bridge) to
    Petition 870190048652, of 05/24/2019, p. 28/51
    26/37 measure a distance from a defined position of the carriage 22 to the reference path generated by the first reference rod 72a. The displacement sensor 9a can be attached to the carriage 22, so that the distance to the reference path can be measured.
    [0097] For example, the detected distance indicates a translational displacement of the carriage 22 from a common support position (for example, a translational displacement in the Z direction of the carriage 22 in relation to the guide surface of the X beam 20).
    [0098] Also, another displacement sensor 9b is designated for the second reference rod 72b, in which the second reference rod 72b is fixedly attached - on one of its ends - to the beam Z 24. The second reference rod 72b extends parallel to and a defined distance away from the Z beam 72b, so that the displacement measurements relating to the weakness in the Z drive mechanism are independent of a load condition of the Z beam 24. The displacement sensor 9b can therefore be mounted on the carriage X 22 and face in the direction of the second reference 72b in order to measure a distance from the carriage X 22 (which acts as a guide for the Z movement of the beam Z 24) to the second reference rod 72b. This distance is related to an actual bearing distance in the Z drive mechanism and therefore indicates a translational shift from the common bearing condition in the X direction.
    [0099] Figure 3 shows a collimated and focused reference laser beam 71 as the reference element for the X 22 car. Hereby, for the sake of simplicity, only the 20 bridge (X beam) with the X car 22 and the beam Z 24 (which is movable in relation to the carriage X 22 in the Z direction) are presented as CMM components.
    [00100] Laser source 75 is installed on one side of beam X 20 (CMM bridge), so that laser beam 71 works in the X direction and parallel to bridge 20. The reference beam represents the path
    Petition 870190048652, of 05/24/2019, p. 29/51
    27/37 are for reference only. Exemplarily, the laser source 75 can be designed as a laser diode with a collimation optics.
    [00101] A displacement sensor 9 is designated for the reference laser beam 71. The displacement sensor 9 is attached to the X 22 carriage so that it faces towards the laser source 75. The displacement sensor 9 is designed as a photosensitive detector element being constructed to measure an impingement position of the reference laser beam 71. For example, the photosensitive detector element can be designed as a CCD matrix network, a CMOS matrix network, a PSD sensor (position sensitive device) or quadrant detector.
    [00102] The detected impingement position of the laser beam 71 indicates the translational displacements of the X 22 carriage in directions orthogonal to the X direction (specifically the translational displacements in the Y and Z directions). In the case of a collimated beam as a reference, the beam's section width can be defined and, to precisely determine a beam's impingement position, a center or midpoint of the projected beam point can be determined as an exact impingement position. According to a special modality, also the shape of the beam point projected on the sensor can be determined, analyzed and used to derive an error of inclination and / or yaw of the X car. For example, an ellipsoidal projection of the reference beam in that the longest axis is aligned in the Z direction indicates an inclination error and an ellipsoidal projection of the reference beam where the longest axis is aligned in the Y direction indicates a yaw error of the X car.
    [00103] The indicated and determined translational and / or rotational displacements can thus be used by the CMM calculation unit to determine the spatial coordinates of an approximate measurement point by the probe head.
    Petition 870190048652, of 05/24/2019, p. 30/51
    28/37 [00104] In Figure 4, an enlarged front view of the X linear drive mechanism of a CMM according to the invention is shown. Similar to Figure 3, a collimated or focused reference laser beam 71 is used as the optical reference element.
    [00105] The laser beam 71 works in the X direction and parallel to the bridge 20 (beam X). The reference beam 71 represents the reference path.
