US4798461A
Expired / Lapsed
US
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System for monitoring the geometry of a mechanical structure
Assignee: Bertin Technologies SAS
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Filing: 1986-07-08
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Granted: 1989-01-17
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Expires: 2006-07-08
Abstract
Abstract A system for monitoring the geometry of a mechanical structure comprising a plurality of interconnected rigid elements by means of an optical skeleton (A, B, C) constituted by a light beam (24) running along the elements (10, 12, 14) of the structure, together with photodetector means (28, 32, 36, 40, 42, 46) which are associated with the elements of the structure and towards which fractions of the light beam (24) are directed. The invention is applicable to moving structures such as robots or manipulator arms, as well as to fixed structures.
Inventors
- 👤 Cyrille F. Pavlin
- 👤 Marc Prevost
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 21:42
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/16; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/1638; G01B11/26; G01B11/27; G01B11/272; G01B5/00; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39033; G05B2219/39176
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
119 words
A system for monitoring the geometry of a mechanical structure comprising a plurality of interconnected rigid elements, said system including means for detecting and measuring on a permanent basis the relative positions of said elements, including for each element first and second light beams directed along each element at least between its junctions with the adjacent element, said first and second light beams being directed in opposite directions, photodetector means associated with each element and positioned to receive at least fractions of said light beams, and means associated with each element for directing a fraction of one of the light beams towards an adjacent element of the structure to constitute the corresponding first light beam of said adjacent element.
Claim 2
Independent Claim
119 words
A system for monitoring the geometry of a mechanical structure comprising a plurality of interconnected rigid elements, said system including means for detecting and measuring on a permanent basis the relative positions of said elements, including for each element first and second light beams directed along each element at least between its junctions with the adjacent element, said first and second light beams being directed in opposite directions, photodetector means associated with each element and positioned to receive at least fractions of said light beams, and means associated with each element for directing a fraction of one of the light beams towards an adjacent element of the structure to constitute the corresponding first light beam of said adjacent element.
Claim 3
Dependent Claim
52 words
A system according to claim 1, comprising a single light source generating a first light beam and disposed at a fixed point at one end of the structure, and optical junction means between the elements ensuring continuity of the first light beam from one element to the next element of the structure.
Claim 4
Dependent Claim
16 words
A system according to claim 3, wherein the light source emits a beam of coherent light.
Claim 5
Dependent Claim
13 words
A system according to claim 3 wherein the optical junction means comprise mirrors.
Claim 6
Dependent Claim
76 words
A system according to claim 1, wherein each element of the structure includes a mirror which is fixedly associated therewith and which intercepts at least a fraction of the first light beam and redirect said fraction towards photodetector means fixedly associated with one end of one of said elements, another fraction of the first light beam passing through the mirror towards another photodetector means located at the opposite end of said element from said first photodetector.
Claim 7
Dependent Claim
35 words
A system according to claim 1, wherein the photo-detector means are two-dimensional photoelectric elements, for example four-quadrant cells, for measuring the error in the point of impact of the corresponding beam relative to their center.
Claim 8
Dependent Claim
36 words
A system according to claim 1, wherein the photo-detector means are connected to data processing means for determining the deformation of the structure as a whole or the displacement of at least one selected point thereof.
Claim 9
Dependent Claim
86 words
A system according to claim 7, wherein said structure includes elements capable of controlled displacements relative to one another and in which the last element is to be accurately positioned relative to the first element or relative to a fixed support, and wherein said data processing means take account of the measured displacement of each of said elements in order to control the displacement of at least one of said moving elements in order to compensate for any position and orientation error of the last element.
Claim 10
Dependent Claim
24 words
A system according to claim 8, wherein displacement sensors and displacement motors connect the moving elements of the structure to said data processing means.
Claim 11
Dependent Claim
38 words
A system according to claim 8, wherein at least one optical junction means between two of the elements is constituted by an inclined mirror on the pivot axis and servocontrolled to the relative pivoting between the two elements.
Claim 12
Dependent Claim
91 words
A system according to claim 8 wherein two elements pivot relative to each other about an axis and comprise two mirros placed on said axis and oriented at 45° relative to said axis, a first of said mirrors being fixed to a first of said elements and the other mirror being fixed to the other element, the first mirror receiving a light beam running along the first element and reflecting it along the pivot axis towards the other mirror which then reflects it parallel to the axis of the other element.
Claim 13
Dependent Claim
53 words
A system according to claim 1, wherein in order to measure twisting of an element about its axis, the system includes means emitting two parallel light beams on either side of the axis of the element, and three photosensitive means fixed to the ends of the element on the paths of said beams.
Claim 14
Dependent Claim
26 words
A system according to claim 1 comprising, for each element, means for reflecting a fraction of the first light beam to form the second light beam.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-01-17 | 1992-07-18 | 1993-01-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-01-17 | 1996-07-18 | 1997-01-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-01-17 | 2000-07-18 | 2001-01-17 | $7700.00 | Window Closed / Lapsed |