ES2075519T3 - Aparato para controlar la posicion de un miembro robotico. - Google Patents

Aparato para controlar la posicion de un miembro robotico.

Info

Publication number
ES2075519T3
ES2075519T3 ES92107002T ES92107002T ES2075519T3 ES 2075519 T3 ES2075519 T3 ES 2075519T3 ES 92107002 T ES92107002 T ES 92107002T ES 92107002 T ES92107002 T ES 92107002T ES 2075519 T3 ES2075519 T3 ES 2075519T3
Authority
ES
Spain
Prior art keywords
bundles
linear motor
slit
along
stator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
ES92107002T
Other languages
English (en)
Inventor
Lee Clark
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Megamation Inc
Original Assignee
Megamation Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Megamation Inc filed Critical Megamation Inc
Application granted granted Critical
Publication of ES2075519T3 publication Critical patent/ES2075519T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
    • G01D5/34715—Scale reading or illumination devices
    • G01D5/34723—Scale reading or illumination devices involving light-guides

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)
  • Linear Motors (AREA)
  • Manipulator (AREA)

Abstract

LA POSICION, VELOCIDAD Y DIRECCION DEL MOVIMIENTO DE UN MOTOR LINEAL SE DETERMINA MEDIANTE UN CODIFICADOR FIBROOPTICO QUE COMPRENDE UN PRIMER Y UN SEGUNDO HAZ DE FIBRAS. LOS PRIMEROS EXTREMOS DE CADA UNO DE LOS HACES DE FIBRAS TIENEN SUS FIBRAS DISPUESTAS DENTRO DE UNA RANURA ALARGADA Y ESTRECHA, LAS FIBRAS DE CADA HAZ ESTAN DISTRIBUIDAS SUBSTANCIALMENTE A LO LARGO DE LA LONGITUD COMPLETA DE LA RANURA Y ADEMAS DE TAL FORMA QUE LAS FIBRAS DE LOS HACES ESTAN SUBSTANCIALMENTE ENTREMEZCLADAS UNAS CON OTRAS A LO LARGO DE DICHA RANURA. UNO DE LOS HACES LLEVA LA LUZ DIRIGIDA SOBRE EL EXTREMO OPUESTO DEL HAZ HASTA UNA SUPERFICIE ADYACENTE A DICHA RANURA Y A LO LARGO DE LA CUAL SE MUEVE EL MOTOR LINEAL. EL HAZ RESTANTE DIRIGE LA LUZ REFLEJADA DESDE LA SUPERFICIE HASTA UN SENSOR QUE CONVIERTE LA INTENSIDAD DE LA LUZ REFLEJADA EN UNA SEÑAL ELECTRICA. LOS CAMBIOS EN LA REFLECTIVIDAD DE LA SUPERFICIE, QUE PUEDE SER EL ESTATOR DE UN SISTEMA DE MOTOR LINEAL SE UTILIZAN PARA DETERMINAR LA POSICION DEL MOTOR LINEAL A LO LARGO DEL ESTATOR. LA DIRECCION DEL MOVIMIENTO SE DETERMINA A TRAVES DE UTILIZACION DE UN PAR DE CODIFICADORES DEL TIPO DESCRITO EN LOS QUE LAS RANURAS DE CADA CODIFICADOR ESTAN DISPUESTAS SEPARADAS Y EN PARALELO, LA SEPARACION ESTARA RELACIONADA CON LA SEPARACION DEL DISEÑO DEL ESTATOR PARA OBTENER LA DETECCION DEL MOVIMIENTO Y DE LA DIRECCION. EL USO DE UNA PLURALIDAD DE PARES DE CODIFICADORES QUE TIENEN LA DISPOSICION ANTES DESCRITA SUMINISTRA UNA DETECCION DE LA POSICION, VELOCIDAD Y DIRECCION ASI COMO LA DETECCION DEL GIRO.
ES92107002T 1991-05-01 1992-04-24 Aparato para controlar la posicion de un miembro robotico. Expired - Lifetime ES2075519T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/694,382 US5324934A (en) 1991-05-01 1991-05-01 Fiberoptic encoder for linear motors and the like

Publications (1)

Publication Number Publication Date
ES2075519T3 true ES2075519T3 (es) 1995-10-01

Family

ID=24788604

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92107002T Expired - Lifetime ES2075519T3 (es) 1991-05-01 1992-04-24 Aparato para controlar la posicion de un miembro robotico.

Country Status (6)