    [00106] The two displacement sensors 9a, 9b being placed on top of the X 22 carriage (shown with dashed lines) measure the displacements of the X 22 carriage with respect to the reference element
    71. As shown in more detail in Figure 5, displacement sensors 9a, 9b can comprise a beam splitter 91a, 91b to couple out a part of the reference beam 71 and direct it over a photosensitive detector element 92a, 92b. Here, the photosensitive detector 92a, 92b is constructed to determine an impingement position of the beam coupled out and reflected. For example, the photosensitive detector 92a, 92b can be designed as a CCD network, a CMOS network, a PSD sensor or quadrant detector. Again, the point of impingement of the reflected part of the reference beam on the detector is used to determine the translational displacements of the carriage 22 in the Y-Z plane. Considering the impingement points of the reflected beams detected for both two displacement sensors 9a, 9b, also the rotational displacements of the carriage 22 (that is, the yaw and inclination errors) can be determined (specifically by a differential evaluation of the exits both sensors).
    [00107] Alternatively, to the aforementioned modality of the sensors (which comprise a beam splitter to couple out a part of the reference beam and direct it over an element of
    Petition 870190048652, of 05/24/2019, p. 31/51
    29/37 photosensitive detector), a transparent photosensitive detector element for determining an impingement position of the reference beam can also be used.
    [00108] Figure 6 shows a side view of bridge type CMM 1 with a mechanical reference element 72, in which displacement sensors 9 are designated for reference element 72 in order to measure the distances to the surface 61. [00109] CMM's frame structure is subject to loading and transportable forces. However, according to the invention, the reference element 72 is attached to the frame structure in such a way that substantially no loading or transportable forces affect the reference element 72 (respectively the reference path generated by the reference element) .
    [00110] For example, the mechanical reference element 72 is mounted only on its upper end on one side of the CM 20 beam (bridge). The reference element 72 extends along the leg 18 and over a part of the edge of the table 6 such that it is spaced (a short distance) from the edge of the table
    6.
    [00111] The reference sensors 9 can be designed as optical or capacitive distance sensors and mounted on the reference element 72 in such a way that the distances from the reference element 72 (that is, from the sensor positions) to the upper surface and side 61 of table 6 can be measured.
    [00112] These distances indicate the translational and / or rotational displacements in the linear Y drive mechanism (for example, the translational displacements in the X and Z directions and the rotational displacements as an inclination, roll and yaw error).
    [00113] For example, three distance sensors can be mounted on the reference element in order to measure the distances to the
    Petition 870190048652, of 05/24/2019, p. 32/51
    30/37 upper table surface (to indicate a translational displacement in the Z direction and an inclination error) and two distance sensors can be mounted on the reference element in order to measure two distances to the side surface of the table (to indicate a translational displacement in the X direction and a yaw error). A scrolling error can be derived from a combination of the sensor output.
    [00114] As the reference element 72 is mounted directly on the side of the X 20 beam (bridge), the position of the X 20 beam (bridge) can be directly referenced in relation to the CMM table 6, so that the measurements are independent of the actual load conditions of the CMM 18 legs (or so that the actual load conditions of the CM 18 legs can be determined and considered to derive the measurement position of the probe head.
    [00115] The detected displacements, with this, can be used in order to correct the calculation for the position of the probe in relation to the base.
    [00116] Figure 7 shows a side view of a bridge type CMM with a mechanical reference element 72. The reference element 72 is incorporated as a reference rod and used in order to detect the weaknesses and deformations in the structure frame (ie on leg 18) of the CMM. Such weaknesses and deformations in leg 18 of the CMM frame structure can, for example, be caused by load, vibration, dynamic effects, temperature variations, pressure variations, aging, humidity variations, etc.
    [00117] In the modality shown, the reference rod - like reference element 72 - is fixedly attached to the foot 28 (carriage Y) of the CMM frame structure and extends along the leg 18 to one side of the bridge 20. The displacement sensors 9a, 9b are mounted
    Petition 870190048652, of 05/24/2019, p. 33/51
    31/37 on the bridge 20, facing towards the weld end of the reference rod 72 (i.e., the free end which is not fixedly attached to the frame structure.
    [00118] Displacement sensors 9a, 9b measure a displacement (i.e., deformation such as bending) of the frame structure in that part (i.e. leg 18), which is covered by the reference rod 72. Therefore, the positions of displacement sensors 9a, 9b - being mounted on the bridge - are referenced with respect to the upper end of the unloaded reference rod 72.
