GB1511265A - Apparatus for sensing the relative position of two object - Google Patents
Apparatus for sensing the relative position of two objectInfo
- Publication number
- GB1511265A GB1511265A GB1984975A GB1984975A GB1511265A GB 1511265 A GB1511265 A GB 1511265A GB 1984975 A GB1984975 A GB 1984975A GB 1984975 A GB1984975 A GB 1984975A GB 1511265 A GB1511265 A GB 1511265A
- Authority
- GB
- United Kingdom
- Prior art keywords
- signals
- article
- led
- arm
- moved
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
1511265 Optical position sensing NATIONAL AERONAUTICS & SPACE ADMINISTRATION 12 May 1975 [31 May 1974] 19849/75 Heading H4D The Specification describes apparatus for optically sensing the position of an article having mounted thereon a reflective target at a predetermined position, by a sensor mounted on a movable arm which is moved to a position above the article whereby the arm may be lowered and mechanically grasp, or make suitable connection with a cooperating portion of the article. The apparatus includes a photo electric sensor comprising a silicon quadrant detector 14 and three associated light emitteing diodes LED 1 , 2 , 3 , Fig. 7. The article 10 has mounted thereon reflective target 15 comprising a cube corner reflector 30, Fig. 4, and disposed on opposite sides thereof planar mirrors 31 and 32. In operation, the arm is moved under control of the operator, aided by, for example television, to a position as close as possible to one wherein the co-ordinate axes X, Y of the detector 14 are parallel to the co-ordinate axes X m , Y m of the target 15 on handle 11 and the respective Z and Z m axes are approximately aligned. The final accurate predetermined mutual positioning of the two coordinated systems obtains as a result of the action of servo motors (not shown) which are respectively arranged to move the apparatus in directions a x , α y , # x , # y , # and R (Fig. 1), in the appropriate sense until these respective deviation signals are nulled, and movement ceases when alignment is achieved. The actuator 12 may then be moved automatically, or controlled by the operator through a predetermined distance in the Z-direction whereupon fingers 13 are operated to correctly grasp handle 11. Diodes LED 1 , LED 2 , LED 3 are switched on successively, controlled by three phase clock signals # 1 , # 2 , # 3 from the pulse generator (Fig. 8). The quadrant detector output signals are fed to subtractors 51, 52 from which are respectively obtained signals V xn = A - B and V yn = C - D where n = 1, 2, 3 corresponding to the clock phase. Sample and hold circuits 58, 59, 60, 66, 67, 68 select the values signals V xn , V yn during the appropriate phase and from which the deviation signals are obtained according to the relationships: In another embodiment, telescopic sections 83, 85 and track 81 which produce translational movement may be replaced by angularly displaceable means when the displacements are small (see Fig. 9, not shown).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US47533674A | 1974-05-31 | 1974-05-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1511265A true GB1511265A (en) | 1978-05-17 |
Family
ID=23887132
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB1984975A Expired GB1511265A (en) | 1974-05-31 | 1975-05-12 | Apparatus for sensing the relative position of two object |
Country Status (5)
Country | Link |
---|---|
JP (1) | JPS5746999B2 (en) |
CA (1) | CA1035444A (en) |
DE (1) | DE2523972A1 (en) |
FR (1) | FR2275285A1 (en) |
GB (1) | GB1511265A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2144290A (en) * | 1983-07-08 | 1985-02-27 | Univ Surrey | Measuring system |
GB2179762A (en) * | 1985-08-31 | 1987-03-11 | Deutsche Forsch Luft Raumfahrt | Method of aligning the axis of a second bracket relative to the axis of a first bracket on a test or processing machine |
US5237253A (en) * | 1990-02-21 | 1993-08-17 | Joel Moreau | Manual control device for the motor-assisted displacements of a machine element |
WO2009024467A1 (en) * | 2007-08-17 | 2009-02-26 | Siemens Aktiengesellschaft | Organically based optical position sensor |
CN106976084A (en) * | 2017-03-28 | 2017-07-25 | 深圳市源畅通科技有限公司 | A kind of production equipment intelligent mechanic control system |
CN108328015A (en) * | 2017-03-10 | 2018-07-27 | 嘉善铂汉塑胶五金有限公司 | A kind of object transfer device and method |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE402540B (en) * | 1976-08-13 | 1978-07-10 | Asea Ab | PROCEDURE AND ARRANGEMENTS THAT IN THE event of a DATA-CONTROLLED INDUSTRIAL ROBOT, AN APPROXIMATIVE TRANSFORMATION BETWEEN THE DIFFERENT AND THE ROBOT ARM'S DIFFERENT COORDINATE SYSTEM FOR CONTROLLING THE ROBOT WITHIN A PRE-DETERMINED ... |
DE2843740A1 (en) * | 1977-10-07 | 1979-04-19 | Secretary Industry Brit | LOCATION DEVICE |