Country Link
US (1) US5324934A (es)
EP (1) EP0511597B1 (es)
JP (1) JPH06213683A (es)
AT (1) ATE124786T1 (es)
DE (1) DE69203279T2 (es)
ES (1) ES2075519T3 (es)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7218017B1 (en) * 1996-06-24 2007-05-15 Anorad Corporation System and method to control a rotary-linear actuator
US5963330A (en) * 1996-11-13 1999-10-05 Dr. Johannes Heidenhain Gmbh Optical position measuring device
US5887102A (en) * 1996-11-20 1999-03-23 Fostec, Inc. Fiber optic lightline device having randomized input and output for reducing sensitivity to input variations and method of making the same
US5818039A (en) * 1996-12-18 1998-10-06 Yaskawa Electric America, Inc. Incremental optical positioning sensor
JP4050459B2 (ja) * 1997-09-29 2008-02-20 ドクトル・ヨハネス・ハイデンハイン・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング ２つの対象物の位置を検出するための装置
US6175169B1 (en) 1999-05-03 2001-01-16 Ralph L. Hollis, Jr. Closed-loop planar linear motor with integral monolithic three-degree-of-freedom AC-magnetic position/orientation sensor
DE19937023A1 (de) 1999-08-05 2001-02-08 Heidenhain Gmbh Dr Johannes Reflexions-Maßverkörperung und Verfahren zur Herstellung einer Reflexions-Maßverkörperung
US20040155534A1 (en) * 2003-02-07 2004-08-12 Engwall Mats Anders Structure integrating gas support bearing and a planar electromagnetic drive and levitation system
US7091475B2 (en) * 2003-05-07 2006-08-15 Mitutoyo Corporation Miniature 2-dimensional encoder readhead using fiber optic receiver channels
JP4904419B2 (ja) * 2010-07-16 2012-03-28 ファナック株式会社 ノイズ量検出機能を備えたエンコーダ
US20140353477A1 (en) * 2013-05-29 2014-12-04 The Cleveland Electric Laboratories Company Optical encoder
DE102016208155A1 (de) * 2016-05-12 2017-11-16 Robert Bosch Gmbh Positionsbestimmungsvorrichtung zur Bestimmung einer Position und/oder Orientierung eines von einem Stator zu befördernden Transportkörpers relativ zu dem Stator
CN113458002B (zh) * 2021-07-06 2022-07-15 中国科学技术大学 一种基于hvi平台的棉纤维自动化检测系统

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3297879A (en) * 1963-03-18 1967-01-10 W & L E Gurley Optical encoder responsive to movement in two directions
US3622793A (en) * 1969-03-28 1971-11-23 Ibm Fiber optic light transmitting assembly compensating for shadows
US4096383A (en) * 1976-11-08 1978-06-20 Gilbert & Barker Manufacturing Company Pulse-generating apparatus responsive to shaft rotation
US4147977A (en) * 1977-08-15 1979-04-03 Polaris N.V., Inc. Motion analyzing system
DE2828311A1 (de) * 1978-06-28 1980-01-10 Maschf Augsburg Nuernberg Ag Vorrichtung zur ueberwachung von betriebswerten eines lagers
US4387299A (en) * 1979-06-25 1983-06-07 Yazaki Sogyo Kabushiki Kaisha Travel-distance signal generator for vehicles
US4356395A (en) * 1979-07-06 1982-10-26 The Boeing Company Digital fiber optic sensor system
JPS56118623A (en) * 1980-02-22 1981-09-17 Ricoh Co Ltd Detecting method for transparent substance
JPS57135313A (en) * 1981-02-16 1982-08-20 Fanuc Ltd Pulse encoder
JPS6085317A (ja) * 1983-10-17 1985-05-14 Mitsubishi Electric Corp エンコ−ダ
JPS6093916A (ja) * 1983-10-28 1985-05-25 Sumitomo Electric Ind Ltd 光回転センサ−用光フアイバ
JPS60143316U (ja) * 1984-03-06 1985-09-24 アルプス電気株式会社 ロ−タリエンコ−ダ
DE3408291A1 (de) * 1984-03-07 1985-09-19 Daimler-Benz Ag, 7000 Stuttgart Vorrichtung zur bestimmung von positionen bzw. lageaenderungen beweglicher maschinenteile
JPS60218028A (ja) * 1984-04-14 1985-10-31 Fanuc Ltd エンコ−ダ
US4631401A (en) * 1984-06-06 1986-12-23 Dieterich Standard Corporation Optic sensors
ATE72903T1 (de) * 1985-12-05 1992-03-15 Strauss Levi & Co Hoch aufloesende, optische faseranordnung und objektpositionsbestimmungssystem.
JPS62249110A (ja) * 1986-04-22 1987-10-30 Sumitomo Electric Ind Ltd 円複屈折単一モ−ド光フアイバ
GB2192271A (en) * 1986-06-12 1988-01-06 Rabone Chesterman Ltd Sensing the extent and direction of movement
US4823062A (en) * 1987-07-23 1989-04-18 Megamation, Incorporated Method and apparatus for precision control of linear motors and the like employing a closed loop technique
JPS6449914A (en) * 1987-08-20 1989-02-27 Fanuc Ltd Signal processor for pulse encoder
US4890241A (en) * 1987-10-26 1989-12-26 Megamation Incorporated Robotic system
JPH02232520A (ja) * 1989-03-07 1990-09-14 Ricoh Co Ltd 位置検出装置
US4953933A (en) * 1989-07-10 1990-09-04 The Boeing Company Optical encoder reading device
US5148020A (en) * 1991-04-17 1992-09-15 Hewlett-Packard Company Optical encoder with photodetectors of width equal to and one-half of code wheel's window and spoke width

Also Published As

Publication number Publication date
DE69203279T2 (de) 1996-01-11
DE69203279D1 (de) 1995-08-10
EP0511597B1 (en) 1995-07-05
EP0511597A1 (en) 1992-11-04
ATE124786T1 (de) 1995-07-15
US5324934A (en) 1994-06-28
JPH06213683A (ja) 1994-08-05

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