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    • 34. 发明申请
    • METHOD AND DEVICE FOR ADJUSTING AND CONTROLLING MANIPULATORS
    • 用于调节和控制操纵器的方法和装置
    • US20090076653A1
    • 2009-03-19
    • US11719182
    • 2005-11-16
    • Gerhard HietmannMartin Weiss
    • Gerhard HietmannMartin Weiss
    • G06F17/00
    • B25J9/1641G05B2219/37429G05B2219/39181G05B2219/41127G05B2219/41154
    • The invention relates to a method for adjusting and controlling an automatically controlled manipulator, for example a robot. This is often achieved with the aid of dynamic manipulator models, taking into account friction torques, which occur in gear mechanisms that are provided to displace axes of the manipulator. A model for the gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and axis accelerations, in addition to a motor temperature on the drive side of one of the motors that is associated with the relevant axis, said model also being used to determine target values, such as a motor position or a motor current. The inventive method is characterised in that the gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature. The invention also relates to a device that is suitable for carrying out said method and to the uses of a device of this type, According to the invention, the available motor output or the available motor torque can be specifically used in an optimal manner for the respective robot, thus improving the cycle time. The adjustment and driving behaviour is also improved.
    • 本发明涉及一种用于调节和控制自动控制的机械手的方法,例如机器人。 这通常借助于动态操纵器模型来实现,考虑到在提供以移动操纵器的轴的齿轮机构中发生的摩擦力矩。 除了与相关轴线相关联的一个电动机的驱动侧上的电动机温度之外,还基于从动轴速度和轴加速度来确定用于至少一个轴的齿轮机构摩擦转矩的模型,所述模型 也用于确定目标值,例如电机位置或电机电流。 本发明的方法的特征在于,根据齿轮机构温度确定符合型号的齿轮机构摩擦转矩。 本发明还涉及一种适合于执行所述方法和这种类型的装置的使用的装置。根据本发明,可用的电动机输出或可用的电动机转矩可以以最佳方式专门用于 相应的机器人,从而提高了循环时间。 调整和驾驶行为也得到改善。
    • 35. 发明授权
    • Control cable adjustment device
    • 控制电缆调节装置
    • US07481131B2
    • 2009-01-27
    • US10605852
    • 2003-10-30
    • Martin Weiss
    • Martin Weiss
    • F16C1/10
    • B62K23/06B60T11/046B62L3/02F16C1/22F16C2326/20F16C2326/28Y10T74/20287Y10T74/20408Y10T74/20438
    • A control cable adjustment device for adjusting a control cable extending between a control mechanism and an operating mechanism. The adjustment device includes an adjuster rotatably connected to a housing of the control mechanism and a spring element having at least one retention segment. The retention segment engages a detent contour of the adjuster to retain the adjuster in its current position. Another segment of the spring element may have a second function as a return spring for a gear shifter or a brake lever. However, if the spring element does not serve a dual purpose, the spring element has a support segment that is braced against an existing control cable insertion opening in the housing of the control mechanism.
    • 一种用于调节在控制机构和操作机构之间延伸的控制电缆的控制电缆调节装置。 调节装置包括可旋转地连接到控制机构的壳体的调节器和具有至少一个保持段的弹簧元件。 保持段接合调节器的制动轮廓,以将调节器保持在其当前位置。 弹簧元件的另一部分可以具有作为换档器或制动杆的复位弹簧的第二功能。 然而,如果弹簧元件不能用于双重目的,则弹簧元件具有支撑段,该支撑段抵靠控制机构的壳体中现有的控制电缆插入开口。
    • 38. 发明申请
    • Process and device for controlling the robotal device
    • 用于控制抢夺装置的过程和装置
    • US20060004489A1
    • 2006-01-05
    • US11170495
    • 2005-06-29
    • Martin Weiss
    • Martin Weiss
    • G06F19/00
    • B25J9/1656B25J9/1602G05B2219/34202
    • A process is provided for controlling a robotal device, such as a multiaxial industrial robot, by a control unit, with a control core for executing control processes for the robotal device. An interface function checks whether models and/or procedures optionally contained in the control core or additional models and/or transformation procedures and/or special algorithms of kinematic structures, which can be preset at the interface are used as model modules for motion-relevant variables of the robotal device. Special and third-party kinematics can thus also be operated with a control device suitable for executing the process without the control itself having to be modified.
    • 提供了一种用于通过控制单元来控制诸如多轴工业机器人的绕线装置的处理,其具有用于执行抢夺装置的控制过程的控制芯。 接口功能检查可选择地包含在控制核心中的模型和/或过程或其他模型和/或变换过程和/或可在界面预设的运动结构的特殊算法被用作运动相关变量的模型模块 的抢劫装置。 因此,特殊和第三方运动学也可以用适于执行该过程的控制装置来操作,而不必对控制本身进行修改。
    • 39. 发明授权
    • Optical chemical sensor and method using same employing a multiplicity
of fluorophores contained in the free volume of a polymeric optical
waveguide or in pores of a ceramic waveguide
    • 光学化学传感器和使用其的方法使用包含在聚合物光波导的自由体积中的多个荧光团或在陶瓷波导的孔中
    • US5577137A
    • 1996-11-19
    • US392152
    • 1995-02-22
    • Howard P. GrogerPeter LoRussell J. ChurchillMartin WeissShufang Luo
    • Howard P. GrogerPeter LoRussell J. ChurchillMartin WeissShufang Luo
    • G01N21/64G01N21/77G02B6/02G02B6/132G02B6/00G01N15/06
    • G02B6/132G01N21/6428G01N21/648G01N21/7703G02B6/02G01N2021/7793G01N21/6408
    • A fluorescent sensor for chemical analysis has a light source, an optical waveguide, and a detector. Fluorophores are associated with the optical waveguide. When an impervious waveguide is used, a fluorophore-containing layer is applied to a surface of the waveguide. The fluorophores are excited by a laser, a light emitting diode, an electroluminescent source or a lamp source emitting light propagating at angles to the waveguide. The light source is modulated. A mirror can be used to direct the light beam. The angle of light incidence on the waveguide can be altered by moving the waveguide itself. The waveguide traps the laser-induced fluorescence and projects fluorescence signals through a suitable filter to a photodetector or otherwise wavelength-specific photodetector positioned near the waveguide structure. Remote operation of the sensor is achieved using optical fibers. Patterned waveguides allow multiple excitation sources to illuminate multiple fluorescent probe materials. The change in fluorescence from each fluorophore is sensed as a vector response which is evaluated using digital signal processing. The sensor uses steady state fluorescence and fluorescence decay information to determine identity and concentration of analytes of interest. The invention is used for chemical analysis of gases or of liquid materials.
    • 用于化学分析的荧光传感器具有光源,光波导和检测器。 荧光团与光波导相关联。 当使用不透水波导时,将含荧光团的层施加到波导的表面。 荧光团由激光器,发光二极管,电致发光源或发射以波导角度传播的光的灯源激发。 光源被调制。 可以使用镜子来引导光束。 可以通过移动波导本身来改变波导上的光入射角度。 波导捕获激光诱导的荧光,并将荧光信号通过适当的滤光器投射到位于波导结构附近的光电检测器或其他波长特定的光电检测器。 使用光纤实现传感器的远程操作。 图案波导允许多个激发源照亮多个荧光探针材料。 感测来自每个荧光团的荧光的变化作为矢量响应,其使用数字信号处理进行评估。 传感器使用稳态荧光和荧光衰减信息来确定感兴趣的分析物的同一性和浓度。 本发明用于气体或液体材料的化学分析。