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11. 发明申请

US20110166693A1 NUMERICAL CONTROL DEVICE 失效
标题翻译：数控装置
公开(公告)号：US20110166693A1
公开(公告)日：2011-07-07
申请号：US13119001
申请日：2008-09-16
申请人： Nobutaka Nishibashi
发明人： Nobutaka Nishibashi
IPC分类号： G05B19/19 , G05B19/404
CPC分类号： G05B19/4086 , G05B19/4103 , G05B19/414 , G05B19/416 , G05B2219/33269 , G05B2219/33271 , G05B2219/34202 , G05B2219/36231 , G05B2219/36504 , G05B2219/41405 , G05B2219/49121 , G05B2219/50162 , G05B2219/50165
摘要： A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.
摘要翻译：通过在NC程序中描述固定到加工对象（W）的坐标系（30）中的姿势变化的工具轨迹，固定地布置准备参考坐标系（20 ），其表示加工对象（W）的安装位置和在准备基准坐标系（20）中安装有工具（11）的主轴（91）的位置，并且包含与主轴（91）的位置（q）和轴坐标（r）之间的相关性的转换函数组中的轴的构造相关的部分。因此，基于加工对象的安装位置，工具形状和工具尺寸，读取NC程序，校正刀具轨迹和转换到主轴位置的轨迹的过程被完全普遍。

12. 发明授权

US06336375B1 Coordinate positioning machine 有权
标题翻译：坐标定位机
公开(公告)号：US06336375B1
公开(公告)日：2002-01-08
申请号：US09599609
申请日：2000-06-23
申请人： David R McMurtry , Nicholas A James
发明人： David R McMurtry , Nicholas A James
IPC分类号： B25J1800
CPC分类号： B23Q1/5462 , B23Q1/626 , G05B2219/37275 , G05B2219/50162 , Y10T74/20305 , Y10T74/20335 , Y10T74/20341
摘要： A coordinate positioning machine comprises a fixed structure including a table and a supporting frame, rigidly connected together. A movable arm is suspended from the frame by means of three powered telescopic struts, each of which is universally pivotally connected to both the arm and the frame. As a consequence, the movable arm is able to move with three rotational degrees of freedom. Movement of the arm with each of these degrees of freedom is constrained by a passive device, connected to the arm and the fixed structure, and which eliminates all rotational movement of the arm, while simultaneously permitting translation thereof.
摘要翻译：坐标定位机包括一个固定结构，包括一个刚性连接在一起的工作台和一个支撑框架。可移动臂通过三个动力伸缩支柱悬挂在框架上，每个支撑杆通常可枢转地连接到臂和框架。因此，可移动臂能够以三个旋转自由度移动。具有这些自由度中的每一个的臂的运动受到连接到臂和固定结构的无源装置的限制，并且消除了臂的所有旋转运动，同时允许其平移。

13. 发明授权

US09971357B2 Parallel platform tracking control apparatus using visual device as sensor and control method thereof 有权
公开(公告)号：US09971357B2
公开(公告)日：2018-05-15
申请号：US15562898
申请日：2015-12-23
申请人： SOUTH CHINA UNIVERSITY OF TECHNOLOGY
发明人： Xianmin Zhang , Jiasi Mo , Zhicheng Qiu , Junyang Wei , Hai Li
IPC分类号： B64C17/06 , G05B19/25 , G05D3/12 , G05B13/04 , G06T7/20 , H02K41/02 , G05B19/404
CPC分类号： G05D3/12 , B25J9/1623 , G05B13/04 , G05B19/404 , G05B2219/50162 , G06T7/20 , G06T2207/20004 , G06T2207/30204 , H02K41/02
摘要： A parallel platform tracking control apparatus and method using a visual device as a sensor are disclosed. The apparatus comprises a parallel platform body, a CCD camera (11), a lens (6), a camera light source (9), a computer (11), a Dspace semi-physical simulation controller, an ultrasonic motor driver and the like. The parallel platform comprises an ultrasonic linear motor (1), a linear grating encoder (5), a driven rod (2), a moving platform (3), a stationary platform (4) and the like. The CCD camera photographs the moving platform in a perpendicular and opposite manner, and the photographed images are subjected to an image processing algorithm to measure the position of the corresponding marker on the moving platform, which is not only applicable to measurement, but also implements real-time feedback of the termination position of the moving platform, such that a full closed-loop system is constituted. In this way, the parallel platform is precisely positioned.

