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1. 发明专利

JP2009526211A Apparatus and method for tracking the movement of the tool handling apparatus 审中-公开
公开(公告)号：JP2009526211A
公开(公告)日：2009-07-16
申请号：JP2008553611
申请日：2007-02-08
申请人：エルケーティー・ゲーエムベーハーLKT Gmbh
发明人：ディルガー、クラオス , ブラクハゲ、カール−ハインツ , ベーム、シュテファン , ヘルマンス、マルク
IPC分类号： G01B21/00 , B23Q17/22 , G01B21/22 , G01S5/16
CPC分类号： G01B11/002 , B25J9/1697 , G05B19/404 , G05B2219/37388 , G05B2219/39178 , G05B2219/40623
摘要： A description is given of a device (1) for tracking the movement of a tool of a handling unit (2), having at least one directional radiator (5) that can be aligned with the tool and be tracked, and a signal evaluation unit (4) for determining the movement. The directional radiators (5) have actuators for aligning the directional beam (6) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, the angle sensors being connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged with a fixed reference to the tool and movably therewith, the directional beam sensors (7) being connected to the signal evaluation unit (4). The signal evaluation unit (4) is set up for tracking the directional beams (6) of the at least one directional radiator (5) onto an assigned, moving directional beam sensor (7), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles.

2. 发明授权

US08199316B2 Device and method for tracking the movement of a tool of a handling unit 失效
标题翻译：用于跟踪处理单元的工具的移动的装置和方法
公开(公告)号：US08199316B2
公开(公告)日：2012-06-12
申请号：US12161227
申请日：2007-02-08
申请人： Stefan Boehm , Mark Hellmanns , Klaus Dilger , Karl-Heinz Brakhage
发明人： Stefan Boehm , Mark Hellmanns , Klaus Dilger , Karl-Heinz Brakhage
IPC分类号： G01B3/08
CPC分类号： G01B11/002 , B25J9/1697 , G05B19/404 , G05B2219/37388 , G05B2219/39178 , G05B2219/40623
摘要： A description is given of a device (1) for tracking the movement of a tool of a handling unit (2), having at least one directional radiator (5) that can be aligned with the tool and be tracked, and a signal evaluation unit (4) for determining the movement.The directional radiators (5) have actuators for aligning the directional beam (6) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, the angle sensors being connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged with a fixed reference to the tool and movably therewith, the directional beam sensors (7) being connected to the signal evaluation unit (4). The signal evaluation unit (4) is set up for tracking the directional beams (6) of the at least one directional radiator (5) onto an assigned, moving directional beam sensor (7), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles.
摘要翻译：给出了用于跟踪处理单元（2）的工具的移动的装置（1），其具有可与工具对准的并被跟踪的至少一个定向辐射器（5）和信号评估单元（4）用于确定运动。定向辐射器（5）具有用于相对于固定空间平面以可调节的角度对准定向光束（6）的致动器，以及用于相对于空间平面确定当前定向光束角度的角度传感器，角度传感器连接到信号评估单元（4）。用于检测方向光束（6）的定向光束传感器（7）以固定的参考方式布置并与之一起移动，定向光束传感器（7）连接到信号评估单元（4）。信号评估单元（4）被设置用于将至少一个定向辐射器（5）的定向波束（6）跟踪到分配的移动定向波束传感器（7）上，并且用于确定工具的任意移动作为定向光束角度的函数的三维空间。

