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1.发明授权Method for measuring three-dimensional position of object to be captured and method for capturing the object 失效用于测量待捕获对象的三维位置的方法和用于捕获对象的方法
公开(公告)号：US5280436A
公开(公告)日：1994-01-18
申请号：US686390
申请日：1991-04-17
CPC分类号： G01S17/46 , B25J9/1697 , G01S17/89 , G05B2219/36404 , G05B2219/37275 , G05B2219/40621 , G05B2219/45034
摘要： A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system. This method can be used to locate an electric adjustment position of an electronic component and to move the hand of an industrial robot carrying an electric adjustment member to the electronic component for adjusting the electronic component in the electric adjustment position.
摘要翻译： 一种用于测量待捕获对象的三维位置的方法。 本发明提供了一种激光测量单元，其具有面对物体的图像识别摄像机，第一和第二激光发射源相对于视觉坐标系的垂直轴分别从倾斜方向照射到物体上的横向狭缝光并照射垂直狭缝 相对于视觉坐标系的横轴将光照射到物体上，在物体的垂直轴上的一个狭缝图像和物体的横向轴上的一个狭缝图像以及之前形成的垂直和横向轴上的一个狭缝图像 并且在激光测量单元移动之后，将相机相对于物体的相机光轴的方向上的预定量取入照相机，并且根据预定移动距离量与偏差之间的关系来计算三维位置 在坐标系的视觉坐标上的狭缝图像。 该方法可以用于定位电子部件的电动调节位置，并且将携带电动调节部件的工业机器人的手移动到用于调整电气调节位置的电子部件的电子部件。
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公开(公告)号：US5198876A
公开(公告)日：1993-03-30
申请号：US791223
申请日：1991-11-13
申请人： Takashi Anezaki , Hitoshi Kubota , Manabu Yamane
发明人： Takashi Anezaki , Hitoshi Kubota , Manabu Yamane
IPC分类号： G01B11/00 , B25J9/16 , G01S17/06 , G05B19/408 , G06T1/00
CPC分类号： B25J9/1697 , G01S17/06 , G05B19/4083
摘要： A method of measuring a three-dimensional position of a workpiece by using a laser measuring unit provided at a hand portion of an industrial robot, the laser measuring unit including an image recognition camera and first and second laser beam sources for emitting lateral and vertical slit beams, respectively, the method comprising the steps of: positioning the laser measuring unit such that the laser measuring unit confronts the workpiece; emitting the lateral and vertical slit beams towards the workpiece from the first and second laser beam sources, respectively; inputting the lateral and vertical slit beams on the workpiece, as first and second slit images, into the image recognition camera, respectively; detecting a first point of a maximum output of the lateral slit beam at an edge of the workpiece in the first slit image and a second point of a maximum output of the vertical slit beam at another edge of the workpiece in the second slit image; and calculating the three-dimensional position of the workpiece based on a first amount of deviation of the first point from a first preset reference point and a second amount of deviation of the second point from a second preset reference point.
摘要翻译： 一种通过使用设置在工业机器人的手部的激光测量单元来测量工件的三维位置的方法，所述激光测量单元包括图像识别相机和用于发射横向和纵向狭缝的第一和第二激光束源 所述方法包括以下步骤：定位所述激光测量单元，使得所述激光测量单元面对所述工件; 分别从第一和第二激光束源向工件发射横向和纵向狭缝光束; 将作为第一和第二狭缝图像的工件上的横向和纵向狭缝光束分别输入到图像识别摄像机中; 检测所述第一狭缝图像中的所述工件的边缘处的横向狭缝光束的最大输出的第一点和所述第二狭缝图像中所述工件的另一边缘处的所述垂直狭缝光束的最大输出的第二点; 以及基于所述第一点与第一预设参考点的偏移的第一量和所述第二点与第二预设参考点的偏差的第二量来计算所述工件的三维位置。
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公开(公告)号：US5068588A
公开(公告)日：1991-11-26
申请号：US452909
申请日：1989-12-19
申请人： Hitoshi Kubota , Manabu Yamane , Takashi Anezaki
发明人： Hitoshi Kubota , Manabu Yamane , Takashi Anezaki
CPC分类号： H05K13/046 , H05K13/08
摘要： An apparatus for mounting a flat package type IC on a printed circuit board is disclosed. The apparatus includes: a robot hand for holding the IC; cameras each for taking an image of a part of the IC taking an image of a part of the board, which cameras are fixed to the hand and arranged symmetrically with respect to the rotation axis of the hand; a first processor for obtaining linear deviation and rotational deviation of leads from the images of the IC, and for obtaining linear deviations and rotational deviation of lands from the images of the board; a second processor for obtaining a linear difference between the linear deviations of the IC and board, and for obtaining a rotational difference between the rotational deviations of the IC and board; and a driver for adjusting the position of the IC, by linearly moving the hand by the linear difference, and by rotating the hand by the rotational difference, thereby correctly positioning the leads on the corresponding lands.