14. 发明申请

US20170275026A1 ROBOTS, ROBOTIC SYSTEMS, AND RELATED METHODS 审中-公开
公开(公告)号：US20170275026A1
公开(公告)日：2017-09-28
申请号：US15077199
申请日：2016-03-22
申请人： The Boeing Company
发明人： Martin A. Szarski , David Michael Bain
IPC分类号： B64F5/00 , G05B19/418 , B25J11/00 , B25J9/00 , B25J9/16
CPC分类号： B25J9/1687 , B25J9/003 , B25J9/0084 , B25J11/0055 , G05B19/41815 , G05B2219/40267 , G05B2219/50162 , Y10S901/01 , Y10S901/41
摘要： Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

15. 发明申请

US20160016309A1 MOTION SYSTEM WITH PLURALITY OF STEWART PLATFORM BASED ACTUATORS 审中-公开
标题翻译：基于STEWART平台的执行器的运动系统
公开(公告)号：US20160016309A1
公开(公告)日：2016-01-21
申请号：US14751004
申请日：2015-06-25
申请人： SOC Robotics Inc.
发明人： Stephen Glen Swift , Michael Peter McCrodan , Siamak Arzanpour , Sohell Sadeqi
IPC分类号： B25J9/16 , A61H3/00 , B25J9/00
CPC分类号： A61H3/00 , A61B2034/304 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H2201/0165 , A61H2201/0192 , A61H2201/1215 , A61H2201/123 , A61H2201/1246 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/5007 , A61H2201/5061 , A61H2201/5064 , A61H2201/5094 , A61H2230/60 , B25J9/0006 , B25J9/0069 , B25J9/0075 , G05B2219/50162 , G05B2219/50169
摘要： Examples of a motion system are disclosed. The motion system comprises a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration. Each of the plurality of actuators is controlled by a central controller that is configured to independently control the plurality actuators and adjust in real time their position, orientation and motion trajectory. The plurality of actuators are arranged in the desired configuration, shape and size to provide motion system that can mimic a natural motion/gait of human or animal body.
摘要翻译：公开了运动系统的示例。运动系统包括多个彼此连接的基于斯图尔特平台的致动器，形成所需的模块化构造。多个致动器中的每一个由中央控制器控制，中央控制器被配置为独立地控制多个致动器并实时调整其位置，方位和运动轨迹。多个致动器被布置成所需的构造，形状和尺寸以提供能够模拟人体或动物体的自然运动/步态的运动系统。

16. 发明申请

US20150356878A1 MOTION SIMULATOR 审中-公开
标题翻译：运动模拟器
公开(公告)号：US20150356878A1
公开(公告)日：2015-12-10
申请号：US14759663
申请日：2013-08-23
申请人： MOOG BV
发明人： Jean Paul Warmerdam
IPC分类号： G09B9/00
CPC分类号： G09B9/00 , G05B2219/50162 , G09B9/02 , G09B9/12 , G09B9/14
摘要： A motion simulator is constructed from a base driving an intermediate member via a 6 DOF hexapod, and a platform driven by a 2DOF simulator is provided on the intermediate member to supplement pitch and roll.
摘要翻译：一个运动模拟器由一个通过一个六自由度六脚架驱动一个中间构件的底座构成，一个由2DOF模拟器驱动的平台被提供在中间构件上，以补充俯仰和滚动。

17. 发明授权

US08996179B2 Movement simulator 有权
标题翻译：运动模拟器
公开(公告)号：US08996179B2
公开(公告)日：2015-03-31
申请号：US13182807
申请日：2011-07-14
申请人： Marinus C. Veltena
发明人： Marinus C. Veltena
IPC分类号： G05B15/02 , B25J9/16
CPC分类号： B25J9/1615 , G05B2219/50162
摘要： A movement simulator includes a base; a platform movable relative to the base; a plurality of actuators each having a controllably variable length, each of the actuators being coupled with the base and carrying the platform, wherein the dimensions of the base and the platform, and the variable lengths of the actuators determine a workspace within which the platform can move. A controller is operable to provide a motion cueing algorithm having a demanded platform state as output and a washout controller having a washout adaptation as output, which washout controller keeps the platform within its workspace by adapting the demanded platform state to a commanded platform state using the washout adaptation. The commanded platform state controls, via a kinematic transformation, the lengths of the actuators. The washout adaptation is calculated using a model predictive control algorithm.
摘要翻译：运动模拟器包括底座; 相对于基座可移动的平台; 多个致动器，每个致动器具有可控地可变的长度，每个致动器与基座相连并承载平台，其中基座和平台的尺寸以及致动器的可变长度确定了工作台，平台可在该工作空间内移动。控制器可操作以提供具有作为输出的所需平台状态的运动提示算法和具有冲洗适配作为输出的冲洗控制器，其中，所述冲洗控制器通过使用所述平台状态将所述平台状态调整到所命令的平台状态，使所述平台处于其工作空间内冲洗适应。命令平台状态通过运动学转换来控制执行器的长度。使用模型预测控制算法计算冲洗适应。

