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    • 53. 发明申请
    • CHIP COMPONENT CARRYING METHOD AND SYSTEM, AND VISUAL INSPECTION METHOD AND SYSTEM
    • 芯片组件携带方法与系统,视觉检测方法与系统
    • US20110261185A1
    • 2011-10-27
    • US13174001
    • 2011-06-30
    • Masayoshi KobayashiToru Mizuno
    • Masayoshi KobayashiToru Mizuno
    • H04N7/18B65G29/00
    • G01N21/95G01N21/8803G01R31/013
    • A method and a system for stabilizing the sight line of a chip component being carried on two discs, for stabilizing delivery of the chip component between the two discs, and improving and stabilizing the inspection accuracy in the visual check of the chip component. This is achieved by employing a mechanism for carrying the chip component while supporting it on the horizontal plane of the first rotary disc and then carrying the chip component while suction-holding it on the vertical plane of the second rotary disc. When the chip component is carried on the first rotary disc, the upper surface and one side face of the chip component are imaged by first and second cameras. When the chip component is carried on the second rotary disc, the lower surface and the other side face of the chip component are imaged by third and fourth cameras.
    • 一种用于稳定在两个盘上承载的芯片部件的瞄准线的方法和系统,用于稳定两个盘之间的芯片部件的传递,并且改善和稳定芯片部件的视觉检查中的检查精度。 这通过采用用于承载芯片部件的机构来实现,同时将其支撑在第一旋转盘的水平面上,然后在将其保持在第二旋转盘的垂直平面上的同时承载芯片部件。 当芯片部件承载在第一旋转盘上时,芯片部件的上表面和一个侧面由第一和第二相机成像。 当芯片部件承载在第二旋转盘上时,芯片部件的下表面和另一侧面由第三和第四相机成像。
    • 60. 发明授权
    • Method for acceleration and deceleration control of servomotors
    • 伺服电机加减速控制方法
    • US5004968A
    • 1991-04-02
    • US381396
    • 1989-07-05
    • Toru MizunoRyuichi Hara
    • Toru MizunoRyuichi Hara
    • H02P29/00G05B19/416
    • G05B19/416G05B2219/42256G05B2219/43013G05B2219/43062
    • A method for acceleration and deceleration control of servomotors always brings out the maximum operating capability of a machine equipped with servomotors, such as a robot, NC machine tool, etc. and accurately moves a respective operating section of the machine, e.g., robot work point, tool, etc., along a commanded path. When a command is read from a program, the speed command value is divided by a maximum allowable (Am) of the machine, set previously, to determine a time constant (T) for acceleration and deceleration control (Step S2), and the time constant is divided by a sampling period to obtain a number (n) of times of commanded speed sampling (Step S3). The servomotor is driven at a controlled speed after the acceleration/deceleration process. The controlled speed is obtained by dividing a sum of a commanded speed of the current sampling period and commanded speeds sampled in the previous (n-1) periods preceding the current period, by the number (n) of times of sampling. Thus, accelerated and decelerated operations of the machine are always performed at the maximum allowable acceleration/deceleration, whereby the maximum operating capability of the machine is available and the respective machine operating section can be moved accurately along the commanded path.
    • PCT No.PCT / JP88 / 01241 Sec。 371日期:1989年7月5日 102(e)日期1989年7月5日PCT提交1988年12月9日PCT公布。 出版物WO89 / 06066 日期:1989年6月29日。伺服电机的加减速控制方法总是提供装备有机器人,数控机床等伺服电动机的机器的最大操作能力,并精确地移动相应的操作部分 机器,例如机器人工作点,工具等,沿着命令的路径。 当从程序中读出命令时,将速度指令值除以预先设定的机器的最大允许量(Am),以确定加速和减速控制的时间常数(T)(步骤S2) 常数除以采样周期,以获得指令速度采样次数(n)(步骤S3)。 伺服电机在加速/减速过程后以受控的速度驱动。 控制速度通过将当前采样周期的指令速度与在当前周期之前的(n-1)个周期中采样的指令速度之和除以采样次数(n)来得到。 因此,机器的加速和减速操作总是以最大允许的加速/减速进行,从而可以获得机器的最大操作能力,并且可以沿着指令路径精确地移动各个机器操作部。