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1. 发明授权

US4672279A Robot joint angle detecting system 失效
标题翻译：机器人关节角度检测系统
公开(公告)号：US4672279A
公开(公告)日：1987-06-09
申请号：US783413
申请日：1985-10-03
申请人： Yorio Hosokawa , Shotaka Sakamoto
发明人： Yorio Hosokawa , Shotaka Sakamoto
IPC分类号： B25J13/00 , B25J9/12 , B25J9/18 , B25J13/08 , B25J17/02 , B25J19/00 , B25J19/02 , G01B7/30 , G05B19/39 , G05B19/42
CPC分类号： G05B19/39 , B25J13/088 , B25J17/0241 , B25J19/005 , B25J9/12 , 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 coupled through a reduction mechanism to a drive motor, an absolute type rotation angle detector and an incremental-type rotation number detector are coupled to the motor for detecting the rotational angle and the rotation number of the motor, 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 for energization during interruption of a power supply.
摘要翻译：在用于检测通过减速机构联接到驱动马达的接头的角度的系统中，绝对型旋转角度检测器和增量式旋转数检测器联接到马达上，用于检测旋转角度和旋转角度电机。检测到的旋转角度和检测到的旋转数量用于计算接头的旋转角度。增量型转数检测器具有在电源中断期间通电的电池。

2. 发明授权

US5092051A Absolute-measuring position transducer system for industrial robot 失效
标题翻译：用于工业机器人的绝对测量位置传感器系统
公开(公告)号：US5092051A
公开(公告)日：1992-03-03
申请号：US547235
申请日：1990-07-03
申请人： Anders Holmer , Einar Myklebust
发明人： Anders Holmer , Einar Myklebust
IPC分类号： B25J13/08 , G01B7/004
CPC分类号： B25J13/088 , G01B7/004 , G05B2219/37478 , G05B2219/37487 , G05B2219/42264 , G05B2219/50077 , G05B2219/50078 , G05B2219/50084 , Y10T307/615
摘要： An asbolute position-measuring transducer system for an industrial robot having a plurality of axes of movement comprises an individual position transducer in the form of a resolver for each one of the axes, with the operating range of each axis corresponding to a plurality of revolutions of its resolver, a revolution counter connected to the output of the resolver of at least one of the axes for receiving the output signals from the resolver and counting the accumulated number of resolver revolutions, a back-up battery adapted for supplying the resolver and the revolution counter during the power failure, and a device for effecting the intermittent operation and reading-off of the resolver during the battery back-up operation, whereby a single resolver is used for position measuring during the normal operation and for counting revolutions during the battery back-up operation.

3. 发明授权

US09636823B2 Robot control device for updating rotation angle by plurality of rotation angle detectors 有权
公开(公告)号：US09636823B2
公开(公告)日：2017-05-02
申请号：US14990115
申请日：2016-01-07
申请人： FANUC CORPORATION
发明人： Kunihiko Harada , Takahiro Tanaka
IPC分类号： B25J19/02 , B25J9/16
CPC分类号： B25J9/1664 , B25J19/02 , G05B2219/50077 , Y10S901/02 , Y10S901/28 , Y10S901/46
摘要： A robot control device, when starting from a stop state, updates a first rotation angle or a second rotation angle based on at least one of the first rotation angle stored in a first rotation angle storage unit and the second rotation angle stored in a second rotation angle storage unit and at least one of the first rotation angle detected by a first rotation angle detector and the second rotation angle detected by the second rotation angle detector.

4. 发明授权

US5229697A Sampling bipolar peak detector for sensing a non-symmetrical decay of an AC voltage signal 失效
标题翻译：采样双极峰值检测器，用于感测交流电压信号的非对称衰减
公开(公告)号：US5229697A
公开(公告)日：1993-07-20
申请号：US828335
申请日：1992-01-30
申请人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
发明人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
IPC分类号： G05B19/33
CPC分类号： G05B19/33 , G05B2219/37147 , G05B2219/50077
摘要： An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficient to capture any residual motion of the robot. In addition, the RPT includes circuitry to detect when the external excitation signal is absent, to detect when individual invalid position samples may be taken and to distinguish between valid motion and a jitter condition in which the sensed resolver position oscillates between two quadrants.
摘要翻译：用于工业机器人的辅助解析器位置跟踪（RPT）系统包括由包括电池的不间断电源供电的旋转变压器激励和监视系统。当没有外部激励信号被施加时，RPT系统为机器人中的分解器产生梯形激励脉冲，例如当机器人关闭时。由于在这些情况下运动相对较少，因此当检测到运动时，RPT系统在慢速位置采样率和运动检测时的快速采样率之间切换。当使用电池供电时，RPT仅在检测到运动时才切换到快速采样率。为了确保当系统切换回慢速采样速率时没有运动数据丢失，高采样率被维持足以捕获机器人的任何残余运动的时间。此外，RPT包括检测外部激励信号何时不存在的电路，以检测何时可以采用单独的无效位置采样，并区分有效运动和抖动状态，其中感测到的分解器位置在两个象限之间振荡。

