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    • 7. 发明申请
    • DEVICE AND METHOD FOR FOLLOWING THE MOVEMENT OF A TOOL OF A HANDLING UNIT
    • 装置和方法,用于运送处理单元的工具
    • WO2007090388A2
    • 2007-08-16
    • PCT/DE2007000248
    • 2007-02-08
    • LKT GMBHBOEHM STEFANHELLMANNS MARKDILGER KLAUSBRAKHAGE KARL-HEINZ
    • BOEHM STEFANHELLMANNS MARKDILGER KLAUSBRAKHAGE KARL-HEINZ
    • G01B11/002B25J9/1697G05B19/404G05B2219/37388G05B2219/39178G05B2219/40623
    • The invention relates to a device (1) for following the movement of a tool of a handling unit (2), comprising at least one beam transmitter (5) which can be directed to and tracked by the tool, and a signal evaluation unit (4) for determining the movement. The beam transmitters (5) comprise actuators for directing the directional beam (6) at adjustable angles in relation to a determined spatial plane and angle sensors for determining the current directional beam angle in relation to the spatial plane. Said angle sensors are connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged such that they can be displaced with the tool. The beam transmitter sensors (7) are connected to the signal evaluation unit . The signal evaluation unit (4) is configured for tracking the directional beams (6) of the at least one beam transmitter (5) of the at least one beam transmitter (5) on an associated, displaceable directional beam sensor (7) and for determining any particular movement of the tool in the three-dimensional space according to the directional beam angles.
    • 一种用于跟踪处理单元(2)对准的工具的运动与该工具可跟踪定向散热器(5)和用于确定所述运动(4)的信号的评估中的至少一个装置(1),进行说明。 定向辐射器(5)具有的致动器,以在相对于一个固定的空间平面和角度传感器,以确定相对于所述空间平面的当前定向波束角度可调角度定向光束(6)的比对,其特征在于,与所述信号分析单元(4)角度传感器被连接。 用于检测所述指向性波束(6)定向波束传感器(7)被以固定关系与该工具的工具,其特征在于,与所述信号分析单元(4)的指向性波束传感器(7)被连接设置可动在一起。 所述信号分析单元(4),用于跟踪所述指向性波束(6)的至少一个方向的散热器(5)布置在相关联的,移动方向的光束传感器(7)和用于确定响应于所述定向波束角在三维空间中的工具的任意运动。