18. 发明授权

US08478438B2 Numerical control device 失效
标题翻译：数控装置
公开(公告)号：US08478438B2
公开(公告)日：2013-07-02
申请号：US13119001
申请日：2008-09-16
申请人： Nobutaka Nishibashi
发明人： Nobutaka Nishibashi
IPC分类号： G06F19/00 , G05B19/10 , G05B19/408
CPC分类号： G05B19/4086 , G05B19/4103 , G05B19/414 , G05B19/416 , G05B2219/33269 , G05B2219/33271 , G05B2219/34202 , G05B2219/36231 , G05B2219/36504 , G05B2219/41405 , G05B2219/49121 , G05B2219/50162 , G05B2219/50165
摘要： A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.
摘要翻译：通过在NC程序中描述固定到加工对象（W）的坐标系（30）中的姿势变化的工具轨迹，固定地布置准备参考坐标系（20 ），其表示加工对象（W）的安装位置和在准备基准坐标系（20）中安装有工具（11）的主轴（91）的位置，并且包含与主轴（91）的位置（q）和轴坐标（r）之间的相关性的转换函数组中的轴的构造相关的部分。因此，基于加工对象的安装位置，工具形状和工具尺寸，读取NC程序，校正刀具轨迹和转换到主轴位置的轨迹的过程被完全普遍。

19. 发明申请

US20040267475A1 Method for determining actual states of a number of adjusting elements 失效
标题翻译：用于确定多个调节元件的实际状态的方法
公开(公告)号：US20040267475A1
公开(公告)日：2004-12-30
申请号：US10877385
申请日：2004-06-25
发明人： Thomas Puchtler
IPC分类号： B23Q023/00
CPC分类号： G05B19/401 , B25J9/1623 , G05B2219/39052 , G05B2219/50162
摘要： The present invention is directed to a method for determining actual states of a number of adjusting elements. A position of an additional member relative to a basic member can be set by means of a number of adjusting elements. In order to determine the actual states of the adjusting elements, the additional member is firstly fixed mechanically relative to the basic member in such a way that it has only one degree of freedom. It is then possible to describe the position of the additional member relative to the basic member by means of a single scalar variable. The position of the additional member is then changed. Changes in state effected by the change in position of the additional member are detected, and the actual states of the adjusting elements are determined therefrom.
摘要翻译：本发明涉及一种用于确定多个调节元件的实际状态的方法。附加构件相对于基本构件的位置可以通过多个调节元件来设定。为了确定调整元件的实际状态，附加构件首先以相对于基本构件机械地固定，使得它仅具有一个自由度。然后可以借助于单个标量变量来描述附加构件相对于基本构件的位置。然后更改附加成员的位置。检测由附加构件的位置变化影响的状态的变化，并且由此确定调节元件的实际状态。

20. 发明授权

US06430476B1 Method and device for controlling the movement of a support 有权
标题翻译：用于控制支撑件运动的方法和装置
公开(公告)号：US06430476B1
公开(公告)日：2002-08-06
申请号：US09262279
申请日：1999-03-04
申请人： Michael Schwaar , Zenon Karczewski , Hans-Joachim Koriath
发明人： Michael Schwaar , Zenon Karczewski , Hans-Joachim Koriath
IPC分类号： G05B1904
CPC分类号： G05B19/4086 , G05B2219/41405 , G05B2219/41413 , G05B2219/50162
摘要： A method is provided for controlling the movement of a support relative to a base by movement devices whose degrees of freedom of movement define a non-orthogonal coordinate system. For achieving a dynamic behavior corresponding to that of a machine with orthogonal directions of movement, non-orthogonal actual-condition values of the movement devices are detected, transformed into orthogonal coordinates, and, on the basis of the transformed actual-condition values and the predetermined target-condition values, operating values in orthogonal coordinates are determined, which are then transformed into non-orthogonal coordinates and transmitted to the individual movement devices. In addition, a device for controlling the movement of the support is provided, as well as a machine tool with a hexapodal suspension of the support, which has provided thereon a machining device.
摘要翻译：提供了一种用于通过移动装置控制支撑件相对于基座的移动的方法，移动装置的移动自由度限定非正交坐标系。为了实现与具有正交运动方向的机器相对应的动态行为，检测移动装置的非正交实际值，变换成正交坐标，并且基于变换的实际值和确定预定的目标条件值，正交坐标中的操作值，然后将其转换为非正交坐标并发送到各个移动装置。此外，还提供了一种用于控制支撑件的移动的装置，以及具有其上设置有加工装置的支撑件的六足悬挂的机床。

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