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51. 发明申请

US20180299242A1 ULTRA-LIGHT AND ULTRA-ACCURATE PORTABLE COORDINATE MEASUREMENT MACHINE 审中-公开
公开(公告)号：US20180299242A1
公开(公告)日：2018-10-18
申请号：US15730517
申请日：2017-10-11
申请人： SA08700334
发明人： Allen SAJEDI
IPC分类号： G01B5/008 , G01B5/00 , G05B19/404
CPC分类号： G01B5/008 , G01B5/0004 , G01B5/0016 , G01B2210/58 , G05B19/404 , G05B2219/37193 , G05B2219/49054 , H04B1/02
摘要： A portable coordinate measurement machine (CMM) includes an articulated arm including arm segments and rotary joints. At least one of the rotary joints includes a shaft configured to rotate about an axis of rotation of at least one of the rotary joints. The shaft includes a middle portion and first and second end portions fixedly attached to ends of the middle portion. At least one of the rotary joints includes first and second housing ends, the first housing end having an inner diameter that engages an outer diameter of the first bearing and the second housing end having an inner diameter that engages an outer diameter of the second bearing. The first and second bearings are preloaded to remove play.

52. 发明申请

US20150084249A1 ACTIVE VIBRATION ISOLATION SYSTEM 有权
标题翻译：主动振动隔离系统
公开(公告)号：US20150084249A1
公开(公告)日：2015-03-26
申请号：US14551490
申请日：2014-11-24
申请人： Technical Manufacturing Corporation
发明人： Emil Kraner , Antonio Lopes
IPC分类号： F16F15/00 , F16F15/02
CPC分类号： F16F15/002 , F16F15/022 , G05B19/404 , G05B2219/41191 , G05B2219/49048 , G05B2219/49054
摘要： An active damping system for use in connection with a vibration isolation system includes an intermediate mass between a base and an isolated payload. The intermediate mass is supported by at least one support element which also supports at least substantially all of the static forces of the isolated payload. An actuator dampens and isolates dynamic forces acting on the intermediate mass from the isolated payload. The active damping system also includes a payload support element and a passive damping element, both of which are coupled at one end to the payload platform and at an opposite end to the intermediate mass. A sensor is affixed to the intermediate mass to generate a feedback signal to a processor coupled to the actuator.
摘要翻译：与振动隔离系统结合使用的主动阻尼系统包括在基座和隔离有效载荷之间的中间质量。中间质量块由至少一个支撑元件支撑，该至少一个支撑元件还支撑至少基本上所有隔离有效载荷的静力。执行器阻尼并隔离作用在中间质量块上的动力，从而隔离有效载荷。主动阻尼系统还包括有效负载支撑元件和被动阻尼元件，两者都在一端耦合到有效负载平台并且在与中间质量块相对的端部处。将传感器固定到中间质量块以产生到耦合到致动器的处理器的反馈信号。

53. 发明申请

US20130204404A1 Closed-Loop Control Structure for Damping Low-Frequency Vibrations 有权
标题翻译：用于阻尼低频振荡的闭环控制结构
公开(公告)号：US20130204404A1
公开(公告)日：2013-08-08
申请号：US13753951
申请日：2013-01-30
申请人： Dr. Johannes Heidenhain GmbH
发明人： Norbert Kerner
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B19/404 , G05B2219/41121 , G05B2219/42062 , G05B2219/42077 , G05B2219/49054
摘要： A closed-loop control structure for positioning a load with the aid of an electric motor includes a device for the active damping of unwanted, low-frequency vibrations. The closed-loop control structure has a position controller, a speed controller, and a current controller, which together, form a cascaded control loop. Damping signals which counteract unwanted, low-frequency vibrations are applied to the control loop, at least one first and one second damping signal of different phase angle being derived from a single sensor signal, and the first damping signal being injected between the position controller and the speed controller, and the second damping signal being injected between the speed controller and the current controller.
摘要翻译：借助于电动机来定位负载的闭环控制结构包括用于主动阻尼不期望的低频振动的装置。闭环控制结构具有位置控制器，速度控制器和电流控制器，其一起形成级联的控制回路。抵消不想要的低频振动的阻尼信号被施加到控制回路，从单个传感器信号导出不同相位角的至少一个第一和第二阻尼信号，并且第一阻尼信号被注入位置控制器和速度控制器和第二阻尼信号被注入速度控制器和电流控制器之间。