    [00119] For example, a deformation of the leg 18 will cause a change in the distances of the displacement sensors 9a, 9b to the locations defined on the upper end of the reference rod 72. These distances can be measured by the displacement sensors 9a, 9b (being incorporated, for example, as optical or capacitive distance sensors) and used in order to compensate calculatedly the deformation of the leg of CMM 18 when determining the measurement position.
    [00120] By using mechanical and / or optical reference elements in the sense of the invention, high accuracy in measurements can be ensured, although CMM load-loading components may have comparatively low dimensional stability and a low solid gauge. Even in cases where the reference elements themselves lose their dimensional stability required for accurate measurements (ie, caused by aging effects, etc.), they can be exchanged more easily and under less effort compared to an exchange of aged parts of the frame structure (ie, the leg). With this, the useful life of a CMM can be extended according to the invention, since even in cases of aging effects, the reference elements can be repeated 870190048652, from 05/24/2019, p. 34/51
    32/37 novates and exchanged comparatively easily and thus accurate measurements can continuously be ensured - referencing parts of the weak frame structure with reference to reference elements and compensating for the fragility according to the invention.
    [00121] Figure 8 shows a modality, in which the characteristics of Figures 6 and 7 are combined.
    [00122] Similar to Figure 6, a side view of a point type CMM 1 with a mechanical reference element 72 is shown. The mechanical reference element 72 is mounted only on its upper end on one side of the CM 20 beam (bridge). The reference element 72 extends along the leg 18 and over a part of the edge of the table 6 in such a way that it is spaced (a short distance) from the edge of the table 6 and the foot 28. Exemplarily, four displacement sensors 9a are installed on the lower end, released from the reference element 72 in order to measure the distances to the table surface 61 and, in addition, similar to the embodiment of Figure 7, three displacement sensors 9b are installed on the lower end, released from the reference element 72 in order to measure the distances to defined locations of the foot 28. These distances to the foot 28 indicate deformations of the leg component 18.
    [00123] The reference sensors 9a, 9b can be designed as optical or capacitive distance sensors and mounted on the reference element 72 in such a way that the distances from the reference element 72 (that is, from the positions of the sensors) to the upper and lateral surface 61 of table 6 - as well as the surfaces of the foot 28 can be measured.
    [00124] The indicated and determined displacements and deformations, with this, can be used in order to correct the calculation for the position of the probe in relation to the base.
    Petition 870190048652, of 05/24/2019, p. 35/51
    33/37 [00125] Applying such a configuration - according to the modality of Figure 8 - allows an improved compensation for weaknesses in the CMM bearings / joints as well as a compensation for weaknesses in the CMM load frame structure (ie , folding in the leg).
    [00126] Figure 9 and Figure 10 show a front and respectively side view of a CMM 1 of the gantry type - according to the invention - with a second mechanical reference element 72 and a first optical reference element 71.
    [00127] As shown, a gantry-type CMM does not have movable legs / feet between the geometric axes Y / W and X 20 (or at least these are very short). The beam X 20 is directly (that is, without or with only very short feet) supported for movement in bearings in the Y direction along the beams Y and W 50, 52 which are loaded by four pillars 54, 56, 58. The pillars are rigidly mounted on a measuring table, as you know for a person skilled in the art. Furthermore, there are linear measuring instruments in the X, Y / W and Z drive mechanisms (for the sake of simplicity only shown in the X and Y / W drive mechanisms.
    [00128] The second reference element 72 is attached to one side of the X 20 beam and extends to the edge of the table. Similar to Figure 6, displacement sensors 9b mounted on reference element 72 measure distances to the defined locations of the top and side surface of the table. These distances indicate the displacements of beam X 20 caused, for example, by weaknesses in Y bearings, which support the movement of bridge 20 (beam X) in relation to beams Y and W 50, 52.
    [00129] Furthermore, analogous to Figure 4, a collimated or focused reference laser beam is used as the first element of
    Petition 870190048652, of 05/24/2019, p. 36/51
    34/37 reference 71. Therefore, a laser source 75 is mounted at one end of the X 20 beam to project the reference laser beam. The laser beam works in the X direction and parallel to the bridge 20 (beam X). The reference beam represents the reference path.
