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1. 发明申请

US20110049341A1 OPTICAL ENCODER 有权
标题翻译：光学编码器
公开(公告)号：US20110049341A1
公开(公告)日：2011-03-03
申请号：US12990508
申请日：2009-06-03
申请人： Hajime Nakajima , Takuya Noguchi , Takeshi Musha , Youichi Omura , Toshiro Nakashima , Tatsuya Nagatani , Takashi Iwamoto
发明人： Hajime Nakajima , Takuya Noguchi , Takeshi Musha , Youichi Omura , Toshiro Nakashima , Tatsuya Nagatani , Takashi Iwamoto
IPC分类号： G01D5/347
CPC分类号： G01D5/347 , G01D5/3473
摘要： Present invention provides an optical encoder capable of improving the precision of an interpolation angle in a single signal track, in an encoder of sine-wave angle interpolation type. The optical encoder includes a waveform, in which a phase-modulated wave is superimposed in a predetermined period over a sine-wave of a fundamental period, as a signal track (103), and an optical detector (104) for extracting the sine signal and the cosine signal of the phase-modulated wave. An operation unit (106) operates electric angles individually from the output signals of a first optical detector pair and a second optical detector pair belonging to the optical detector, and determines the sum and difference of the electric angles, thereby acquiring the electric angle and the phase-modulated wave of the fundamental period.
摘要翻译：本发明提供了一种在正弦波角插值类型的编码器中能够提高单个信号轨道内插角的精度的光学编码器。光学编码器包括波形，其中在基本周期的正弦波上以预定周期叠加相位调制波作为信号轨道（103），以及用于提取正弦信号的光学检测器（104）和相位调制波的余弦信号。操作单元（106）从属于光检测器的第一光检测器对和第二光检测器对的输出信号分别操作电角度，并且确定电角度的和差，从而获得电角度和基波周期的相位调制波。

2. 发明授权

US08415610B2 Optical encoder having a single signal track and an optical detecting part with sine and cosine signals 有权
标题翻译：具有单个信号轨道的光学编码器和具有正弦和余弦信号的光学检测部分
公开(公告)号：US08415610B2
公开(公告)日：2013-04-09
申请号：US12990508
申请日：2009-06-03
申请人： Hajime Nakajima , Takuya Noguchi , Takeshi Musha , Youichi Omura , Toshiro Nakashima , Tatsuya Nagatani , Takashi Iwamoto
发明人： Hajime Nakajima , Takuya Noguchi , Takeshi Musha , Youichi Omura , Toshiro Nakashima , Tatsuya Nagatani , Takashi Iwamoto
IPC分类号： G01D5/34
CPC分类号： G01D5/347 , G01D5/3473
摘要： Present invention provides an optical encoder capable of improving the precision of an interpolation angle in a single signal track, in an encoder of sine-wave angle interpolation type. The optical encoder includes a waveform, in which a phase-modulated wave is superimposed in a predetermined period over a sine-wave of a fundamental period, as a signal track (103), and an optical detector (104) for extracting the sine signal and the cosine signal of the phase-modulated wave. An operation unit (106) operates electric angles individually from the output signals of a first optical detector pair and a second optical detector pair belonging to the optical detector, and determines the sum and difference of the electric angles, thereby acquiring the electric angle and the phase-modulated wave of the fundamental period.
摘要翻译：本发明提供了一种在正弦波角插值类型的编码器中能够提高单个信号轨道内插角的精度的光学编码器。光学编码器包括波形，其中在基本周期的正弦波上以预定周期叠加相位调制波作为信号轨道（103），以及用于提取正弦信号的光学检测器（104）和相位调制波的余弦信号。操作单元（106）从属于光检测器的第一光检测器对和第二光检测器对的输出信号分别操作电角度，并且确定电角度的和差，从而获得电角度和基波周期的相位调制波。

3. 发明授权

US09469035B2 Component supply apparatus 有权
标题翻译：组件供应装置
公开(公告)号：US09469035B2
公开(公告)日：2016-10-18
申请号：US14125712
申请日：2012-06-20
申请人： Akio Noda , Tatsuya Nagatani , Yukiyasu Domae
发明人： Akio Noda , Tatsuya Nagatani , Yukiyasu Domae
IPC分类号： B25J13/00 , B25J13/08 , B25J9/00 , B25J9/16 , B25J19/02
CPC分类号： B25J13/08 , B25J9/0018 , B25J9/0084 , B25J9/1697 , B25J19/021 , G05B2219/40012
摘要： A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.
摘要翻译：一种部件供给装置，其能够在短时间内以一般的方式对大量供应的各种形状的部件进行对准。该装置包括测量深度图的三维视觉传感器，批量部件盒，从批量部件盒拾取部件的机器人，组件滚动到其上的临时放置台，测量轮廓的二维视觉传感器的组件，拾取在临时放置台上滚动的部件的机器人组件，以及将部件的位置和方位改变成涉及相对于位置和方位的一定程度或更小的误差的位置和方向，在改变部件的位置和方位的同时，以及控制这些部分的控制装置。

4. 发明申请

US20140147240A1 COMPONENT SUPPLY APPARATUS 有权
标题翻译：组件供应装置
公开(公告)号：US20140147240A1
公开(公告)日：2014-05-29
申请号：US14125712
申请日：2012-06-20
申请人： Akio Noda , Tatsuya Nagatani , Yukiyasu Domae
发明人： Akio Noda , Tatsuya Nagatani , Yukiyasu Domae
IPC分类号： B25J13/08
CPC分类号： B25J13/08 , B25J9/0018 , B25J9/0084 , B25J9/1697 , B25J19/021 , G05B2219/40012
摘要： A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.
摘要翻译：一种部件供给装置，其能够在短时间内以一般的方式对大量供应的各种形状的部件进行对准。该装置包括测量深度图的三维视觉传感器，批量部件盒，从批量部件盒拾取部件的机器人，组件滚动到其上的临时放置台，测量轮廓的二维视觉传感器的组件，拾取在临时放置台上滚动的部件的机器人组件，以及将部件的位置和方位改变成涉及相对于位置和方位的一定程度或更小的误差的位置和方向，在改变部件的位置和方位的同时，以及控制这些部分的控制装置。

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