54. 发明申请

US20100104388A1 VIBRATION SUPPRESSING METHOD AND VIBRATION SUPPRESSING DEVICE FOR MACHINE TOOL 有权
标题翻译：用于机床的振动抑制方法和振动抑制装置
公开(公告)号：US20100104388A1
公开(公告)日：2010-04-29
申请号：US12606821
申请日：2009-10-27
申请人： Norikazu Suzuki , Eiji Shamoto , Hiroshi Ueno
发明人： Norikazu Suzuki , Eiji Shamoto , Hiroshi Ueno
IPC分类号： B23Q17/12 , G06F19/00
CPC分类号： B23Q11/0039 , B23Q17/0976 , B23Q17/12 , G05B19/404 , G05B2219/37434 , G05B2219/49054 , Y10T409/303752 , Y10T409/304312
摘要： A vibration suppressing method and a vibration suppressing device are disclosed. After a tool is attached to a main spindle, a modal parameter of the tool or a workpiece is computed. Thereafter, a relation between chatter frequency and phase difference is calculated as an approximation formula based on the obtained modal parameter and machining conditions. If chatter vibration occurs after initiation of the machining, a chatter frequency corresponding to a target phase difference is obtained using the approximation formula, and based on the obtained chatter frequency, the number of tool flutes and the main spindle rotation speed, the optimum rotation speed is calculated. The rotation speed of the main spindle is then changed in accordance with the obtained optimum rotation speed.
摘要翻译：公开了一种振动抑制方法和振动抑制装置。将工具连接到主轴后，计算工具或工件的模态参数。此后，基于获得的模态参数和加工条件，计算颤振频率和相位差之间的关系作为近似公式。如果在开始加工之后发生颤动振动，则使用近似公式获得与目标相位差对应的颤振频率，并且基于获得的颤振频率，刀具槽数和主轴转速，最佳转速被计算。然后根据获得的最佳转速改变主轴的转速。

55. 发明授权

US07633255B2 Movement controller for controlling movement of mobile body of machine tool, machine tool provided with movement controller, and mobile body moving method 有权
标题翻译：用于控制机床移动体运动的移动控制器，配有移动控制器的机床，以及移动体移动方法
公开(公告)号：US07633255B2
公开(公告)日：2009-12-15
申请号：US11628736
申请日：2005-06-06
申请人： Yutaka Shibui , Hajime Matsumaru , Keita Kazuie
发明人： Yutaka Shibui , Hajime Matsumaru , Keita Kazuie
IPC分类号： G05B19/33
CPC分类号： G05B19/416 , G05B19/4061 , G05B2219/34175 , G05B2219/43011 , G05B2219/43024 , G05B2219/43061 , G05B2219/49054
摘要： At the time of two-dimensionally moving a mobile body of a machine tool, to a predetermined position, a speed of the mobile body is gently increased/decreased at an acceleration/deceleration equal to or less than the maximum acceleration/deceleration, from the time when the mobile body reaches a direction change point. Therefore, the moving time is shortened and a rapid acceleration/deceleration may be avoided.
摘要翻译：在将机床的移动体二维地移动到预定位置时，移动体的速度以等于或小于最大加速度/减速度的加速/减速从所述最大加速度/减速度缓慢增加/减小当移动体到达方向改变点时的时间。因此，移动时间缩短，可以避免快速加减速。

