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1. 发明授权

CN104133432B 一种非正交六杆动中通伺服系统及控制方法有权转让
公开(公告)号：CN104133432B
公开(公告)日：2016-08-24
申请号：CN201410228509.1
申请日：2014-05-27
申请人：北京航天万达高科技有限公司
发明人：史军良 , 赵书伦 , 门吉卓
IPC分类号： G05B19/418
CPC分类号： G05B19/0426 , G05B15/02 , G05B19/0415 , G05B19/418 , G05B2219/33218 , G05B2219/40242 , G05D1/0883 , H04B7/18504
摘要：一种非正交六杆动中通伺服系统及控制方法，包括测量反馈单元、控制单元、驱动单元、伺服天线，其中测量反馈单元又包括方位角度编码器、俯仰位置编码器、横滚位置编码器、极化角度编码器、数据采集卡；控制单元又包括ACU、捷联惯组、六轴运动控制及驱动模块；驱动单元又包括直线电机、方位涡轮蜗杆、极化涡轮蜗杆、电动推杆，直线电机又包括第一直线电机、第二直线电机，电动推杆又包括第一电动推杆、第二电动推杆、第三电动推杆、第四电动推杆。本发明机械结构简单，伺服控制系统集成度高，能实现四轴联动以及小型化和轻量化。

2. 发明公开

CN106232984A 用于改善能量捕获设备的能量捕获效率的方法和系统无效
公开(公告)号：CN106232984A
公开(公告)日：2016-12-14
申请号：CN201580020965.X
申请日：2015-02-20
申请人：斯格尔能源有限公司
发明人： I·欧文
IPC分类号： F03D7/02 , F03D80/00 , F03B13/26 , F03B17/06
CPC分类号： F03D7/0204 , F03B13/26 , F03B15/00 , F03B17/061 , F03D17/00 , F05B2210/16 , F05B2220/706 , F05B2270/20 , F05B2270/329 , F05B2270/8042 , F05B2270/806 , G05B19/402 , G05B2219/40242 , Y02E10/28 , Y02E10/38 , Y02E10/723 , Y02E10/725
摘要：用于通过分析能量捕获设备产生的下游流体尾流改善能量捕获设备的能量捕获效率的方法和系统。在示出实施方式中，系统(10)包括传感装置(32)，被配置成从风力涡轮机(12)的旋转叶片(20)产生的下游尾流(34)获取空气流数据，传感装置(32)包括具有光源(36)和接收器(38)的激光雷达单元(35)。在使用中，传感装置(32)获取与尾流(34)中的空气流速度有关的数据，该数据然后被处理以确定风力涡轮机(12)与入射资源(W)的平均方向(D)的相对角度。

3. 发明公开

CN104133432A 一种非正交六杆动中通伺服系统及控制方法有权转让
公开(公告)号：CN104133432A
公开(公告)日：2014-11-05
申请号：CN201410228509.1
申请日：2014-05-27
申请人：北京航天控制仪器研究所
发明人：史军良 , 赵书伦 , 门吉卓
IPC分类号： G05B19/418
CPC分类号： G05B19/0426 , G05B15/02 , G05B19/0415 , G05B19/418 , G05B2219/33218 , G05B2219/40242 , G05D1/0883 , H04B7/18504
摘要：一种非正交六杆动中通伺服系统及控制方法，包括测量反馈单元、控制单元、驱动单元、伺服天线，其中测量反馈单元又包括方位角度编码器、俯仰位置编码器、横滚位置编码器、极化角度编码器、数据采集卡；控制单元又包括ACU、捷联惯组、六轴运动控制及驱动模块；驱动单元又包括直线电机、方位涡轮蜗杆、极化涡轮蜗杆、电动推杆，直线电机又包括第一直线电机、第二直线电机，电动推杆又包括第一电动推杆、第二电动推杆、第三电动推杆、第四电动推杆。本发明机械结构简单，伺服控制系统集成度高，能实现四轴联动以及小型化和轻量化。