    [00130] Two displacement sensors 9a are placed at the top of the X 22 carriage, the displacement sensors measuring the displacements of the X 22 carriage with respect to the reference beam 71.
    [00131] These displacements of the X 22 carriage can, for example, be caused by weaknesses in the X bearings which support the X 22 carriage for movement in relation to the X 20 beam.
    [00132] Figure 11 shows a front view of a bridge-type CMM with an optical reference element to indicate a bridge fold.
    [00133] The optical reference element is incorporated as a collimated or focused reference laser beam 71. The laser source 75 is installed on one side of the X 20 beam (CMM bridge), so that the laser beam 71 run in X direction and parallel to bridge 20. Reference beam 71 represents the reference path.
    [00134] A displacement sensor 9 is designated for the reference laser beam 71. Hereby, displacement sensor 9 is mounted on the other side of beam X 20 (CMM bridge) in such a way that it faces in the direction from laser source 75. Displacement sensor 9 is designed as a photosensitive detector element being constructed to measure an impingement position of the reference laser beam. For example, the photosensitive detector can be designed as a CCD matrix network, a CMOS matrix network, a PSD (position sensitive device) sensor or a quadrant detector.
    [00135] The detected impingement position of the laser beam 71 indicates a deformation of the X beam 20. In the case of a collimated beam
    Petition 870190048652, of 05/24/2019, p. 37/51
    35/37 as a reference, the beam section width can be defined and, in order to precisely determine a beam impingement position, a center or midpoint of the projected beam point can be determined as an exact impingement position. According to a special modality, the shape of the beam point projected on the sensor can also be determined, analyzed and used to derive a deformation of beam X 20.
    [00136] The impingement position of the reference beam 71 (that is, the relative position of the sensor with respect to the reference beam) indicates the corresponding dimensional condition (referring to deflection or bending of beam X20).
    [00137] The indicated deformation or deflection derived from the X 20 beam can thus be used by the CMM calculation unit to determine the spatial coordinates of an approximate measurement point by the probe head.
    [00138] Figure 12 shows - similarly to Figure 11 - a front view of a bridge type CMM 1 with another alternative embodiment of an optical reference element 71 to indicate a deformation, specifically a bending, of the bridge 20.
    [00139] According to the modality of Figure 12, the laser source 75 for the reference laser beam 72 and the sensor 9 are mounted on the same end of beam X 20 and on the other end, a reflecting prism is installed 76 to retroreflect the reference beam 71. Deformations (specifically bending) of beam X 20 can be performed in a manner analogous to that described in connection with Figure 11. However, the installation of the laser source 75 and the sensor 9 on one and the same end of beam X 20 can provide advantages regarding control and energy supply of the laser source 75 and sensor 9 (connection with the control system).
    [00140] Figure 13 shows another modality of a CMM 1 of the
    Petition 870190048652, of 05/24/2019, p. 38/51
    36/37 type of bridge with an optical reference element 71 to indicate a folding of the bridge 20, similarly to the modality as shown in Figure 11.
    [00141] In addition to the laser source 75 on one end of beam X 20 and a first optical sensor 9a on the other end of beam X 20 (similar to Figure 11), a second optical sensor 9b is installed to measure a displacement of a X 20 beam position being approximately in the middle of the beam. Exemplarily, the second sensor can be installed on the mechanical sensor clamp 76, which itself is fixed on the bottom surface of the X 20 beam (so as not to disable the movement of the X 22 carriage). The sensor 9b indicates a deformation of the beam X 20 in relation to the reference beam 71.
    [00142] For example, the second displacement sensor 9b may comprise a beam splitter for coupling out only a part of the reference beam 71 and directing it over a photosensitive detector element. Here, the photosensitive detector can be built to determine an impingement position of the beam coupled out and reflected, as, for example, already shown in connection with Figure 5.
