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1. 发明授权

US4932541A Stabilized shipboard crane 失效
标题翻译：稳定船用起重机
公开(公告)号：US4932541A
公开(公告)日：1990-06-12
申请号：US342509
申请日：1989-04-24
申请人： Charles A. Belsterling
发明人： Charles A. Belsterling
IPC分类号： B63B27/30 , B66C13/02 , B66C13/06 , B66C23/60
CPC分类号： B66C13/02 , B66C13/06 , B66C23/605
摘要： The invention is directed to a stablilized cargo-handling system using means for stabilizing suspended cargo in all six degrees of freedom using six individually controlled cable in tension in a unique kinematic arrangement. Inertial and distance sensors, coupled with high-performance cable drives, provide the means to control the multi-cabled crane automatically. The distance sensors are used to track the target container or lighter during the pickup and setdown modes of operation; the inertial sensors are used to prevent pendulation during transfer of the cargo from the seagoing cargo ship to the vicinity of the receiving lighter. The complete stabilized shipboard crane system permits safe and efficient operations in relatively high sea states.
摘要翻译：本发明涉及一种稳定的货物处理系统，该系统使用六种独立控制的电缆在独特的运动学布置中以所有6个自由度稳定悬挂货物的装置。惯性和距离传感器以及高性能电缆驱动器，可以自动控制多电缆起重机。距离传感器用于在拾取和放置操作模式期间跟踪目标容器或打火机; 惯性传感器用于在货物从海运货船转移到接收打火机附近时防止弯曲。完全稳定的船上起重机系统允许在相对较高的海域进行安全有效的操作。

2. 发明授权

US4536690A Tool-supporting self-propelled robot platform 失效
标题翻译：工具支撑自走式机器人平台
公开(公告)号：US4536690A
公开(公告)日：1985-08-20
申请号：US435212
申请日：1982-10-19
申请人： Charles A. Belsterling , Robert K. Soberman
发明人： Charles A. Belsterling , Robert K. Soberman
IPC分类号： B23Q1/54 , B25J5/00 , B25J9/04 , B25J9/10 , B25J9/16 , B25J9/18 , B25J15/02 , B25J17/02 , B25J19/00 , B62D57/02 , G05B19/408 , G05B19/40
CPC分类号： G05B19/4086 , B23Q1/5462 , B25J15/0206 , B25J17/0216 , B25J19/005 , B25J5/007 , B25J9/041 , B25J9/162 , B25J9/1623 , B62D57/02 , G05B2219/40277 , G05B2219/40298 , G05B2219/41309 , G05B2219/45071 , G05B2219/49257 , G05B2219/49271 , G05B2219/50162 , G05B2219/50215
摘要： A self-propelled robot platform consists of a frame with a plurality of casters to support the frame on and space the frame from a supporting surface, as well as permitting any selected direction of movement over the support surface. At least two linear motors are arranged on the frame transversely to one another and generally parallel to the support surface and so that their flux links the support surface. The support surface is preferably a conductor such that by a combination of signals to the respective motor means, the motor fluxes linking the supporting surface will drive the platform. The platform is provided with tool support means and that tool support means includes articulation structure with associated drive means which permits tool positioning. As a consequence, the robot platform may be moved over the surface in a predetermined pattern doing work with a supported tool or it may be moved from point to point where work is to be done where the tool is actuated either manually or by programmed information. If the support surface is magnetic, the surface need not be horizontal to hold the platform.A system for driving the platform includes input means for selecting platform movement and tool operation, which may include both manual and computer control. The input means, in turn, drives control means to select the appropriate linear motor means at a given time and sequence to achieve desired movement. Control means selects the motors to be energized by a power source. A means is also provided to drive the respective drive means of the articulation structure to produce desired tool movement. Both platform and tool position sensing signals are preferably fed back to the drive means to correct their drive signals.
摘要翻译：自走式机器人平台由具有多个脚轮的框架组成，以支撑框架并将框架从支撑表面放置，并允许在支撑表面上移动任何选定的方向。至少两个线性电动机布置在框架上彼此横向并且大致平行于支撑表面并且使得它们的磁通链接支撑表面。支撑表面优选地是导体，使得通过将信号组合到相应的电动机装置，连接支撑表面的电动机通量将驱动平台。平台设置有工具支撑装置，并且工具支撑装置包括具有允许工具定位的相关联的驱动装置的关节运动结构。因此，机器人平台可以以预定的图案移动到表面上，使用支撑的工具进行工作，或者可以在工作被手动地或通过编程的信息来启动工作的点之间移动。如果支撑表面是磁性的，则表面不需要是水平的来保持平台。用于驱动平台的系统包括用于选择平台移动和工具操作的输入装置，其可以包括手动和计算机控制。输入装置又驱动控制装置以在给定的时间和顺序选择适当的线性电动机装置以实现期望的运动。控制装置选择要由电源通电的电机。还提供一种装置来驱动关节运动结构的相应驱动装置以产生所需的工具运动。平台和工具位置感测信号都优选地反馈到驱动装置以校正其驱动信号。

3. 发明授权

US4323830A DC Motor control using motor-generator set with controlled generator field 失效
标题翻译：直流电动机控制采用电机发电机组与受控发电机
公开(公告)号：US4323830A
公开(公告)日：1982-04-06
申请号：US151973
申请日：1980-05-21
申请人： Charles A. Belsterling , John Stone
发明人： Charles A. Belsterling , John Stone
IPC分类号： H02P7/34 , B60L11/18 , H02P7/14 , H02P11/04 , H02P5/20
CPC分类号： H02P7/14 , B60L11/1805 , Y02T10/642 , Y02T10/7005
摘要： A d.c. generator is connected in series opposed to the polarity of a d.c. power source supplying a d.c. drive motor. The generator is part of a motor-generator set, the motor of which is supplied from the power source connected to the motor. A generator field control means varies the field produced by at least one of the generator windings in order to change the effective voltage output. When the generator voltage is exactly equal to the d.c. voltage supply, no voltage is applied across the drive motor. As the field of the generator is reduced, the drive motor is supplied greater voltage until the full voltage of the d.c. power source is supplied when the generator has zero field applied. Additional voltage may be applied across the drive motor by reversing and increasing the reversed field on the generator. The drive motor may be reversed in direction from standstill by increasing the generator field so that a reverse voltage is applied across the d.c. motor.
摘要翻译：一个d.c. 发电机串联连接，与直流电的极性相反。电源供应直流驱动电机。发电机是电动发电机组的一部分，其电动机从连接到电动机的电源供电。发电机励磁控制装置改变由至少一个发电机绕组产生的电场，以改变有效电压输出。当发电机电压正好等于直流电电压供应，驱动电机两端不施加电压。随着发电机的场减少，驱动电动机被供给更大的电压，直到直流电的全电压。当发电机具有零场应用时，提供电源。可以通过反转和增加发电机上的反向场来在驱动电动机上施加额外的电压。通过增加发电机电场，驱动电机可以在静止方向上反向，从而在直流电上施加反向电压。发动机。

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