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。

公开(公告)号：US5323309A

公开(公告)日：1994-06-21

申请号：US828058

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 ,  G05B19/42

CPC分类号： G05B19/33 ,  G05B2219/37478 ,  G05B2219/37481

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。

公开(公告)号：US5163854A

公开(公告)日：1992-11-17

申请号：US810365

申请日：1991-12-18

申请人： Harold J. Licht ,  Gordon R. Potts

发明人： Harold J. Licht ,  Gordon R. Potts

IPC分类号： H01R4/30 ,  H01R4/34 ,  H01R12/72 ,  H01R13/03

CPC分类号： H01R12/727 ,  H01R13/03 ,  H01R4/302 ,  H01R4/34

摘要： A high power density field wireable connector wherein both the wire insertion and the screw tightening mechanism for retaining an inserted wire in the connector are front accessible and negate the requirement to remove the module as in the prior art. The wiring is located toward the interior of the connector rather than the exterior so that the screws are more accessible. The connector housing includes a mechanism for captivating the mounting screws and a two position locator so that various modules already located in the field can use the same connector. Fingers on the circuit board make contact with contact fingers within the connector. Both the fingers on the circuit board and the contact fingers within the connector are preferably plated with gold. A normal spring force on the fingers within the connector is provided by the cantilever action of interior walls of the connector housing with the contact fingers disposed within the housing. The housing is designed with specific dimensions and tolerances both are compatible with both DIN 41612 and VME standards.

摘要翻译： 一种高功率密度场线性连接器，其中用于将插入的线保持在连接器中的电线插入和螺钉紧固机构都是前面可接近的，并且否定了如现有技术那样去除模块的要求。 接线位于连接器的内部而不是外部，使得螺钉更易于接近。 连接器壳体包括用于吸引安装螺钉和两个位置定位器的机构，使得已经位于现场的各种模块可以使用相同的连接器。 电路板上的手指与连接器内的接触指接触。 电路板上的指状物和连接器内的接触指状物两者都优选地镀金。 连接器内的手指上的正常弹簧力由连接器壳体的内壁的悬臂动作提供，其中接触指状物设置在壳体内。 外壳设计具有特定的尺寸和公差，兼容DIN 41612和VME标准。

公开(公告)号：US5200683A

公开(公告)日：1993-04-06

申请号：US828322

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。

公开(公告)号：US3003614A

公开(公告)日：1961-10-10

申请号：US82833659

申请日：1959-07-20

申请人： WESTERN ELECTRIC CO

发明人： FRANK GEORGE H

IPC分类号： B03B11/00

CPC分类号： B03B11/00

公开(公告)号：US5359640A

公开(公告)日：1994-10-25

申请号：US104311

申请日：1993-08-10

申请人： Juergen Fink ,  Rolf Schipper ,  Kingsley Smith ,  Richard Ortega

发明人： Juergen Fink ,  Rolf Schipper ,  Kingsley Smith ,  Richard Ortega

IPC分类号： G01N23/20 ,  G01N23/207

CPC分类号： G01N23/207 ,  G01N23/20025

摘要： An X-ray diffractometer having a simple yet accurate means for locating the surface of the sample to be examined with respect to the zero point of the X-ray (RS) is disclosed. Briefly stated, a laser (LA) and camera (KA) are positioned at preferably 90.degree. with respect to each other such that the intersection of the optical axis of the camera and the laser passes through the zero point of the diffractometer. In this fashion, the camera will see at its center, the zero point of the X-ray despite the fact that the X-ray is of course invisible to the naked eye. Accordingly, by movement of the sample (P) with respect to this camera image, the true and correct zero point of the X-ray with respect to the surface of the sample to be examined may be determined without the need for experimental and unnecessary X-ray or examination runs being taken.

摘要翻译： 公开了一种具有用于将待检测样品的表面相对于X射线（RS）的零点定位的简单且准确的装置的X射线衍射仪。 简而言之，激光（LA）和照相机（KA）相对于彼此优选地定位成90°，使得照相机和激光器的光轴相交通过衍射仪的零点。 以这种方式，相机将在其中心看到X射线的零点，尽管X射线当然是肉眼看不见的。 因此，通过样品（P）相对于该照相机图像的移动，可以确定X射线相对于待检测样品表面的真实和正确的零点，而不需要实验和不必要的X 射击或考试正在进行中。

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。

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。

公开(公告)号：US5198739A

公开(公告)日：1993-03-30

申请号：US828061

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 ,  G08C19/46

CPC分类号： G08C19/46 ,  G05B19/33 ,  G05B2219/34306 ,  G05B2219/37473 ,  G05B2219/37478 ,  G05B2219/41122 ,  G05B2219/45083 ,  G05B2219/50084 ,  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 sufficeint 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采样率时没有运动数据丢失，高采样率保持一段时间以捕获机器人的任何残余运动。 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。