公开(公告)号：WO1998025224A1

公开(公告)日：1998-06-11

申请号：PCT/US1997018126

申请日：1997-10-06

Applicant: DYNETICS, INC.

Inventor： DYNETICS, INC. ,  FIKES, Joseph, W. ,  FOSTER, Larry, M. ,  PERKINS, Franklin, H. ,  STANFIELD, James, M. ,  BERINATO, Robert, J.

IPC: G06K07/10

CPC classification number: G06K7/10683 ,  G02B26/105 ,  G06K7/10613 ,  G06K7/10673

Abstract: A scanner and a method for scanning a beam along a path employ a housing (320) that defines a first cylindrical cavity (322). A ring gear (330) is disposed within the cylindrical cavity and affixed to the housing. A beam (312) is generated from a fixed location relative to the housing. A drive disk (340) is disposed within the first cylindrical cavity. The drive disk defines a second cylindrical cavity (348) and has a first axis of rotation (315). The drive disk defines a first channel in communication with the beam. The first channel (346) has a first proximal end pivotally rotatable about an axis adjacent the fixed location. A scan disk is disposed within the second cylindrical cavity and has a second axis of rotation offset from the first axis of rotation. The scan disk defines a second channel (366). The second channel has a second proximal end (374) in communication with the first distal opening (354). A spur gear (332), affixed to the scan disk, engages the ring so that the drive disk rotates in the first direction, the spur gear is displaced along the ring gear (330), thus causing the scan disk to rotate in a second direction opposite the first direction causing the second distal end to reciprocate. The beam is coupled through the first channel and the second channel and out of the second distal opening toward the path, thereby causing the beam to scan along the path as the second distal end reciprocates.

Abstract translation: 沿着路径扫描光束的扫描器和方法采用限定第一圆柱形空腔（322）的壳体（320）。 环形齿轮（330）设置在圆柱形空腔内并固定到壳体上。 从相对于壳体的固定位置产生光束（312）。 驱动盘（340）设置在第一圆柱形空腔内。 驱动盘限定第二圆柱形空腔（348）并具有第一旋转轴（315）。 驱动盘定义与光束通信的第一通道。 第一通道（346）具有可围绕邻近固定位置的轴线可枢转地旋转的第一近端。 扫描盘设置在第二圆柱形空腔内并具有偏离第一旋转轴线的第二旋转轴线。 扫描盘定义第二通道（366）。 第二通道具有与第一远端开口（354）连通的第二近端（374）。 固定在扫描盘上的正齿轮（332）接合环，使得驱动盘沿着第一方向旋转，正齿轮沿着齿圈（330）移位，从而使扫描盘在第二方向旋转 方向与第一方向相反，导致第二远端往复运动。 光束通过第一通道和第二通道耦合并且朝向路径离开第二远端开口，从而当第二远端往复运动时使光束沿着路径扫描。

公开(公告)号：WO1996001977A1

公开(公告)日：1996-01-25

申请号：PCT/US1995008701

申请日：1995-07-11

Applicant: DYNETICS, INC.

Inventor： DYNETICS, INC. ,  MACLAREN, Brice, Kevin ,  JOHNSON, Randall, Lee ,  GRIFFIN, Judson, Roy, III ,  MEEHAN, James, Russel

IPC: G01B11/24

CPC classification number: G06F3/0346 ,  B25J9/1656 ,  B25J13/02 ,  G05B2219/39435 ,  H01H9/0214 ,  H01H2300/026

Abstract: A hand-held controller wand (10) including three rate measurement sensors (40, 42 and 44) is coupled to a computing means (90) for translating roll, pitch, and yaw data into translation and rotation signals or commands that effect the movement of an external device's control point, which may be an end effector (120) of a robot. A transformation matrix is continually updated from the angular rate information obtained from the hand-held controller (130). This matrix is used to update a direction vector. A value may be stored in the computing means (90) corresponding to a predetermined speed of movement. A button (22) or other convenient control allows the operator to control translation movement of the end effector (120) or other controlled device in a direction defined by the orientation of the hand-held controller (130) at the predetermined speed, thus providing an intuitive control input for real-time direction and programming of movement. Because the present orientation of the wand (10) is also known to the computing means (90), rotational movement may also be directed.

Abstract translation: 包括三个速率测量传感器（40,42和44）的手持控制器杆（10）耦合到计算装置（90），用于将滚动，俯仰和偏航数据转换成影响运动的平移和旋转信号或命令 的外部设备的控制点，其可以是机器人的末端执行器（120）。 变换矩阵从从手持式控制器（130）获得的角速度信息中不断更新。 该矩阵用于更新方向向量。 值可以存储在对应于预定移动速度的计算装置（90）中。 按钮（22）或其他方便的控制允许操作者以预定速度在由手持式控制器（130）的方向限定的方向上控制末端执行器（120）或其他受控装置的平移运动，从而提供 用于实时方向和运动编程的直观控制输入。 因为魔杖（10）的当前取向对于计算装置（90）而言也是可知的，所以也可以指向旋转运动。