    [00143] The point of impingement of the reflected part of the reference beam on the detector is used to determine a displacement of a position in the middle of beam X 20 (where sensor holder 76 is mounted on beam X 20) with respect to the beam reference 71. Therefore, a deformation of the X 20 beam (i.e., a bend) can be derived from the impingement point and used to compensate for the deformation error when calculating the spatial coordinates of an approximate measurement point by the probe head.
    [00144] Alternatively to the above-described mode of sensor 9b (ie, comprising a beam splitter to couple out
    Petition 870190048652, of 05/24/2019, p. 39/51
    37/37 a part of the reference beam and directing it over a photosensitive detector element), also a transparent photosensitive detector element to determine an impingement position of the reference beam can be used as the second displacement sensor.
    [00145] As described above in connection with the CMM of the bridge type, also in connection with the other types of CMMs - for example, L-bridge type, horizontal arm type, cantilever type, gantry type, etc. - dynamic movements and geometric errors in the frame structure (weaknesses in the frame material) and / or error displacements between the moving members and the guides of the X, Y / W, and Z drives can therefore be detected and compensated for using a reference element (being mounted on the frame structure in a substantially unloaded mode) and displacement sensors.
    [00146] With this, although the invention is illustrated above, partially with reference to some preferred modalities, it should be understood that numerous modifications and combinations of different characteristics of the modalities can be made. All of these modifications are within the scope of the embodiments.
    [00147] Some of the modalities described above according to the invention are shown exemplarily only for a linear drive mechanism or only for a part of the CMM. However, of course, the inventive proposals can also or alternatively be applied to each of the other drive mechanisms and other parts of the CMM. Furthermore, the inventive concept can be applied to a CMM being designed as a parallel kinematics machine as well as to a CMM that has linear or serial kinematics, as shown in the Figures.
    Petition 870190048652, of 05/24/2019, p. 40/51
    权利要求:
    Claims (7)
    [1]
    1. Coordinate measuring machine (1) for determining at least one spatial coordinate of a measuring point (13) on an object (12) to be measured, which comprises:
    - a base (3),
    - a probe head (6) to approach the measurement point (13),
    - a frame structure (15) for connecting the probe head (6) to the base (3), the frame structure (15) comprising:
    - at least one first and second frame component (14, 22, 24) and
    - at least one linear drive mechanism that movably connects the first and second frame components (14, 22, 24), to provide mobility of the probe head (6) in relation to the base (3) in a first direction (X, Y, Z), with at least one linear drive mechanism comprising:
    - a linear guide in the first direction,
    - a movable member being supported for movement along the roller guide, and
    - a linear measuring instrument for determining a first position of the movable limb in the first direction (X, Y, Z), characterized by the fact that
    - at least one first optical reference element designed as an optical reference beam (71) to provide a first reference path, the reference beam (71) extending along the guide of the linear drive mechanism so that the reference path is parallel to the first direction (X, Y, Z), and
    - at least one first and second flow sensors
    Petition 870190048652, of 05/24/2019, p. 41/51
    [2]
    Coordinate measuring machine (1) according to claim 1, characterized in that the displacement sensors (9, 9a, 9b) still comprise a beam splitter (91a, 91b) to couple out at least a part of the reference beam (71) and direct it over the photosensitive detector elements (92a, 92b).
    2/7 location (9, 9a, 9b) specifically three to five, designated for the reference beam (71), the reference beam (71) and the displacement sensors (9, 9a, 9b) being designed and arranged such that two or more distances from defined positions on the movable member to the reference beam (71) and / or impingement positions of the reference beam (71) are measurable by the displacement sensors (9, 9a, 9b), being that the distances of the respective impingement positions indicate translational and rotational displacements of the movable member of the common support position, being that:
    - a laser source (75) provides the reference beam (71),
    - at least the first displacement sensor (9b) being constructed so as to partially transmit the optical reference beam (71) and at least the second displacement sensor (9a) being designated for a transmitted part of the optical reference beam (71 ) and
    - the displacement sensors (9, 9a, 9b) being constructed as photosensitive detector elements being constructed to measure distances to the reference beam (71) and / or an impingement position of the reference beam (71) indicative of the displacement of the movable member in relation to the first reference path in a direction perpendicular to the first direction (X, Y, Z).
