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1. 发明授权

US4914363A Method for controlling the motion of a machine element 失效
标题翻译：用于控制机器元件的运动的方法
公开(公告)号：US4914363A
公开(公告)日：1990-04-03
申请号：US345471
申请日：1989-04-28
申请人： Joerg Stelzer , Raimund Kram
发明人： Joerg Stelzer , Raimund Kram
IPC分类号： B25J9/18 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/36012 , G05B2219/43016 , G05B2219/43158
摘要： To avoid variation between the resultant paths of multiaxis motions of a machine element for different override curves, distance-time curves of the axis motions are stored for an override value of 100%, and a relevant distance-time curve is subjected, in synchronism with a time sequence of selectively varied override values for each axis, to a time expansion which is inversely proportional to the respective override value.
摘要翻译：为了避免不同超驰曲线的机器元件的多轴运动的结果路径之间的变化，轴运动的距离 - 时间曲线被存储为100％的超驰值，并且相关距离 - 时间曲线与每个轴的选择性变化的超驰值的时间序列，与相应的倍率值成反比的时间扩展。

2. 发明授权

US07856831B2 Auxiliary cooling device 失效
标题翻译：辅助冷却装置
公开(公告)号：US07856831B2
公开(公告)日：2010-12-28
申请号：US10535919
申请日：2003-12-18
申请人： Klaus Flinner , Georg Hausmann , Stefan Holzer , Fritz Haegele , Joerg Stelzer
发明人： Klaus Flinner , Georg Hausmann , Stefan Holzer , Fritz Haegele , Joerg Stelzer
IPC分类号： F25B21/02
CPC分类号： F25D31/007 , F25B21/04 , F25C1/04 , F25C2400/10 , F25D11/00 , F25D2331/803 , F25D2331/809 , Y02P60/855 , Y02T10/16 , Y02T10/166
摘要： An auxiliary cooling device to be used in another cooling device, which auxiliary cooling device includes a thermoelectric element, such as a Peltier element, provided with a heat source and a heat sink connected in a circuit. The heat sink is used for directly or indirectly cooling an item, for example a bottle of fluid. The heat source, which is thermally isolated with respect to the heat sink, is in close thermal contact with a heat exchange fluid in a container. The heat exchange fluid is used as a thermal buffer for the waste heat generated by the cooling process.
摘要翻译：一种用于另一冷却装置的辅助冷却装置，该辅助冷却装置包括热电元件，例如珀耳帖元件，其设置有连接在电路中的热源和散热器。散热器用于直接或间接冷却物品，例如一瓶流体。相对于散热器热隔离的热源与容器中的热交换流体紧密地热接触。热交换流体用作由冷却过程产生的废热的热缓冲器。

3. 发明授权

US4894788A Method for positioning a tool of a multi-joint robot 失效
标题翻译：多关节机器人工具定位方法
公开(公告)号：US4894788A
公开(公告)日：1990-01-16
申请号：US184371
申请日：1988-04-21
申请人： Joerg Stelzer
发明人： Joerg Stelzer
IPC分类号： B25J9/16 , B25J9/18 , B25J19/00 , G05B19/18 , G05B19/414
CPC分类号： G05B19/414
摘要： A method for positioning a tool of a multi-joint robot is disclosed in which an incorrect positioning of the tool resulting from nonideal geometrical relationships is compensated by the following steps: determining a preliminary desired angular position for each of the joints for a desired position in space of the tool based upon the reference distances and joint axis directions required to position the tool in the desired position; determining the positioning error of the tool due to the differences between the reference distances and the desired directions and the actual spacings and actual directions of the joints; transforming the determined positioning error into corresponding angular correction values for the preliminary desired angular positions of the joints by means of an inverse Jacobi matrix coordinate-transformation equation system; calculating the error-corrected angular position for each of the joints by addition of the angular correction values to the preliminary desired angular positions; and moving the tool to the desired position by rotating the joints in accordance with the error-corrected angular position calculated.
摘要翻译：公开了一种用于定位多关节机器人的工具的方法，其中由非理想几何关系产生的工具的不正确定位通过以下步骤来补偿：确定用于每个关节的预期期望角位置用于期望位置基于将工具定位在期望位置所需的参考距离和关节轴方向的工具的空间; 由于参考距离和所需方向以及关节的实际间距和实际方向之间的差异，确定了工具的定位误差; 通过逆Jacobi矩阵坐标变换方程系统将确定的定位误差转换成关节的预期期望角位置的相应角度校正值; 通过将角度校正值加到预期的所需角度位置来计算每个关节的纠错角度位置; 并且通过根据所计算的误差校正角位置旋转关节来将工具移动到所需位置。

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