5. 发明授权

US5204603A Open circuit detection for a pulsed resolver position sensing system 失效
标题翻译：脉冲解算器位置传感系统的开路检测
公开(公告)号：US5204603A
公开(公告)日：1993-04-20
申请号：US828049
申请日：1992-01-30
申请人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
发明人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
IPC分类号： G05B19/33 , G05B19/4062
CPC分类号： G05B19/33 , G05B19/4062 , G05B2219/34306 , G05B2219/37547 , G05B2219/37548 , G05B2219/42323 , G05B2219/50077 , Y02P70/163 , Y02P70/169
摘要： An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficient to capture any residual motion of the robot. In addition, the RPT includes circuitry to detect when the external excitation signal is absent, to detect when individual invalid position samples may be taken and to distinguish between valid motion and a jitter condition in which the sensed resolver position oscillates between two quadrants.
摘要翻译：用于工业机器人的辅助解析器位置跟踪（RPT）系统包括由包括电池的不间断电源供电的旋转变压器激励和监视系统。当没有外部激励信号被施加时，RPT系统为机器人中的分解器产生梯形激励脉冲，例如当机器人关闭时。由于在这些情况下运动相对较少，因此当检测到运动时，RPT系统在慢速位置采样率和运动检测时的快速采样率之间切换。当使用电池供电时，RPT仅在检测到运动时才切换到快速采样率。为了确保当系统切换回慢速采样速率时没有运动数据丢失，高采样率被维持足以捕获机器人的任何残余运动的时间。此外，RPT包括检测外部激励信号何时不存在的电路，以检测何时可以采用单独的无效位置采样，并区分有效运动和抖动状态，其中感测到的分解器位置在两个象限之间振荡。

6. 发明授权

US06949733B2 Determination of a movable gantry position including a dual measurement module 有权
标题翻译：确定包括双测量模块的可移动机架位置
公开(公告)号：US06949733B2
公开(公告)日：2005-09-27
申请号：US10387210
申请日：2003-03-10
申请人： Gary Peter Widdowson , Sun Kuen Wong , Ajit Gaunekar
发明人： Gary Peter Widdowson , Sun Kuen Wong , Ajit Gaunekar
IPC分类号： H05K13/04 , G05B19/401 , H01J40/14
CPC分类号： G05B19/401 , G05B2219/45029 , G05B2219/50077 , G05B2219/50389
摘要： The position of a working point relative to a working space, such as a working point of a carriage on a gantry beam of an XY positioning table, is determined by measuring at least two sets of displacements. A first set of displacements, of the working point relative to an intermediate component, such as the gantry beam, includes a relatively large displacement (X) in a first linear degree of freedom and relatively small displacements (Y1′, Y2′), in at least two of the five degrees of freedom other than the first. The second set of displacements, of the intermediate component relative to the working space, includes a relatively large displacement (Y1, Y2), in a second linear degree of freedom, and relatively small displacements (X1′, X2′), in at least two of the five degrees of freedom other than the second.
摘要翻译：通过测量至少两组位移来确定工作点相对于工作空间的位置，例如XY定位台的台架梁上的托架的工作点。工作点相对于诸如龙门架梁的中间部件的第一组位移包括在第一线性自由度和相对较小的位移（Y 1 SUB）中的相对大的位移（X） >'，Y 2>，在除了第一个以外的五个自由度中的至少两个中。中间部件相对于工作空间的第二组位移在第二线性自由度中包括相对较大的位移（Y 1，Y 2 2），以及除了第二个之外的五个自由度中的至少两个中的相对小的位移（X 1，X 2 2）。