4. 发明申请

US20160327926A1 Non-Orthogonal Six-Rod Satellite Communication in Motion Servo System and Control Method 有权
标题翻译：运动伺服系统中的非正交六杆卫星通信和控制方法
公开(公告)号：US20160327926A1
公开(公告)日：2016-11-10
申请号：US15108776
申请日：2014-06-30
申请人： BEIJING AEROSPACE WANDA HI-TECH LTD.
发明人： Junliang Shi , Shulun Zhao , Jizhuo Men , Yi Xin , Yuanhang Chen , Ruixin Feng , Yi Xu
IPC分类号： G05B19/042 , G05B15/02 , H04B7/185 , G05B19/04
CPC分类号： G05B19/0426 , G05B15/02 , G05B19/0415 , G05B19/418 , G05B2219/33218 , G05B2219/40242 , G05D1/0883 , H04B7/18504
摘要： A non-orthogonal six-rod satellite communication in motion servo system and a control method. The system comprises a measurement feedback unit, a control unit, a drive unit and a servo antenna, wherein the measurement feedback unit further comprises an azimuth angle encoder, a pitch position encoder, a roll position encoder, a polarization angle encoder and a data collection card; the control unit further comprises an ACU, a strapdown inertial measurement unit and a six-axis movement control and drive module; and the drive unit further comprises a linear motor, an azimuth turbine worm, a polarization turbine worm and an electric push rod, wherein the linear motor further comprises a first linear motor and a second linear motor; and the electric push rod further comprises a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod. The present invention has a simple mechanical structure and a high integration degree of a servo control system, and can achieve four-axis linkage, and miniaturization and weight reduction.
摘要翻译：运动伺服系统中的非正交六杆卫星通信和控制方法。该系统包括测量反馈单元，控制单元，驱动单元和伺服天线，其中测量反馈单元还包括方位角编码器，俯仰位置编码器，滚动位置编码器，偏振角编码器和数据采集卡; 所述控制单元还包括ACU，捷联惯性测量单元和六轴运动控制和驱动模块; 所述驱动单元还包括线性马达，方位涡轮蜗杆，偏振涡轮蜗杆和电推杆，其中所述线性马达还包括第一线性马达和第二线性马达; 电动推杆还包括第一电动推杆，第二电动推杆，第三电动推杆和第四电动推杆。本发明具有机械结构简单，集成度高的伺服控制系统，可实现四轴联动，小型化，轻量化。

5. 发明公开

EP1152868A1 ROBOT HAVING MULTIPLE DEGREES OF FREEDOM 审中-公开
标题翻译：以自由几度机器人
公开(公告)号：EP1152868A1
公开(公告)日：2001-11-14
申请号：EP99931765.4
申请日：1999-06-22
申请人： Genmark Automation, Inc.
发明人： GENOV, Genco , TODOROV, Alexander , KOSTOV, Lubo , PETKOV, Peter , TOTEV, Valentin , BONEV, Eugene , SOTIROV, Zlatko
IPC分类号： B25J9/04 , B25J9/18
CPC分类号： B25J9/042 , B25J9/1615 , G05B2219/40242 , G05B2219/45031 , Y10S414/137
摘要： A robotic arm structure (10) includes at least two links (L1, L2). Theta motion is provided about a primary axis (21) at the proximal end portion of the proximalmost of the links (L1). R motion proceeds radially from the primary axis (21) whereby the distal end portion of the distalmost of the links (L2) can be moved in a radially extending straight line. At least two independent end effectors (18) are pivotally mounted for rotation relative to the distal end portion of the distalmost link (L2) about an end effector axis (25) which is parallel to the primary axis (21). The arm structure (10) is improved by adding independent yaw motors (motor 3) for rotating the end effectors (18) independently.

