US3870941A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and circuit for sampling position data
Assignee: Nachi Fujikoshi Corp
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Filing: 1973-06-25
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Granted: 1975-03-11
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Expires: 1993-06-25
Abstract
Abstract In a method and circuit for sampling position data for use in the continuous path control of an industrial robot, position data representing the position of a drive axis of the industrial robot is generated, and the position data is sampled in accordance with a sampling pulse having a frequency which is a function of the speed of the drive axis. The sampled position data is stored in a memory device included in the continuous path control. The sampling pulse is generated by a voltage-frequency converter which converts the output of a tachometer generator coupled to the drive axis into a signal having a frequency which is a function of, i.e. the voltage of the output from the tachometer generator.
Inventors
- 👤 Junichi Ikenga
- 👤 Shigeru Matsuoka
- 👤 Yoshio Okabe
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 18:37
CPC Classifications
G; G01; G01P; G01P3/00; G01P3/42; G01P3/44; G01P3/48; G01P3/4802; G01P3/4805; G01P1/00; G01P1/07; G01P1/08; G01P1/10; G01P1/103; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/423; Y; Y10; Y10S; Y10S388/00; Y10S388/90; Y10S388/901; Y10S388/907; Y10S388/908
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
95 words
A method of sampling position data for use in the continuous path control of an industrial robot, said method comprisiNg: generating a position data representing the position of a drive axis of said industrial robot, detecting the speed of movement of said drive axis, generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 2
Independent Claim
95 words
A method of sampling position data for use in the continuous path control of an industrial robot, said method comprisiNg: generating a position data representing the position of a drive axis of said industrial robot, detecting the speed of movement of said drive axis, generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 3
Independent Claim
95 words
A method of sampling position data for use in the continuous path control of an industrial robot, said method comprisiNg: generating a position data representing the position of a drive axis of said industrial robot, detecting the speed of movement of said drive axis, generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 4
Independent Claim
95 words
A method of sampling position data for use in the continuous path control of an industrial robot, said method comprisiNg: generating a position data representing the position of a drive axis of said industrial robot, detecting the speed of movement of said drive axis, generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 5
Dependent Claim
22 words
The method according to claim 1 comprising storing said sampled position data in a memory device included in said continuous path control.
Claim 6
Dependent Claim
97 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means for generating position data representing the position of a drive axis of said industrial robot, means for detecting the speed of movement of said drive axis, means for generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and means for sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 7
Dependent Claim
97 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means for generating position data representing the position of a drive axis of said industrial robot, means for detecting the speed of movement of said drive axis, means for generating a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the speed of said drive axis, and means for sampling said position data in accordance with said sampling pulses at a rate which is a function of said speed of said drive axis.
Claim 8
Dependent Claim
58 words
Apparatus according to claim 3 wherein said sampling means comprises a gate circuit connected to receive said sampling pulses and said position data the position data being sampled by said gate circuit under the control of said sampling pulses, in said apparatus further comprising a memory device coupled to said gate circuit for storing said sampled position data.
Claim 9
Dependent Claim
109 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means for generating a pulse signal representing the feed speed of a drive axis of said industrial robot, an integrator for integrating said pulse signal, a comparator for comparing the output from said integrator with a predetermined reference speed voltage, a sampling pulse generator responsive to the output from said comparator, means for detecting the position of said axis, a gate circuit for sampling the output from said position detector in accordance with the output from said sampling pulse generator, and a memory device for storing the position data sampled by said gate circuit.
Claim 10
Dependent Claim
109 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means for generating a pulse signal representing the feed speed of a drive axis of said industrial robot, an integrator for integrating said pulse signal, a comparator for comparing the output from said integrator with a predetermined reference speed voltage, a sampling pulse generator responsive to the output from said comparator, means for detecting the position of said axis, a gate circuit for sampling the output from said position detector in accordance with the output from said sampling pulse generator, and a memory device for storing the position data sampled by said gate circuit.
Claim 11
Dependent Claim
80 words
Apparatus according to claim 5 wherein a plurality of pairs of serially connected speed comparators and sample pulse generators are connected in parallel between the output of said integrator and an input of said gate circuit, said comparators comparing the output from said integrator with different reference speed voltages and, when the comparators are supplied with differential inputs exceeding a predetermined level, producing outputs, and said sampling pulse generators operating at different frequencies corresponding to said different reference speed voltages.
Claim 12
Dependent Claim
26 words
Apparatus according to claim 5 which further comprises a monostable multivibrator connected to the input of said integrator for shaping the waveform of said pulse signal.
Claim 13
Dependent Claim
95 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means to generate a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the feed speed of a drive axis of said industrial robot, a memory device, a detector for detecting the position of said drive axis, and a gate circuit for sampling the position data generated by said position detector in accordance with said sampling pulses, and for coupling the sampled position data to said memory device for storage thereof.
Claim 14
Dependent Claim
95 words
Apparatus for sampling position data in the continuous path control of an industrial robot, comprising: means to generate a sampling pulse signal comprised of a plurality of sampling pulses having a frequency which is a function of the feed speed of a drive axis of said industrial robot, a memory device, a detector for detecting the position of said drive axis, and a gate circuit for sampling the position data generated by said position detector in accordance with said sampling pulses, and for coupling the sampled position data to said memory device for storage thereof.
Claim 15
Dependent Claim
49 words
Apparatus according to claim 8 wherein said sampling pulse generating means comprises a tachometer generator coupled to said drive axis, and a voltage-frequency converter for converting the output of said tachometer generator into a sampling pulse signal having a frequency proportional to the output voltage of said tachometer generator.
Claim 16
Dependent Claim
27 words
AppAratus according to claim 9 which further includes a monostable multivibrator connected to the output of said voltage-frequency converter for shaping the waveform of the output thereof.
Claim 17
Dependent Claim
67 words
Apparatus according to claim 8 wherein said means for generating said sampling pulse signal comprises a vector operating unit which produces a signal representing a locus velocity of two speed components of the speed of said drive axis, and a voltage-frequency converter for converting said locus velocity signal into a sampling pulse signal having a frequency which is a function of the speed of said drive axis.
Claim 18
Dependent Claim
80 words
Apparatus according to claim 8 which further comprises an axis movement command signal generator, a speed setting unit responsive to the output from said axis movement command signal generator for producing an analogue voltage, means responsive to said analogue voltage for operating said drive axis at a speed set by said speed setting unit, and a voltage frequency converter for converting said analogue voltage into a sampling pulse signal having a frequency which is a function of said analogue voltage.
Claim 19
Dependent Claim
22 words
The method according to claim 1 wherein said sampling pulse signal has a frequency proportional to said speed of said drive axis.
Claim 20
Dependent Claim
21 words
Apparatus according to claim 3 wherein said sampling pulse signal has a frequency proportional to said speed of said drive axis.
Claim 21
Dependent Claim
46 words
Apparatus according to claim 4 wherein said sampling means includes a plurality of sampling pulse generators coupled to said gate circuit, and means responsive to the speed of said drive axis for causing said position data to be sampled by one of said sampling pulse generators.
Claim 22
Dependent Claim
21 words
Apparatus according to claim 8 wherein said sampling pulse signal has a frequency proportional to said speed of said drive axis.
Claim 23
Dependent Claim
21 words
Apparatus according to claim 11 wherein said sampling pulse signal has a frequency proportional to said speed of said drive axis.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-03-10 | 1978-09-09 | 1979-03-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-03-10 | 1982-09-09 | 1983-03-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-03-10 | 1986-09-09 | 1987-03-11 | $7700.00 | Window Closed / Lapsed |