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公开(公告)号：US5247733A
公开(公告)日：1993-09-28
申请号：US924934
申请日：1992-08-05
申请人： Hitoshi Kubota , Hiroshi Nakagawa , Toshitsugu Inoue , Akiyoshi Nakada , Manabu Yamane , Hideki Tsutsumi
发明人： Hitoshi Kubota , Hiroshi Nakagawa , Toshitsugu Inoue , Akiyoshi Nakada , Manabu Yamane , Hideki Tsutsumi
IPC分类号： B23P21/00
CPC分类号： B23P21/006 , Y10T29/53374 , Y10T29/53383 , Y10T29/53404 , Y10T29/53417
摘要： A component assembling apparatus includes an intermittently rotatable index table for holding a plurality of positioning tools for use in positioning components to be assembled, and an index table driving mechanism for intermittently rotating the index table. The apparatus also includes a component feeding device for feeding one of the components and holding the component at a removal position of the device, a tool container for storing the plurality of assembling tools for assembling the components, and an arm robot for removably securing one of the assembling tools at its end. The arm robot is operable to move the component from the removal position of the component feeding device to a predetermined position of the positioning tool on the table, and to assemble the component on the positioning tool. An arm robot driving mechanism is provided for actuating the arm robot and the assembling tool.
摘要翻译： 一种部件组装装置，包括用于保持用于定位要组装的部件的多个定位工具的可间歇转动的分度台，以及用于间歇旋转分度台的分度台驱动机构。 该装置还包括一个部件供给装置，用于供给部件中的一个并将部件保持在装置的拆卸位置;工具容器，用于储存用于组装部件的多个组装工具;以及手臂机器人，用于可拆卸地固定 组装工具在其末端。 臂机器人可操作以将部件从部件供给装置的移除位置移动到定位工具在工作台上的预定位置，并将部件组装在定位工具上。 臂机器人驱动机构用于致动臂机器人和组装工具。
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5.发明授权Method and apparatus for generating a transmission timing signal in a wireless telephone 失效用于在无线电话中生成发送定时信号的方法和装置
公开(公告)号：US5764648A
公开(公告)日：1998-06-09
申请号：US502684
申请日：1995-07-14
CPC分类号： H04W56/0085 , H04B7/2681 , H04L7/0083 , H04J3/0685 , H04L7/033 , H04L7/04 , H04W36/36
摘要： In a wireless telephone of a mobile communication system, which performs transmission in a series of bursts, in synchronism with a receive signal transmitted from a base station, each transmission burst being performed responsive to a transmission timing signal, a sync signal is detected from the receive signal, the transmission timing signal is generated on the basis of the sync signal, and each transmission burst is effected in accordance with the transmission timing signal. When the sync signal ceases to be detected, the transmission timing signal is autonomously generated for a certain time period after the sync signal is last detected. In another aspect of the invention, during reception in a first channel, the channel quality of another vacant channel is measured by transferring PLL data to a PLL prior to the slot in which the measurement is effected. In a further aspect of the invention, bit stream data transmitted from the base station is converted into byte stream data and used for control within the wireless telephone.
摘要翻译： 在与从基站发送的接收信号同步地进行一连串突发的传输的移动通信系统的无线电话中，响应于发送定时信号执行每个发送脉冲串，从 接收信号，基于同步信号生成发送定时信号，并且根据发送定时信号实现每个发送脉冲串。 当同步信号不再被检测到时，发送定时信号在最后一次检测到同步信号之后的某个时间周期内被自动生成。 在本发明的另一方面，在第一信道的接收期间，通过在执行测量的时隙之前将PLL数据传送到PLL来测量另一空闲信道的信道质量。 在本发明的另一方面，从基站发送的比特流数据被转换成字节流数据，并用于无线电话内的控制。
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公开(公告)号：US4823933A
公开(公告)日：1989-04-25
申请号：US884502
申请日：1986-07-11
CPC分类号： B65G47/82
摘要： A pallet shifter having two pallet carriers (4a, 4b) rotated by a hydraulic cylinder (5) or the like, the pallet carriers (4a, 4b) being kept in horizontality by a parallelogram link (50, 60) defined by a center (7) of rotation of the driving lever (8), a center (11) of rotation of a pallet carriers (4a, 4b), a center (12) of rotation of a stabilizing lever (13), and a coupling point (14) of the stabilizing lever (13) and the pallet carriers (4a, 4b).
摘要翻译： 具有由液压缸（5）等旋转的两个托盘托架（4a，4b）的托盘移动器，托盘托架（4a，4b）由中心限定的平行四边形连杆（50,60）保持水平 驱动杆（8）的旋转中心（7），托盘托架（4a，4b）的旋转中心（11），稳定杆（13）的旋转中心（12）和联接点 ）稳定杆（13）和托盘托架（4a，4b）。
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