6. 发明公开

EP0888581A4 ROBOT HAVING MULTIPLE DEGREES OF FREEDOM 失效
标题翻译：以自由几度机器人
公开(公告)号：EP0888581A4
公开(公告)日：2006-10-18
申请号：EP97916045
申请日：1997-03-18
申请人： GENMARK AUTOMATION INC
发明人： GENOV GENCO , TODOROV ALEXANDER , KOSTOV LUBO , PETKOV PETER , TOTEV VALENTIN , BONEV EUGENE , SOTIROV ZLATKO
IPC分类号： B25J9/10 , G05B19/18 , B25J9/06 , B25J9/16 , B25J9/18
CPC分类号： B25J9/1615 , G05B2219/40242 , Y10S414/136 , Y10S414/137 , Y10S700/90
摘要： In a robotic arm structure (10) which includes at least two links (link 1, link 2), υ motion is provided about a primary axis (z1) at the proximal end portion of the proximalmost link (link 1). R motion proceeds radially from the primary axis (z1) whereby the distal end portion of the distalmost of the links (link 3) can be moved in a radially extending straight line. An end effector (18) is pivotally mounted for rotation relative to the distal end portion of the distalmost link (link 3) about an end effector axis which is parallel to the primary axis (z1). The structure (10) is improved by adding one or more of yaw, pitch and roll motors (servo motor 3) for rotating the wrist of the arm (10) about the respective axes. A sensor array senses the r, υ, z and one or more of yaw, pitch and roll motions and creates and transmits electronic signals representative thereof to a computer controller (96) which monitors and controls the r, theta, z and one or more of yaw, pitch and roll motions. Non-radial straight line motion and three-dimensional motions are possible. This has applications in picking up semiconductor wafers, flat panel displays and data storage disks even if the object is misaligned and/or the holding cassette or work station is misaligned from the usual operation plane of the arm (10).

7. 发明申请

US20160377056A1 METHOD AND SYSTEM FOR IMPROVING ENERGY CAPTURE EFFICIENCY FROM AN ENERGY CAPTURE DEVICE 审中-公开
标题翻译：从能量捕获装置提高能源效率的方法和系统
公开(公告)号：US20160377056A1
公开(公告)日：2016-12-29
申请号：US15121094
申请日：2015-02-20
申请人： SGURRENEGY LIMITED
发明人： Ian Irvine
IPC分类号： F03D7/02 , G05B19/402 , F03D17/00 , F03B15/00 , F03B13/26
CPC分类号： F03D7/0204 , F03B13/26 , F03B15/00 , F03B17/061 , F03D17/00 , F05B2210/16 , F05B2220/706 , F05B2270/20 , F05B2270/329 , F05B2270/8042 , F05B2270/806 , G05B19/402 , G05B2219/40242 , Y02E10/28 , Y02E10/38 , Y02E10/723 , Y02E10/725
摘要： A method and system for improving the efficiency of energy capture from an energy capture device by analysis of the downstream fluid wake created by the energy capture device. In an illustrated embodiment, the system (10) comprises a sensing arrangement (32) configured to acquire air flow data from a downstream wake (34) produced by rotating blades (20) of a wind turbine (12), the sensing arrangement (32) comprising a Lidar unit (35) having an optical source (36) and a receiver (38). In use, the sensing arrangement (32) acquires data relating to the air flow velocity in the wake (34), which data is then processed to determine the relative angle of the wind turbine (12) and the average direction (D) of the incident resource (W).
摘要翻译：一种用于通过分析由能量捕获装置产生的下游流体尾流来从能量捕获装置提高能量捕获效率的方法和系统。在所示实施例中，系统（10）包括感测装置（32），其被配置为从由风力涡轮机（12）的旋转叶片（20）产生的下游尾流（34）获取气流数据，感测装置）包括具有光源（36）和接收器（38）的激光雷达单元（35）。在使用中，感测装置（32）获取与尾流（34）中的空气流速相关的数据，然后处理该数据以确定风力涡轮机（12）的相对角度和风力涡轮机的平均方向（D）事件资源（W）。

8. 发明授权

US6121743A Dual robotic arm end effectors having independent yaw motion 有权
标题翻译：具有独立偏航运动的双机器人臂端执行器
公开(公告)号：US6121743A
公开(公告)日：2000-09-19
申请号：US129110
申请日：1998-08-04
申请人： Genco Genov, deceased , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
发明人： Genco Genov, deceased , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10 , B25J9/16 , B25J9/18 , B25J17/00 , G05B19/18 , H01L21/677 , H01L21/68
CPC分类号： B25J9/042 , B25J9/1615 , G05B2219/40242 , G05B2219/45031 , Y10S414/137
摘要： An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. At least two independent end effectors are pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding independent yaw motors for rotating the end effectors independently.
摘要翻译：在包括至少两个连杆的机器人臂结构中提出了一个改进。围绕最近端部的近端部分处的主轴设置θ运动。 R运动从主轴径向延伸，从而链节的最远端的远端部分可以沿径向延伸的直线移动。至少两个独立的端部执行器枢转地安装成相对于最远端连杆的远端部分围绕平行于主轴线的端部执行器轴线旋转。通过添加独立的偏转马达来独立旋转末端执行器来改善结构。