3. 发明申请

WO2007090388A3 EINRICHTUNG UND VERFAHREN ZUR NACHVERFOLGUNG DER BEWEGUNG EINES WERKZEUGES EINER HANDHABUNGSEINHEIT 审中-公开
公开(公告)号：WO2007090388A3
公开(公告)日：2007-08-16
申请号：PCT/DE2007/000248
申请日：2007-02-08
申请人： LKT GMBH , BÖHM, Stefan , HELLMANNS, Mark , DILGER, Klaus , BRAKHAGE, Karl-Heinz
发明人： BÖHM, Stefan , HELLMANNS, Mark , DILGER, Klaus , BRAKHAGE, Karl-Heinz
IPC分类号： G01B11/00 , G05B19/00 , B25J9/16
摘要： Eine Einrichtung (1) zur Nachverfolgung der Bewegung eines Werkzeuges einer Handhabungseinheit (2) mit mindestens einem auf das Werkzeug ausrichtbaren und nachführbaren Richtstrahler (5) und einer Signalauswertereinheit (4) zur Ermittlung der Bewegung, wird beschrieben. Die Richtstrahler (5) haben Aktuatoren zur Ausrichtung des Richtstrahls (6) in einstellbaren Winkeln in Bezug auf eine festgelegte Raumebene und Winkelsensoren zur Bestimmung des aktuellen Richtstrahlwinkels in Bezug auf die Raumebene, wobei die Winkelsensoren mit der Signalauswerteeinheit (4) verbunden sind. Richtstrahlsensoren (7) zur Detektion des Richtstrahls (6) sind in festem Bezug auf das Werkzeug mit dem Werkzeug mitbewegbar angeordnet, wobei die Richtstrahlsensoren (7) mit der Signalauswerteeinheit (4) verbunden sind. Die Signalauswerteeinheit (4) ist zur Nachführung der Richtstrahlen (6) des mindestens einen Richtstrahlers (5) auf einen zugeordneten, sich bewegenden Richtstrahlsensor (7) und zur Ermittlung der beliebigen Bewegung des Werkzeuges im dreidimensionalen Raum in Abhängigkeit von den Richtstrahlwinkeln eingerichtet.

4. 发明申请

WO2007090388A2 DEVICE AND METHOD FOR FOLLOWING THE MOVEMENT OF A TOOL OF A HANDLING UNIT 审中-公开
标题翻译：装置和方法，用于运送处理单元的工具
公开(公告)号：WO2007090388A2
公开(公告)日：2007-08-16
申请号：PCT/DE2007000248
申请日：2007-02-08
申请人： LKT GMBH , BOEHM STEFAN , HELLMANNS MARK , DILGER KLAUS , BRAKHAGE KARL-HEINZ
发明人： BOEHM STEFAN , HELLMANNS MARK , DILGER KLAUS , BRAKHAGE KARL-HEINZ
CPC分类号： G01B11/002 , B25J9/1697 , G05B19/404 , G05B2219/37388 , G05B2219/39178 , G05B2219/40623
摘要： The invention relates to a device (1) for following the movement of a tool of a handling unit (2), comprising at least one beam transmitter (5) which can be directed to and tracked by the tool, and a signal evaluation unit (4) for determining the movement. The beam transmitters (5) comprise actuators for directing the directional beam (6) at adjustable angles in relation to a determined spatial plane and angle sensors for determining the current directional beam angle in relation to the spatial plane. Said angle sensors are connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged such that they can be displaced with the tool. The beam transmitter sensors (7) are connected to the signal evaluation unit . The signal evaluation unit (4) is configured for tracking the directional beams (6) of the at least one beam transmitter (5) of the at least one beam transmitter (5) on an associated, displaceable directional beam sensor (7) and for determining any particular movement of the tool in the three-dimensional space according to the directional beam angles.
摘要翻译：一种用于跟踪处理单元（2）对准的工具的运动与该工具可跟踪定向散热器（5）和用于确定所述运动（4）的信号的评估中的至少一个装置（1），进行说明。定向辐射器（5）具有的致动器，以在相对于一个固定的空间平面和角度传感器，以确定相对于所述空间平面的当前定向波束角度可调角度定向光束（6）的比对，其特征在于，与所述信号分析单元（4）角度传感器被连接。用于检测所述指向性波束（6）定向波束传感器（7）被以固定关系与该工具的工具，其特征在于，与所述信号分析单元（4）的指向性波束传感器（7）被连接设置可动在一起。所述信号分析单元（4），用于跟踪所述指向性波束（6）的至少一个方向的散热器（5）布置在相关联的，移动方向的光束传感器（7）和用于确定响应于所述定向波束角在三维空间中的工具的任意运动。

