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1. 发明公开

EP0479525A2 Absolute position measuring resolver apparatus with backup means in power failure 失效
标题翻译：装置用于通过与存储的分解器来测量的绝对位置是指对电源故障。
公开(公告)号：EP0479525A2
公开(公告)日：1992-04-08
申请号：EP91308933.0
申请日：1991-09-30
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kohno, Toshiyuki, c/o Kabushiki K. Yaskawa Denki , Yamasaki, Tadaaki, c/o Kabushiki K. Yaskawa Denki , Iwakane, Takanobu, c/o Kabushiki K. Yaskawa Denki
IPC分类号： G05B19/33
CPC分类号： G01D5/244 , G01D3/08 , G05B19/311 , G05B2219/34014 , G05B2219/37478 , G05B2219/37479 , G05B2219/37481 , G05B2219/37485 , G05B2219/37486 , G05B2219/37487 , G05B2219/37488 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084
摘要： A resolver apparatus for measuring an absolute position of a rotating body comprises a resolver (1) including a rotor having a single-phase exciting coil (11) and adapted to be coupled with the rotating body (20) and a stator having detection coils (12a, 12b) for two phases different from each other by 90°, a first circuit (2) for exciting the exciting coil by a pulse signal having a selected frequency, and a second circuit for calculating an absolute position of the rotor measured from a reference angular position on the basis of output signals of the detection coils, wherein a selected area including the first circuit and at least a part of the second circuit is normally energized by an external power supply (22) and when the external power supply is disabled, is energized by a backup power supply (8).

2. 发明公开

EP0365736A3 Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control 失效
标题翻译：用于跟踪和记录移动部件所达到的位置的装置，特别是用于工业机器人控制
公开(公告)号：EP0365736A3
公开(公告)日：1991-01-02
申请号：EP88830567.9
申请日：1988-12-27
申请人： COMAU S.p.A. , SIEMENS INDUSTRIAL AUTOMATION, INCORPORATED
发明人： Calcagno, Piero , De Ferrari, Ernesto, , Beverly, Bruce L., , McNutt, ALan D.,
IPC分类号： G05B19/35
CPC分类号： G05B19/33 , G05B2219/34215 , G05B2219/37478 , G05B2219/37487 , G05B2219/37489 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084
摘要： The device is intended to be used for recording the position reached by a moving part, such as the arm of an industrial robot moved by a rotary motor (M). The device comprises, in an assembly capable of being associated with the said moving part, an angular-position transducer such as a resolver (2), capable of generating at least one signal (4, 5) indicating the position reached by the motor (M) during a rotation, counting means (12) connected to the angular-position transducer (2), capable of storing a cumulative count of the signal generated by the transducer (2) itself and indicating the position reached by the moving part, and power supply means such as a buffer battery (18) capable of keeping the position transducer (2) and the counting means (12) active even when there is no external power supply.

3. 发明公开

EP0177901A1 Robot joint angle detecting system 失效
标题翻译：装置用于确定机器人部分的角度。
公开(公告)号：EP0177901A1
公开(公告)日：1986-04-16
申请号：EP85112530.2
申请日：1985-10-03
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Hosokawa, Yorio , Sakamoto, Shotaka
IPC分类号： G01B7/30
CPC分类号： G05B19/39 , B25J9/12 , B25J13/088 , B25J17/0241 , B25J19/005 , G01B7/30 , G05B2219/37175 , G05B2219/37473 , G05B2219/45083 , G05B2219/50077 , G05B2219/50084 , Y10T307/631
摘要： @ In a system for detecting an angle of a joint (2) coupled through a reduction mechanism (3) to a drive motor (M), an absolute type rotation angle detector (RE) and an incremental-type rotation number detector (PG, 4) are coupled to the motor for detecting the rotational angle and the rotation number of the motor (M), respectively. The detected rotational angle and the detected rotation number are used to calculate the rotational angle of the joint. The incremental-type rotation number detector is provided with a battery (9) for energization during interruption of a power supply.