56. 发明授权

US07613540B2 Method and system for vibration avoidance for automated machinery 有权
标题翻译：自动化机械防振方法及系统
公开(公告)号：US07613540B2
公开(公告)日：2009-11-03
申请号：US11744425
申请日：2007-05-04
申请人： Francis Joseph Testa
发明人： Francis Joseph Testa
IPC分类号： G06F19/00 , G05B19/25 , G01N24/00 , G05B21/00
CPC分类号： G05B19/404 , G05B2219/41117 , G05B2219/49054
摘要： A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.). When these frequency-optimized-contours are fed as a command to a machine controller through an actuator or actuators, the energy at the frequencies of interest is low enough to avoid deleterious vibration from occurring while still meeting the machine performance objectives.
摘要翻译：一种自动机械中避免振动的方法产生执行器时空轮廓，通过将多个时空轮廓段连接在一起，使得满足机械设计目标的同时抑制时空轮廓中的频率处的能量含量，在符合其他指定设计目标的情况下，大多没有兴趣的频率。用于构造这些频率优化轮廓的段是一系列连接的多项式段，自变量t是时间。这些段可以定义待控制的变量（例如速度或距离）对时间，或者定义受控变量的时间导数之一（例如，速度与时间的斜率等）。当这些频率优化轮廓通过致动器或致动器作为命令馈送到机器控制器时，感兴趣的频率处的能量足够低以避免在仍达到机器性能目标的同时发生有害振动。

57. 发明授权

US07109679B2 Damping for electromechanical actuators 有权
标题翻译：机电执行器阻尼
公开(公告)号：US07109679B2
公开(公告)日：2006-09-19
申请号：US10797787
申请日：2004-03-09
申请人： Ralph D. Edson , M. Robert Mock
发明人： Ralph D. Edson , M. Robert Mock
IPC分类号： G05B5/01
CPC分类号： G05B19/404 , G05B2219/49054
摘要： Oscillation and other disturbance damping is provided for a system having a load driven by an electric motor, e.g., an electromagnetic actuator. Damping is achieved using feedback in an active mode, where power is supplied in a normal operation mode of the electromagnetic actuator. Feedback may be provided by measured force (or torque) transmitted between the actuator and load mass. A gear train or other mechanical advantage device may be connected between the electromagnetic actuator output and load, this combination forming an electromechanical actuator (EMA). Instead of force or torque, acceleration of the load may be used as a feedback signal. In one embodiment, active mode damping uses the motor's actual current as a feedback signal. In certain or all active damping versions of the invention, a high pass filter is preferably used to receive feedback signals and filter out low frequency feedback. Alternatively, damping is achieved in an inactive (passive) mode of motor operation, e.g., where the electric motor is not receiving power drive signals. The motor coils are shorted, e.g., using a switch. The induced motor currents act to inhibit load oscillations. Preferably, a resistance, e.g., a number of resistors, are in the short circuit to tailor the damping characteristics of the motor. In at least the active current feedback and passive modes of operation, inertia of the electric motor is substantially reduced in relation to typical motor inertia, by changing the stator to rotor diameter ratio from a typical ratio of at or about 2:1 or less, to a substantially higher ratio than 2:1.
摘要翻译：为具有由电动机例如电磁致动器驱动的负载的系统提供了振荡和其它扰动阻尼。使用在电磁致动器的正常操作模式中供电的有源模式中的反馈来实现阻尼。可以通过在致动器和负载质量之间传递的测量力（或扭矩）来提供反馈。齿轮系或其他机械优点装置可以连接在电磁致动器输出和负载之间，这种组合形成机电致动器（EMA）。代替力或扭矩，负载的加速度可以用作反馈信号。在一个实施例中，主动模式阻尼使用电动机的实际电流作为反馈信号。在本发明的某些或所有有源阻尼版本中，优选地使用高通滤波器来接收反馈信号并滤除低频反馈。或者，例如在电动机未接收功率驱动信号的电动机操作的无效（无源）模式中实现阻尼。电机线圈短路，例如使用开关。感应电动机电流起到抑制负载振荡的作用。优选地，电阻，例如多个电阻器在短路中以适应电动机的阻尼特性。在至少有源电流反馈和无源操作模式中，通过将定子与转子直径的比例从典型的比例为或大约2:1或更低，通过将电动机的惯性相对于典型的电动机惯性大大降低，达到比2:1大得多的比例。

