阅读说明：本技术 坐标定位机 (Coordinate positioning machine ) 是由 J·杜普雷斯 C·M·E·沃伦 于 2019-02-25 设计创作，主要内容包括：描述了一种校准坐标定位机的方法。所述机器被控制成枢轴姿势,在所述枢轴姿势下,与所述机器的可移动部分相关联的目标点和与所述机器的固定部分相关联的枢轴点彼此分离已知间隔(s)。基于所述已知间隔(s)和针对那个姿势根据所述机器的现有模型参数预期的间隔确定那个姿势的误差值。所述机器被控制成多个不同的目标姿势,并且对于每个目标姿势,测量所述测量目标点与所述枢轴点之间的间隔(S),并基于所测量的间隔(S)和针对那个姿势根据所述现有模型参数预期的间隔来确定那个姿势的误差值。根据所述误差值确定总误差度量,并且确定新的参数组,所述新的参数组将产生比现有参数组更低的总误差度量。还描述了一种球形转接器和球杆仪延伸件。(A method of calibrating a coordinate positioning machine is described. The machine is controlled to a pivot attitude at which a target point associated with a movable part of the machine and a pivot point associated with a fixed part of the machine are separated from each other by a known interval(s). An error value for that pose is determined based on the known interval(s) and the interval expected from the existing model parameters of the machine for that pose. The machine is controlled to a plurality of different target poses, and for each target pose, the separation (S) between the measurement target point and the pivot point is measured, and an error value for that pose is determined based on the measured separation (S) and the separation expected from the existing model parameters for that pose. A total error metric is determined from the error values, and a new set of parameters is determined that will result in a lower total error metric than the existing set of parameters. A spherical adapter and a cue stick extension are also described.)

1. A method of calibrating a coordinate positioning machine, wherein the geometry of the machine is characterized by a parametric model, and wherein the calibration method aims to determine a new set of model parameters that better characterize the geometric parameters of the machine than an existing set of model parameters, wherein the method comprises:

controlling the machine to a pivot pose in which a target point associated with a movable part of the machine and a pivot point associated with a fixed part of the machine are separated from each other by a known interval and determining an error value for that pose based on the known interval and an interval expected from the existing model parameters for that pose,

controlling the machine into a plurality of different target poses,

for each target pose, measuring the separation between the target point and the pivot point and determining an error value for that pose based on the measured separation and the separation expected from the existing model parameters for that pose;

determining a total error metric from the error value; and

a new set of parameters is determined that will yield a lower total error metric than the existing set of parameters.

2. A method according to claim 1, wherein the method comprises determining a new set of error values based on the new set of parameters, and determining an updated set of parameters from those error values, and optionally repeating this process as often as necessary, for example until the total error metric is below a predetermined threshold.

3. The method of claim 1 or 2, wherein the known separation is a zero vector, the target point and the pivot point substantially coinciding in the pivot pose.

4. A method as claimed in claim 1, 2 or 3, wherein the method comprises determining new values for only a subset of the model parameters.

5. The method of claim 4, wherein the subset of model parameters is related to a tool center point of the machine.

6. A method as claimed in any preceding claim, wherein the spacing is measured by a length measuring device.

7. The method of claim 6, wherein the length measuring device is a cue stick.

8. A method as claimed in any preceding claim, wherein the coordinate positioning machine is a robotic arm.

9. An adaptor adapted to fit onto and/or around an element on and/or for a coordinate positioning machine, the element having a point of interest, wherein the adaptor comprises an at least partially spherical bearing surface having a centre point which substantially coincides with the point of interest when the adaptor is fitted onto and/or around the element.

10. The adapter of claim 9, wherein the element is a tool.

11. The adaptor of claim 10, wherein the point of interest is a tool center point of the tool.

12. The adaptor of claim 9, 10 or 11, wherein the adaptor is adapted to receive a plurality of different inserts in a universal manner, the inserts being adapted to receive different respective elements or respective types of elements, thereby enabling the adaptor to be used with a variety of different elements or different types of elements.