    [3]
    3/7 characterized by the fact that the photosensitive detector elements (92a, 92b) are constructed as a CCD network, a CMOS network, a PSD or quadrant detector.
    Coordinate measuring machine (1) according to claim 2,
    Petition 870190048652, of 05/24/2019, p. 42/51
    [4]
    4/7 characterized by the fact that the frame structure (15) comprises:
    - four frame components (6, 14, 22, 24) and
    - three linear drive mechanisms that mobilely connect the four frame components (6, 14, 22, 24), to provide mobility of the probe head (6) in relation to the base (3) in a first, a second and a third direction (X, Y, Z), each linear drive mechanism having:
    - a linear guide in the first, the second respectively in the third directions (X, Y, Z),
    - a movable member being supported for movement along the roller guide,
    - a linear measuring instrument for determining the first, second or third actuation position, respectively, of the movable member in the first, second or third directions (X, Y, Z), respectively, and where
    - the coordinate measuring machine (1) comprises a calculation unit (11) for determining the space coordinate as a function of at least
    - the first, second and third actuation positions and
    - the translational and / or rotational displacements of the moving members from their respective common support positions indicated by the displacement sensor (9, 9a, 9b).
    Coordinate measuring machine (1) according to any one of claims 1 to 7, characterized by the fact that
    - a second or more reference elements (71, 72) being arranged on the frame structure (15), each one to provide
    Petition 870190048652, of 05/24/2019, p. 44/51
    Coordinate measuring machine (1) according to any one of claims 1 to 3, characterized in that the coordinate measuring machine (1) comprises a calculation unit (11) for determining the space coordinate as a function of at least
    - the first trigger position and
    - the translational and / or rotational displacements of the moving member of the common support position.
    [5]
    5/7 a reference path substantially unloaded along part of the frame structure (15),
    - at least one displacement sensor (9, 9a, 9b), specifically two to five displacement sensors, are assigned to each of the reference elements (71, 72), the reference elements (71, 72) and the displacement sensors (9, 9a, 9b) being designed and arranged in such a way that the displacements and / or deformations of the frame structure (15) are measurable in relation to the respective reference paths.
    Coordinate measuring machine (1) according to any one of claims 1 to 8, characterized in that the second or more reference elements (71, 72) are each designed as
    - a mechanical reference frame (72) that extends along the respective part of the frame structure (15), the reference frame (72) being fixedly attached to the frame structure (15) in a substantially unloaded mode , and in particular since the reference frame (72) is attached only to one of its ends in the frame structure (15), or
    - an additional optical reference beam, in particular a collimated or focused laser beam, which extends along the respective part of the frame structure (15).
    Coordinate measuring machine (1) according to any one of claims 1 to 9, characterized in that the coordinate measuring machine (1) is designed as a parallel kinematics machine or as a machine that has linear kinematics or in series, particularly as the coordinate measuring machine (1) is designed in accordance with one of sePetition 870190048652, of 05/24/2019, p. 45/51
    Coordinate measuring machine (1) according to any one of claims 1 to 4, characterized by the fact that
    - the linear guide is provided on or by the first frame component (14, 22, 24) and the movable member is provided on or by the second frame component (14, 22, 24), and
    - the laser source (75) is installed on the first frame component (14, 22, 24) and the displacement sensors (9, 9a, 9b) are attached to the second frame component (14, 22, 24) of such that they face towards the laser source (75).
    [6]
    6/7 following styles:
    - type of bridge,
    - L-bridge type,
    - type of horizontal arm,
    - cantilever type,
    - type of portico.
    Coordinate measuring machine (1) according to any one of claims 1 to 10, characterized by the fact that
    - a contact probe, particularly a scanning or touch trigger probe, or a non-contact probe, particularly an optical, capacitance or inductance probe, is arranged on the probe head (6) and / or
    - the base (3) comprises a table (6) with a granite surface plate to support the object (12) to be measured.