7. 发明授权

US5198735A Method for eliminating position tracking errors in the presence of resolver excitation errors for motion control systems 失效
标题翻译：在存在运动控制系统的解算器激励误差的情况下消除位置跟踪误差的方法
公开(公告)号：US5198735A
公开(公告)日：1993-03-30
申请号：US828336
申请日：1992-01-30
申请人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
发明人： Donald K. Taylor , Richard J. Maczka , Carl H. Russell, III
IPC分类号： G05B19/33
CPC分类号： G05B19/33 , G05B2219/34306 , G05B2219/37547 , G05B2219/37548 , G05B2219/50077 , Y02P70/163 , Y02P70/169
摘要： An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficient to capture any residual motion of the robot. In addition, the RPT includes circuitry to detect when the external excitation signal is absent, to detect when individual invalid position samples may be taken and to distinguish between valid motion and a jitter condition in which the sensed resolver position oscillates between two quadrants.
摘要翻译：用于工业机器人的辅助解析器位置跟踪（RPT）系统包括由包括电池的不间断电源供电的旋转变压器激励和监视系统。当没有外部激励信号被施加时，RPT系统为机器人中的分解器产生梯形激励脉冲，例如当机器人关闭时。由于在这些情况下运动相对较少，因此当检测到运动时，RPT系统在慢速位置采样率和运动检测时的快速采样率之间切换。当使用电池供电时，RPT仅在检测到运动时才切换到快速采样率。为了确保当系统切换回慢速采样速率时没有运动数据丢失，高采样率被维持足以捕获机器人的任何残余运动的时间。此外，RPT包括检测外部激励信号何时不存在的电路，以检测何时可以采用单独的无效位置采样，并区分有效运动和抖动状态，其中感测到的分解器位置在两个象限之间振荡。

8. 发明授权

US5038272A Device for tracking and recording the position reached by a moving part, in particular for industrial-robot control 失效
标题翻译：用于跟踪和记录由移动部件达到的位置的装置，特别是用于工业 - 机器人控制
公开(公告)号：US5038272A
公开(公告)日：1991-08-06
申请号：US365882
申请日：1989-06-13
申请人： Piero Calcagno , Ernesto De Ferrari , Bruce L. Beverly , Alan D. McNutt
发明人： Piero Calcagno , Ernesto De Ferrari , Bruce L. Beverly , Alan D. McNutt
IPC分类号： G01B7/30 , B25J9/18 , G01B7/00 , G01B21/00 , G01D9/00 , G05B19/33
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.

9. 发明申请

US20160199982A1 ROBOT CONTROL DEVICE FOR UPDATING ROTATION ANGLE BY PLURALITY OF ROTATION ANGLE DETECTORS 有权
标题翻译：用于通过旋转角度检测器的多项式更新旋转角度的机器人控制装置
公开(公告)号：US20160199982A1
公开(公告)日：2016-07-14
申请号：US14990115
申请日：2016-01-07
申请人： FANUC CORPORATION
发明人： Kunihiko Harada , Takahiro Tanaka
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J19/02 , G05B2219/50077 , Y10S901/02 , Y10S901/28 , Y10S901/46
摘要： A robot control device, when starting from a stop state, updates a first rotation angle or a second rotation angle based on at least one of the first rotation angle stored in a first rotation angle storage unit and the second rotation angle stored in a second rotation angle storage unit and at least one of the first rotation angle detected by a first rotation angle detector and the second rotation angle detected by the second rotation angle detector.
摘要翻译：机器人控制装置从停止状态开始时，基于存储在第一旋转角度存储单元中的第一旋转角度和第二旋转角度中存储的第二旋转角度中的至少一个，更新第一旋转角度或第二旋转角度角度存储单元和由第一旋转角度检测器检测到的第一旋转角度和由第二旋转角度检测器检测到的第二旋转角度中的至少一个。

10. 发明申请

US20040178327A1 Determination of a movable gantry position 有权
标题翻译：确定可移动的龙门架位置
公开(公告)号：US20040178327A1
公开(公告)日：2004-09-16
申请号：US10387210
申请日：2003-03-10
申请人： ASM Technology Singapore Pte Ltd
发明人： Gary Peter Widdowson , Sun Kuen Wong , Ajit Gaunekar
IPC分类号： H01J040/14
CPC分类号： G05B19/401 , G05B2219/45029 , G05B2219/50077 , G05B2219/50389
摘要： The position of a working point relative to a working space, such as a working point of a carriage on a gantry beam of an XY positioning table, is determined by measuring at least two sets of displacements. A first set of displacements, of the working point relative to an intermediate component, such as the gantry beam, includes a relatively large displacement (X) in a first linear degree of freedom and relatively small displacements (Y1null, Y2null), in at least two of the five degrees of freedom other than the first. The second set of displacements, of the intermediate component relative to the working space, includes a relatively large displacement (Y1, Y2), in a second linear degree of freedom, and relatively small displacements (X1null, X2null), in at least two of the five degrees of freedom other than the second.
摘要翻译：通过测量至少两组位移来确定工作点相对于工作空间的位置，例如XY定位台的台架梁上的托架的工作点。工作点相对于诸如台架梁的中间部件的第一组位移包括在第一线性自由度和相对小的位移（Y1'，Y2'）中的相对大的位移（X），在除了第一个以外的五个自由度中的至少两个。中间部件相对于工作空间的第二组位移包括在第二线性自由度中相对较大的位移（Y1，Y2）和相对小的位移（X1'，X2'），至少五个自由度中的两个除了第二个。

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