13. The adaptor of claim 12, wherein the interior of each insert is shaped to match the exterior shape of its corresponding element.

14. The adaptor according to claim 12 or 13, wherein each insert is adapted to take into account the location of the point of interest of its corresponding element to ensure that the point of interest substantially coincides with the centre of the at least partially spherical surface of the adaptor when the adaptor is fitted on and/or around the element.

15. The adaptor of claim 12, 13 or 14, wherein at least some of the inserts are 3D printed based on a CAD model of the element.

16. An adaptor according to any of claims 12 to 15, wherein inserts are provided for a plurality of the following elements: the plurality of elements are selected from a welding tool, a machining tool such as a drill bit, and a calibration shaft.

17. A kit comprising a measuring device and an adapter according to any of claims 9 to 16, the measuring device comprising a coupling element adapted to be coupled to and bear against a support surface of the adapter such that a measuring point of the measuring device substantially coincides with a centre point of the adapter and remains coincident when the coupling element is moved over at least a predetermined or working portion of the support surface.

18. The kit of claim 17, wherein the measuring device is adapted to provide a measurement of the separation between two measuring points of the measuring device.

19. A kit according to claim 17 or 18, wherein the measuring device is a length measuring device.

20. A kit as claimed in claim 17, 18 or 19, wherein the measuring device is a cue stick.

21. A kit as claimed in any one of claims 17 to 20, wherein the coupling element is in the form of a cup.

22. The kit of claim 21, wherein the measurement point is at the center of the at least partially spherical surface of the cup.

23. The kit of claim 21 or 22, wherein the cup is adapted to couple with an at least partially spherical surface of the adapter.

24. A kit as claimed in any one of claims 17 to 23, wherein the measuring device comprises a ball at one end and a cup at the other end.

25. A kit as claimed in any one of claims 17 to 23, wherein the measuring device comprises cups at both ends.

26. The kit of any one of claims 17 to 25, wherein the coupling is kinematic or at least pseudokinematic.

27. A kit as claimed in any one of claims 17 to 26 when dependent on claim 12, wherein the kit includes the insert.

28. A method of calibrating a coordinate positioning machine, the method comprising: using a kit as claimed in any one of claims 17 to 27; fitting the adapter on and/or around the component while the component is still on the coordinate positioning machine; coupling the measuring device to the adapter such that the coupling element of the measuring device rests on the at least partially spherical bearing surface of the adapter; and performing a measuring operation such that during the measuring operation a measuring point of the measuring device coincides with a centre point of the adapter and remains coincident when a coupling element of the measuring device moves over at least a predetermined or working portion of the at least partially spherical bearing surface of the adapter.

29. The method of claim 28 when dependent on claim 10, comprising performing a first operation using the tool before fitting the adapter for the measurement operation without removing the tool between the first operation and fitting the adapter for the measurement operation.

30. A method according to claim 28 or 29 when dependent on claim 10, the method comprising performing a further measurement operation on the tool, such as by a contact or non-contact tool setter, to determine the length of the tool, either before fitting the adapter or after removing the adapter and without removing the tool.

31. An extension for a cue stick instrument, the extension configured to provide an additional range of travel for the cue stick instrument.

32. A modular system comprising a measuring portion, a standard end portion and an extension of claim 31, the measuring portion being coupleable with the standard end portion to form a first type of club head, and the measuring portion being separately coupleable with the extension to form a second type of club head.

33. A coordinate positioning machine configured to perform the method of any of claims 1-8 and 28-30.

34. A computer program which, when run by a computer or machine controller, causes the computer or machine controller to perform the method of any one of claims 1 to 8 and 28 to 30.

35. A computer readable medium having stored therein computer program instructions for controlling a computer or machine controller to perform the method of any of claims 1 to 8 and 28 to 30.