9. 发明授权

US06037733A Robot having multiple degrees of freedom 失效
标题翻译：机器人有多个自由度
公开(公告)号：US06037733A
公开(公告)日：2000-03-14
申请号：US79850
申请日：1998-05-15
申请人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
发明人： Genco Genov , Alexander Todorov , Lubo Kostov , Peter Petkov , Valentin Totev , Eugene Bonev , Zlatko Sotirov
IPC分类号： B25J9/10 , B25J9/06 , B25J9/16 , B25J9/18 , G05B19/18
CPC分类号： B25J9/1615 , G05B2219/40242 , Y10S414/136 , Y10S414/137 , Y10S700/90
摘要： An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions. Non-radial straight line motion and indeed, in certain embodiments any desired three-dimensional motion, is thereby enabled as is picking up of workpieces such as semiconductor wafers, flat panel displays and data storage disks, which are misaligned in cassettes or at workstations and/or are in cassettes which are misaligned and/or aligned and set up at an angle relative to the usual plane of operation of the arm.
摘要翻译：在包括至少两个连杆的机器人臂结构中提出了一个改进。围绕最近端部的近端部分处的主轴设置θ运动。 R运动从主轴径向延伸，从而链节的最远端的远端部分可以沿径向延伸的直线移动。端部执行器枢转地安装成相对于最远端连杆的远端部分围绕平行于主轴线的端部执行器轴线旋转。通过添加一个或多个偏转马达，滚动马达和俯仰马达来改善该结构，以使臂的手腕围绕各个轴线旋转。传感器阵列感测R，θ，Z和偏航，滚动和/或俯仰运动，并创建和发送代表它的电子信号到计算机控制器，该计算机控制器监视和控制R，θ，Z和偏航，滚动和/或俯仰运动。因此，非径向直线运动，实际上在某些实施例中，任何期望的三维运动都能够像在半导体晶片，平板显示器和数据存储盘等工件上拾取一样，这些工件在盒式磁带或工作站中是不对准的， /或在相对于通常的手臂操作平面成一定角度的未对准和/或排列和设置的盒中。

10. 发明授权

US09541913B2 Non-orthogonal six-rod satellite communication in motion servo system and control method 有权
标题翻译：运动伺服系统中非正交六杆卫星通信及控制方法
公开(公告)号：US09541913B2
公开(公告)日：2017-01-10
申请号：US15108776
申请日：2014-06-30
申请人： BEIJING AEROSPACE WANDA HI-TECH LTD.
发明人： Junliang Shi , Shulun Zhao , Jizhuo Men , Yi Xin , Yuanhang Chen , Ruixin Feng , Yi Xu
IPC分类号： H04B7/185 , G05B19/042 , G05B19/04 , G05B15/02
CPC分类号： G05B19/0426 , G05B15/02 , G05B19/0415 , G05B19/418 , G05B2219/33218 , G05B2219/40242 , G05D1/0883 , H04B7/18504
摘要： A non-orthogonal six-rod satellite communication in motion servo system and a control method. The system comprises a measurement feedback unit, a control unit, a drive unit and a servo antenna, wherein the measurement feedback unit further comprises an azimuth angle encoder, a pitch position encoder, a roll position encoder, a polarization angle encoder and a data collection card; the control unit further comprises an ACU, a strapdown inertial measurement unit and a six-axis movement control and drive module; and the drive unit further comprises a linear motor, an azimuth turbine worm, a polarization turbine worm and an electric push rod, wherein the linear motor further comprises a first linear motor and a second linear motor; and the electric push rod further comprises a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod.
摘要翻译：运动伺服系统中的非正交六杆卫星通信和控制方法。该系统包括测量反馈单元，控制单元，驱动单元和伺服天线，其中测量反馈单元还包括方位角编码器，俯仰位置编码器，滚动位置编码器，偏振角编码器和数据采集卡; 所述控制单元还包括ACU，捷联惯性测量单元和六轴运动控制和驱动模块; 所述驱动单元还包括线性马达，方位涡轮蜗杆，偏振涡轮蜗杆和电推杆，其中所述线性马达还包括第一线性马达和第二线性马达; 电动推杆还包括第一电动推杆，第二电动推杆，第三电动推杆和第四电动推杆。

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