4. 发明授权

EP0406740B1 Absolute position measuring transducer system for an industrial robot 有权
标题翻译：一种用于测量的工业用机器人的绝对位置的系统。
公开(公告)号：EP0406740B1
公开(公告)日：1994-08-31
申请号：EP90112536.9
申请日：1990-06-30
申请人： ASEA BROWN BOVERI AB
发明人： Holmar, Anders , Myklebust, Einar
IPC分类号： G01B7/30
CPC分类号： B25J13/088 , G01B7/004 , G05B2219/37478 , G05B2219/37487 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084 , Y10T307/615

5. 发明公开

EP0406740A1 Absolute position measuring transducer system for an industrial robot 有权
标题翻译：系统zum Messen der absoluten职位eines Industrieroboters。
公开(公告)号：EP0406740A1
公开(公告)日：1991-01-09
申请号：EP90112536.9
申请日：1990-06-30
申请人： ASEA BROWN BOVERI AB
发明人： Holmar, Anders , Myklebust, Einar
IPC分类号： G01B7/30
CPC分类号： B25J13/088 , G01B7/004 , G05B2219/37478 , G05B2219/37487 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084 , Y10T307/615
摘要： Absolute-measuring position transducer system for an industrial robot which has one unit for each robot axis with a resolver (32) mechanically coupled to the axis movement. The unit has a revolution counter (405) which, on the basis of the resolver signals, continuously indicates within which revolution the resolver is, and an R/D converter (406) for accurate determination of the resolver position within each revolution. During normal operation the resolver is supplied from an oscillator (403). In case of drop out of the supply voltage to the axis unit, the resolver is switched for pulse mode operation via a second oscillator (404) and the R/D converter is disconnected. The second oscillator (404) and the revolution counter (405) are then supplied from an accumulator battery (402).
摘要翻译：用于工业机器人的绝对测量位置传感器系统，其具有用于每个机器人轴线的一个单元，其具有与轴线运动机械联接的旋转变压器（32）。该单元具有旋转计数器（405），其根据分解器信号连续地指示旋转变压器在哪个转数内，以及用于在每一转中精确确定分解器位置的R / D转换器（406）。在正常操作期间，旋转变压器由振荡器（403）提供。在脱离轴单元的电源电压的情况下，通过第二振荡器（404）切换旋转变压器进行脉冲模式操作，并且R / D转换器断开。然后从蓄电池（402）提供第二振荡器（404）和转数计数器（405）。

6. 发明公开

EP0479525A3 Absolute position measuring resolver apparatus with backup means in power failure 失效
标题翻译：装置用于通过与存储的分解器来测量的绝对位置是指对电源故障。
公开(公告)号：EP0479525A3
公开(公告)日：1994-10-12
申请号：EP91308933.0
申请日：1991-09-30
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kohno, Toshiyuki, c/o Kabushiki K. Yaskawa Denki , Yamasaki, Tadaaki, c/o Kabushiki K. Yaskawa Denki , Iwakane, Takanobu, c/o Kabushiki K. Yaskawa Denki
IPC分类号： G05B19/33
CPC分类号： G01D5/244 , G01D3/08 , G05B19/311 , G05B2219/34014 , G05B2219/37478 , G05B2219/37479 , G05B2219/37481 , G05B2219/37485 , G05B2219/37486 , G05B2219/37487 , G05B2219/37488 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084
摘要： A resolver apparatus for measuring an absolute position of a rotating body comprises a resolver (1) including a rotor having a single-phase exciting coil (11) and adapted to be coupled with the rotating body (20) and a stator having detection coils (12a, 12b) for two phases different from each other by 90°, a first circuit (2) for exciting the exciting coil by a pulse signal having a selected frequency, and a second circuit for calculating an absolute position of the rotor measured from a reference angular position on the basis of output signals of the detection coils, wherein a selected area including the first circuit and at least a part of the second circuit is normally energized by an external power supply (22) and when the external power supply is disabled, is energized by a backup power supply (8).
摘要翻译：用于测量的旋转体的绝对位置的分解器装置包括旋转变压器（1）包括一个具有一个单相励磁线圈（11）和angepasst为耦合与旋转体（20）的转子和一个具有定子检测线圈（器12a，12b），用于通过90°，第一电路从彼此不同的两个阶段（2）用于激发被具有选定的频率的脉冲信号，和用于计算所述转子的绝对位置的第二电路中的励磁线圈从一个测量参考角度位置的检测线圈的输出信号的基础上，worin所选区域包括所述第一电路和至少第二电路的一部分通常由在外部电源（22）通电，并且当外部电源被停用，由备用电源（8）通电。