    12. Method for compensating for errors in a coordinate measuring machine (1), as defined in any of claims 1 to 11, which determines at least one spatial coordinate of a measuring point (13) on an object (12 ) to be measured, the coordinate measuring machine (1) comprising:
    - a base (3),
    - a probe head (6) to approach the measurement point (13), and
    - a frame structure (15) for connecting the probe head (6) to the base (3), the frame structure (15) comprising at least one linear drive mechanism for providing mobility of the probe head (6 ) in relation to the base (3) in a first direction (X, Y, Z), with at least one mechanism
    Petition 870190048652, of 05/24/2019, p. 46/51
    6. Coordinate measuring machine (1) according to claim 5, characterized by the fact that the laser source (75) is designed as a laser diode with a collimation optics.
    Coordinate measuring machine (1) according to any one of claims 1 to 6,
    Petition 870190048652, of 05/24/2019, p. 43/51
    [7]
    7/7 mo linear drive comprises:
    - a linear guide in the first direction,
    - a movable member being supported for movement along the roller guide, and
    - a linear measuring instrument for determining a first actuation position of the movable member in the first direction (X, Y, Z), characterized by
    - provide a first reference path parallel to the first direction (X, Y, Z) generating an optical reference beam (71) that extends along the guide of the linear drive mechanism,
    - measure at least two displacements of the movable member in relation to the first reference path so that the displacements are indicative of a translational and rotational displacement of the movable member from a common support position,
    - measuring displacements is provided by displacement sensors (9, 9a, 9b) being built as photosensitive detector elements being built to measure distances to the reference beam (71) and / or an impingement position of the reference beam (71 ) indicative of the displacement of the movable member in relation to the first reference path in a direction perpendicular to the first direction (X, Y, Z) and
    - at least one first displacement sensor (9b) being partially transmissible to the optical reference beam (71) and at least one second displacement sensor (9a) being assigned to a transmitted part of the optical reference beam (71), and
    - compensate for errors, particularly weaknesses in the bearing of the linear drive mechanism, using at least one actual determined displacement.
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    同族专利:
    公开号 | 公开日
    WO2011000954A1|2011-01-06|
    WO2011000955A1|2011-01-06|
    US8607466B2|2013-12-17|
    EP2270425A1|2011-01-05|
    EP2449342A1|2012-05-09|
    EP2449341A1|2012-05-09|
    US20120084989A1|2012-04-12|
    CN102472615A|2012-05-23|
    IN2012DN00673A|2015-08-21|
    EP2449341B1|2013-05-29|
    CN102472615B|2014-07-02|
    BR112012000111A2|2016-03-15|
    BR112012000112B1|2019-10-08|
    US8537372B2|2013-09-17|
    CN102472616A|2012-05-23|
    US20120105866A1|2012-05-03|
    IN2012DN00672A|2015-08-21|
    EP2449342B1|2013-05-29|
    CN102472616B|2014-06-04|
    BR112012000112A2|2016-03-15|
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    法律状态:
    2017-01-24| B08F| Application fees: application dismissed [chapter 8.6 patent gazette]|Free format text: PAGAR RESTAURACAO. |
    2017-09-12| B08H| Application fees: decision cancelled [chapter 8.8 patent gazette]|
    2019-01-15| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-03-12| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2019-08-13| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2019-10-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 02/07/2010, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 02/07/2010, OBSERVADAS AS CONDICOES LEGAIS |
    2021-05-04| B21F| Lapse acc. art. 78, item iv - on non-payment of the annual fees in time|Free format text: REFERENTE A 11A ANUIDADE. |
    2021-08-24| B24J| Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)|Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2626 DE 04-05-2021 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP09164602.6|2009-07-03|
    EP09164602A|EP2270425A1|2009-07-03|2009-07-03|Coordinate measuring machineand method of compensating errors in a CMM|
    PCT/EP2010/059496|WO2011000955A1|2009-07-03|2010-07-02|Coordinate measuring machineand method of compensating errors in a cmm|
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