FR2485978A1 (en) * | 1980-07-04 | 1982-01-08 | Souriau & Cie | GRIPPER WITH OPTICAL SENSORS AND APPARATUS USING THE SAME |
JPS59353B2 (en) * | 1980-07-24 | 1984-01-06 | ファナック株式会社 | gripping device |
JPS6231221Y2 (en) * | 1980-10-16 | 1987-08-11 | ||
JPS5786162A (en) * | 1980-11-17 | 1982-05-29 | Sony Corp | Tape loading device |
US4468695A (en) * | 1980-11-20 | 1984-08-28 | Tokico Ltd. | Robot |
WO1982003283A1 (en) * | 1981-03-16 | 1982-09-30 | Fujiwara Kunio | Movement controller for moving body |
DE3303588A1 (en) * | 1982-02-03 | 1983-08-11 | Volkswagenwerk Ag, 3180 Wolfsburg | Device for the automatic actuation of operating levers of a motor vehicle on a roller test stand |
JPS58217005A (en) * | 1982-06-11 | 1983-12-16 | Fujitsu Ltd | Origin detector for robot |
JPS5966600U (en) * | 1982-10-25 | 1984-05-04 | 日立造船株式会社 | Automatic positioning device for gripping tools on containers |
DE3246828A1 (en) * | 1982-12-17 | 1984-06-20 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München | Mobile transporting and handling device |
US4818173A (en) * | 1983-04-12 | 1989-04-04 | Polaroid Corporation | Robot arm member relative movement sensing apparatus |
JPS60141438A (en) * | 1983-12-27 | 1985-07-26 | Nitto Seiko Co Ltd | Automatic screw tightening machine |
JPS6120103A (en) * | 1984-07-06 | 1986-01-28 | Nissan Motor Co Ltd | Control device of robot |
DE3445849A1 (en) * | 1984-12-15 | 1986-06-19 | Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen | Industrial robot |
JPS61256316A (en) * | 1985-05-10 | 1986-11-13 | Power Reactor & Nuclear Fuel Dev Corp | Remote inspecting device |
FR2591929A1 (en) * | 1985-12-19 | 1987-06-26 | Photonetics | Method and device for positioning a robot with the aid of optical means |
JPH0719412B2 (en) * | 1985-12-26 | 1995-03-06 | 松下電器産業株式会社 | Pinch roller moving device |
FR2601443B1 (en) * | 1986-07-10 | 1991-11-29 | Centre Nat Etd Spatiales | POSITION SENSOR AND ITS APPLICATION TO TELEMETRY, ESPECIALLY FOR SPATIAL ROBOTICS |
JPS6367296A (en) * | 1986-09-02 | 1988-03-26 | 株式会社 富永製作所 | Liquid-feed robot system |
JPS6366616A (en) * | 1987-04-18 | 1988-03-25 | Yuji Nakajima | Control method for movable machine |
DE3714776A1 (en) * | 1987-05-04 | 1988-11-24 | Dietmar Klinger | Optoelectronic measuring arrangement |
JPH01274981A (en) * | 1988-04-26 | 1989-11-02 | Fuji Heavy Ind Ltd | Position compensating device for industrial robot |
FR2664525A1 (en) * | 1990-07-16 | 1992-01-17 | Villejuif Etudes Ind | Slice-handling robot with optical sensor |
JPH0656896U (en) * | 1993-01-04 | 1994-08-05 | 克人 清水 | Simultaneous display of traffic lights |
DE19740044A1 (en) * | 1997-09-12 | 1999-03-18 | Heraeus Kulzer Gmbh | Machining or grinding workpieces for production of jewelry or designer goods |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL253341A (en) * | 1959-07-02 | |||
DE2132624C3 (en) * | 1971-06-30 | 1974-06-12 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Arrangement for aligning a swiveling device with a moving object |
-
1975
- 1975-05-12 GB GB1984975A patent/GB1511265A/en not_active Expired
- 1975-05-28 CA CA227,981A patent/CA1035444A/en not_active Expired
- 1975-05-30 DE DE19752523972 patent/DE2523972A1/en not_active Withdrawn
- 1975-05-30 FR FR7516954A patent/FR2275285A1/en active Granted
- 1975-05-31 JP JP50064861A patent/JPS5746999B2/ja not_active Expired
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2144290A (en) * | 1983-07-08 | 1985-02-27 | Univ Surrey | Measuring system |
GB2179762A (en) * | 1985-08-31 | 1987-03-11 | Deutsche Forsch Luft Raumfahrt | Method of aligning the axis of a second bracket relative to the axis of a first bracket on a test or processing machine |
GB2179762B (en) * | 1985-08-31 | 1989-08-09 | Deutsche Forsch Luft Raumfahrt | Method of aligning the axis of a second bracket relative to the axis of a first bracket on a test or processing machine |
US5237253A (en) * | 1990-02-21 | 1993-08-17 | Joel Moreau | Manual control device for the motor-assisted displacements of a machine element |
WO2009024467A1 (en) * | 2007-08-17 | 2009-02-26 | Siemens Aktiengesellschaft | Organically based optical position sensor |
CN108328015A (en) * | 2017-03-10 | 2018-07-27 | 嘉善铂汉塑胶五金有限公司 | A kind of object transfer device and method |
CN108328015B (en) * | 2017-03-10 | 2024-03-22 | 嘉善铂汉塑胶五金有限公司 | Object transferring device and method |
CN106976084A (en) * | 2017-03-28 | 2017-07-25 | 深圳市源畅通科技有限公司 | A kind of production equipment intelligent mechanic control system |
Also Published As
Publication number | Publication date |
---|---|
JPS515771A (en) | 1976-01-17 |
FR2275285B1 (en) | 1978-10-13 |
FR2275285A1 (en) | 1976-01-16 |
JPS5746999B2 (en) | 1982-10-06 |
DE2523972A1 (en) | 1975-12-18 |
CA1035444A (en) | 1978-07-25 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PS | Patent sealed | ||
PCNP | Patent ceased through non-payment of renewal fee |