7. 发明授权

EP0365736B1 Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control 失效
标题翻译：装置，用于跟踪和记录由移动体位置达到的，特别是用于工业机器人控制器。
公开(公告)号：EP0365736B1
公开(公告)日：1994-05-11
申请号：EP88830567.9
申请日：1988-12-27
申请人： COMAU S.p.A. , SIEMENS INDUSTRIAL AUTOMATION, INCORPORATED
发明人： Calcagno, Piero , De Ferrari, Ernesto, , Beverly, Bruce L., , McNutt, ALan D.,
IPC分类号： G05B19/35
CPC分类号： G05B19/33 , G05B2219/34215 , G05B2219/37478 , G05B2219/37487 , G05B2219/37489 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084

8. 发明公开

EP0365736A2 Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control 失效
标题翻译：装置，用于跟踪和记录由移动体位置达到的，特别是用于工业机器人控制器。
公开(公告)号：EP0365736A2
公开(公告)日：1990-05-02
申请号：EP88830567.9
申请日：1988-12-27
申请人： COMAU S.p.A. , SIEMENS INDUSTRIAL AUTOMATION, INCORPORATED
发明人： Calcagno, Piero , De Ferrari, Ernesto, , Beverly, Bruce L., , McNutt, ALan D.,
IPC分类号： G05B19/35
CPC分类号： G05B19/33 , G05B2219/34215 , G05B2219/37478 , G05B2219/37487 , G05B2219/37489 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084
摘要： The device is intended to be used for recording the position reached by a moving part, such as the arm of an industrial robot moved by a rotary motor (M). The device comprises, in an assembly capable of being associated with the said moving part, an angular-position transducer such as a resolver (2), capable of generating at least one signal (4, 5) indicating the position reached by the motor (M) during a rotation, counting means (12) connected to the angular-position transducer (2), capable of storing a cumulative count of the signal generated by the transducer (2) itself and indicating the position reached by the moving part, and power supply means such as a buffer battery (18) capable of keeping the position transducer (2) and the counting means (12) active even when there is no external power supply.
摘要翻译：该设备意在用于记录一个运动部分，：如由旋转电机（M）移动的工业机器人的臂到达的位置。该装置包括，在能够与所述可动的部分，角度位置传感器相关联的组件，包括：如分解器（2），能够产生至少一个信号（4，5）表示由马达到达的位置（连接到所述角位置传感器（2）M）旋转时，计数装置（12），能够存储由换能器产生的信号的累积计数的（2）本身和指示由移动部分到达的位置，并电源装置：诸如一个缓冲电池（18）能够保持位置传感器（2）和所述计数装置（12）活性甚至当没有外部电源的。

9. 发明授权

EP0177901B1 Robot joint angle detecting system 失效
标题翻译：机器人角度检测系统
公开(公告)号：EP0177901B1
公开(公告)日：1989-04-05
申请号：EP85112530.2
申请日：1985-10-03
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Hosokawa, Yorio , Sakamoto, Shotaka
IPC分类号： G01B7/30
CPC分类号： G05B19/39 , B25J9/12 , B25J13/088 , B25J17/0241 , B25J19/005 , G01B7/30 , G05B2219/37175 , G05B2219/37473 , G05B2219/45083 , G05B2219/50077 , G05B2219/50084 , Y10T307/631

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