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    • 7. 发明申请
    • CONTROL COMPUTER AND METHOD OF CONTROLLING ROBOTIC ARM
    • 控制计算机和控制机器人的方法
    • US20120185097A1
    • 2012-07-19
    • US13211324
    • 2011-08-17
    • SHEN-CHUN LIHSIEN-CHUAN LIANGSHOU-KUO HSU
    • SHEN-CHUN LIHSIEN-CHUAN LIANGSHOU-KUO HSU
    • B25J9/10
    • B25J9/1679G05B19/4015
    • A computer determines a first origin of a first coordinate system of a PCB, and controls a robotic arm to position a probe above the first origin. Furthermore, the computer determines a second origin of a second coordinate system of the robotic arm, and determines displacement values from the first origin to a test point in controlling movements of the robotic arm in the second coordinate system. A graph representing the test point is recognized in an image of the PCB, pixel value differences between the graph center and the image center are determined and converted to displacement correction values for controlling the movements of the robotic arm and determining 3D coordinates of the test point. The robotic arm is moved along a Z-axis of the second coordinate system to precisely position the probe on the test point of the PCB.
    • 计算机确定PCB的第一坐标系的第一原点,并且控制机器人臂将探针定位在第一原点上方。 此外,计算机确定机器人手臂的第二坐标系的第二原点,并且在控制机器人手臂在第二坐标系中的运动中确定从第一原点到测试点的位移值。 在PCB的图像中识别表示测试点的图形,并且确定图形中心和图像中心之间的像素值差异并将其转换为用于控制机器人手臂的运动并确定测试点的3D坐标的位移校正值 。 机器人臂沿着第二坐标系的Z轴移动,以将探头精确地定位在PCB的测试点上。
    • 10. 发明申请
    • REVERSING TRANSMISSION
    • 反向传输
    • US20110094334A1
    • 2011-04-28
    • US12761417
    • 2010-04-16
    • SHEN-CHUN LISHOU-KUO HSUYUNG-CHIEH CHENHSIEN-CHUAN LIANGSHIN-TING YENHUNG CHAO
    • SHEN-CHUN LISHOU-KUO HSUYUNG-CHIEH CHENHSIEN-CHUAN LIANGSHIN-TING YENHUNG CHAO
    • F16H3/40F16H3/08
    • F16D41/10F16H3/14Y10T74/19172
    • The REVERSING TRANSMISSION includes a shaft, a retainer, a spacing collar, a plurality of reversing members, two gears and two covers. The holder is sleeved on the shaft with spaced sliding notches formed thereon. The spacing collar is mounted on an outer surface of the retainer. The reversing members each includes two spaced swing plates with two reversed spiral teeth dented on two diagonal half surfaces of the two spaced swing plate. The reversing members slide into the sliding notches of the holder with two swing plates distributed at different side of the spacing collar. Each of the gears has a group of spiral teeth formed on the inner side for engaging with the group of spiral teeth of the reversing members, and cogs formed on the outer circumference surface. The covers are mounted on two opposite ends of the holder to keep the reversing member in position.
    • 逆向变速器包括轴,保持器,间隔套环,多个换向构件,两个齿轮和两个盖。 保持器套在轴上,其上形成有间隔开的滑动凹口。 间隔套环安装在保持器的外表面上。 反转构件各自包括两个间隔开的摆动板,其中两个相反的螺旋齿凹陷在两个间隔开的摆动板的两个对角半面上。 反转构件滑入保持器的滑动凹口中,两个摆动板分布在间隔环的不同侧。 每个齿轮具有形成在内侧上的一组螺旋齿,用于与反转构件的一组螺旋齿接合,并且形成在外周表面上的齿。 盖子安装在保持器的两个相对端上,以使反向构件保持在适当位置。