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    • 2. 发明授权
    • Method for checking transmission backlash, and production machine or robot
    • 检查传动间隙的方法,以及生产机器人或机器人
    • US07905138B2
    • 2011-03-15
    • US12227276
    • 2007-03-16
    • Hubert BellmPeter Krüger
    • Hubert BellmPeter Krüger
    • G01M13/02
    • G01M13/02F16H7/08F16H57/01F16H57/12
    • To determine the backlash in an arrangement in which a motor moves a load via a transmission mechanism, a transducer is used which is present anyway in conventional production machines and which measures an angular position or translatory position of the drive element or a derivative of this quantity. Via the transducer the effect of the backlash on the actual position of the drive element is measured, the actual position being different from the desired position, which is defined by the forces or torques acting on the drive. On the basis of a frequency analysis, quantities can be derived which permit the use of threshold criteria. For example, the drive is driven with a periodic signal which is close to the absorber frequency, i.e. a frequency at which the absorption by the transmission mechanism is greatest.
    • 为了确定电动机通过传动机构移动负载的布置中的间隙,使用传感器,其在传统生产机器中存在,并且测量驱动元件的角位置或平移位置或该量的导数 。 通过传感器测量齿隙对驱动元件的实际位置的影响,实际位置不同于由作用在驱动器上的力或扭矩所限定的所需位置。 在频率分析的基础上,可以得出允许使用阈值标准的数量。 例如,以接近吸收体频率的周期信号即传输机构的吸收最大的频率来驱动驱动。
    • 5. 发明授权
    • Laying-down system and vision-based automatic primal cutting system in connection therewith
    • 下放系统和基于视觉的自动原始切割系统
    • US06692345B1
    • 2004-02-17
    • US10069500
    • 2002-07-08
    • Peter Krüger
    • Peter Krüger
    • A22B700
    • A22B5/0029A22B5/0041
    • In the primal cutting-up of half carcasses of animals (12), vision systems are known whereby the determination of one or more fix points on the carcasses takes place, and where on the basis of the position of these points a visualisation of the ideal cut line is effected. But the primal cutting-up of carcasses (12) has hitherto been carried out with manually-operated saws on the basis of operator evaluation. However, the use of manually-operated saws involves the possibility of deviations in relation to the ideal cut line, and the manual work is very monotonous and fatiguing for the operators. There is thus disclosed a laying-down module (2) and a vision-based system for automatic primal cutting-up of half carcasses, comprising a laying-down module with a laying-down conveyor (18), and a laying-down and angle-positioning module (6) with sideways displaceable conveyors for positioning of a relevant carcass (12) for sawing-up in a subsequent saw module (8), and a method for the execution of automatic primal cutting-up of meat items, namely half carcasses of animals.
    • 在一半动物尸体(12)的原始切割中,视觉系统是已知的,其中确定了屠体上的一个或多个固定点,并且在这些点的位置的基础上,理想的可视化 切割线实现。 但是,根据操作者评估,迄今为止,已经用手动操作的锯进行了屠体(12)的原始切割。 然而,手动锯的使用涉及相对于理想切割线的偏差的可能性,并且手动工作对于操作者来说是非常单调和疲劳的。因此公开了一种铺设模块(2)和视觉 用于自动原始切割半胎体的系统,包括具有铺设输送机(18)的铺设模块以及具有侧向可移位输送机的铺设和角度定位模块(6),用于定位 用于在随后的锯组件(8)中锯切的相关的胎体(12),以及用于执行肉类物品(即半只动物尸体)的自动原始切割的方法。
    • 8. 发明申请
    • Method for Checking Transmission Backlash, and Production Machine or Robot
    • 检查传输齿隙,生产机器人或机器人的方法
    • US20090165570A1
    • 2009-07-02
    • US12227276
    • 2007-03-16
    • Hubert BellmPeter Krüger
    • Hubert BellmPeter Krüger
    • G01L3/02
    • G01M13/02F16H7/08F16H57/01F16H57/12
    • To determine the backlash in an arrangement in which a motor moves a load via a transmission mechanism, a transducer is used which is present anyway in conventional production machines and which measures an angular position or translatory position of the drive element or a derivative of this quantity. Via the transducer the effect of the backlash on the actual position of the drive element is measured, the actual position being different from the desired position, which is defined by the forces or torques acting on the drive. On the basis of a frequency analysis, quantities can be derived which permit the use of threshold criteria. For example, the drive is driven with a periodic signal which is close to the absorber frequency, i.e. a frequency at which the absorption by the transmission mechanism is greatest.
    • 为了确定电动机通过传动机构移动负载的布置中的间隙,使用传感器,其在传统生产机器中存在,并且测量驱动元件的角位置或平移位置或该量的导数 。 通过传感器测量齿隙对驱动元件的实际位置的影响,实际位置不同于由作用在驱动器上的力或扭矩所限定的所需位置。 在频率分析的基础上,可以得出允许使用阈值标准的数量。 例如,以接近吸收体频率的周期信号即传输机构的吸收最大的频率来驱动驱动。