58. 发明授权

US6032558A Rotary knife with active vibration control 失效
标题翻译：旋转刀具主动振动控制
公开(公告)号：US6032558A
公开(公告)日：2000-03-07
申请号：US45466
申请日：1998-03-20
申请人： James R. Michler
发明人： James R. Michler
IPC分类号： B26D1/40 , B26D7/08 , B23Q15/18 , B23Q17/12
CPC分类号： B26D7/08 , G05B2219/34047 , G05B2219/37434 , G05B2219/49054 , Y10T83/148 , Y10T83/4827 , Y10T83/8765 , Y10T83/9459
摘要： A rotary knife incorporates the use of an electronically controlled, tuned mass active damping system to control vibrations of the knife cylinder. The system preferably uses one or more electromagnetic actuators to provide force on a tuned mass which is mechanically coupled to the knife cylinder. Vibration sensors, preferably accelerometers, are used to monitor vibrations of the respective knife cylinders and tuned masses. A digital signal processor implementing a state space control system controls the electromagnetic actuators to remove vibration energy from the system. An active damping system in accordance with the invention is more effective in removing vibration energy than passive systems, especially in heavy-duty applications.
摘要翻译：旋转刀包括使用电子控制的调谐质量有源阻尼系统来控制刀片滚筒的振动。该系统优选地使用一个或多个电磁致动器来对与机筒连接的调谐质量块提供力。振动传感器，优选加速度计，用于监测相应刀片滚筒和调谐质量块的振动。实现状态空间控制系统的数字信号处理器控制电磁致动器以从系统中去除振动能量。根据本发明的主动阻尼系统在去除振动能量方面比被动系统更有效，特别是在重型应用中。

59. 发明授权

EP2823368B8 METHOD TO CONTROL THE VIBRATIONS OF AN ARTICULATED ARM AND CORRESPONDING APPARATUS 有权
公开(公告)号：EP2823368B8
公开(公告)日：2018-10-31
申请号：EP13720529.0
申请日：2013-03-06
申请人： Cifa S.P.A.
发明人： MAINI, Paolo, Dario , MOSTOSI, Vittorio , MANTINEO, Massimo
IPC分类号： G05B19/404 , F16F15/023 , G05D19/02 , F16F15/00 , E04G21/04
CPC分类号： G05D19/02 , E04G21/0454 , F15B21/008 , F15B2211/20576 , F15B2211/30565 , F15B2211/31582 , F15B2211/6303 , F15B2211/6313 , F15B2211/665 , F15B2211/6653 , F15B2211/76 , F15B2211/8616 , F16F15/00 , F16F15/023 , G05B19/404 , G05B19/46 , G05B2219/49054
摘要： Method to control the vibrations of an articulated arm (11) during its movement and use to carry out pumping operations of concrete, the articulated arm comprising a plurality of segments (12) articulated with respect to each other, each associated with a corresponding actuator (13).The method comprises at least a first step of detecting the temporal development and entity of the force which acts on at least said actuator (13) due to the vibrations, and a second step during which a processing and control device (31), as a function of said force, commands the drive of a hydraulic control circuit (30) connected fluidically at least to the actuator (13) to determine the damping of said force due to the vibrations.

60. 发明授权

EP2823368B1 METHOD TO CONTROL THE VIBRATIONS OF AN ARTICULATED ARM AND CORRESPONDING APPARATUS 有权
公开(公告)号：EP2823368B1
公开(公告)日：2018-07-18
申请号：EP13720529.0
申请日：2013-03-06
申请人： Cifa S.P.A.
发明人： MAINI, Paolo, Dario , MOSTOSI, Vittorio , MANTINEO, Massimo
IPC分类号： G05B19/404 , F16F15/023 , G05D19/02 , F16F15/00 , E04G21/04
CPC分类号： G05D19/02 , E04G21/0454 , F15B21/008 , F15B2211/20576 , F15B2211/30565 , F15B2211/31582 , F15B2211/6303 , F15B2211/6313 , F15B2211/665 , F15B2211/6653 , F15B2211/76 , F15B2211/8616 , F16F15/00 , F16F15/023 , G05B19/404 , G05B19/46 , G05B2219/49054
摘要： Method to control the vibrations of an articulated arm (11) during its movement and use to carry out pumping operations of concrete, the articulated arm comprising a plurality of segments (12) articulated with respect to each other, each associated with a corresponding actuator (13).The method comprises at least a first step of detecting the temporal development and entity of the force which acts on at least said actuator (13) due to the vibrations, and a second step during which a processing and control device (31), as a function of said force, commands the drive of a hydraulic control circuit (30) connected fluidically at least to the actuator (13) to determine the damping of said force due to the vibrations.

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