5. 发明公开

EP1982141A2 EINRICHTUNG UND VERFAHREN ZUR NACHVERFOLGUNG DER BEWEGUNG EINES WERKZEUGES EINER HANDHABUNGSEINHEIT 有权
标题翻译：装置和方法来处理单元的工具追踪运动
公开(公告)号：EP1982141A2
公开(公告)日：2008-10-22
申请号：EP07721914.5
申请日：2007-02-08
申请人： LKT GmbH
发明人： BÖHM, Stefan , HELLMANNS, Mark , DILGER, Klaus , BRAKHAGE, Karl-Heinz
IPC分类号： G01B11/00 , G05B19/00 , B25J9/16
CPC分类号： G01B11/002 , B25J9/1697 , G05B19/404 , G05B2219/37388 , G05B2219/39178 , G05B2219/40623
摘要： The invention relates to a device (1) for following the movement of a tool of a handling unit (2), comprising at least one beam transmitter (5) which can be directed to and tracked by the tool, and a signal evaluation unit (4) for determining the movement. The beam transmitters (5) comprise actuators for directing the directional beam (6) at adjustable angles in relation to a determined spatial plane and angle sensors for determining the current directional beam angle in relation to the spatial plane. Said angle sensors are connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged such that they can be displaced with the tool. The beam transmitter sensors (7) are connected to the signal evaluation unit . The signal evaluation unit (4) is configured for tracking the directional beams (6) of the at least one beam transmitter (5) of the at least one beam transmitter (5) on an associated, displaceable directional beam sensor (7) and for determining any particular movement of the tool in the three-dimensional space according to the directional beam angles.

6. 发明专利

AU2003275905A8 Method for producing a component, body for producing a component of this type and component produced according to said method 未知
公开(公告)号：AU2003275905A8
公开(公告)日：2004-06-15
申请号：AU2003275905
申请日：2003-11-20
申请人： LKT GMBH , WEIDMANN PLASTICS TECH AG
发明人： LINDNER EDGAR , VOGEL WOLF-DIETER , AHLBORN NORBERT , BUTZEK JOCHEN , REIMERS JAN-DIRK , DILGER KLAUS , EHRIG FRANK
IPC分类号： B32B7/04 , C09J5/00 , C09J5/06 , B32B31/00 , C09J7/02

7. 发明专利

AT518112T 未知
公开(公告)号：AT518112T
公开(公告)日：2011-08-15
申请号：AT07721914
申请日：2007-02-08
申请人： LKT GMBH
发明人： BOEHM STEFAN , HELLMANNS MARK , DILGER KLAUS , BRAKHAGE KARL-HEINZ
IPC分类号： G01B11/00 , B25J9/16 , G05B19/00
摘要： A description is given of a device (1) for tracking the movement of a tool of a handling unit (2), having at least one directional radiator (5) that can be aligned with the tool and be tracked, and a signal evaluation unit (4) for determining the movement. The directional radiators (5) have actuators for aligning the directional beam (6) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, the angle sensors being connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged with a fixed reference to the tool and movably therewith, the directional beam sensors (7) being connected to the signal evaluation unit (4). The signal evaluation unit (4) is set up for tracking the directional beams (6) of the at least one directional radiator (5) onto an assigned, moving directional beam sensor (7), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles.

8. 发明专利

DE102004002560B4 未知
公开(公告)号：DE102004002560B4
公开(公告)日：2007-02-08
申请号：DE102004002560
申请日：2004-01-17
申请人： LKT GMBH
发明人： HASENBERG DIRK , DILGER KLAUS , BOEHM STEFAN , MUND FRANK
IPC分类号： C08J5/04 , C04B26/02 , C04B30/00 , C08K7/26 , E04C1/00 , E04C1/40

9. 发明专利

DE102006006475A1 未知
公开(公告)号：DE102006006475A1
公开(公告)日：2007-08-16
申请号：DE102006006475
申请日：2006-02-10
申请人： LKT GMBH
发明人： BOEHM STEFAN , HELLMANN MARK , DILGER KLAUS , BRAKHAGE KARL-HEINZ
IPC分类号： B25J13/08
摘要： A description is given of a device (1) for tracking the movement of a tool of a handling unit (2), having at least one directional radiator (5) that can be aligned with the tool and be tracked, and a signal evaluation unit (4) for determining the movement. The directional radiators (5) have actuators for aligning the directional beam (6) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, the angle sensors being connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged with a fixed reference to the tool and movably therewith, the directional beam sensors (7) being connected to the signal evaluation unit (4). The signal evaluation unit (4) is set up for tracking the directional beams (6) of the at least one directional radiator (5) onto an assigned, moving directional beam sensor (7), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles.

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