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1. 发明授权

US4489587A Vernier press brake die set 失效
标题翻译：游标机制动模组
公开(公告)号：US4489587A
公开(公告)日：1984-12-25
申请号：US474935
申请日：1983-03-14
申请人： Robert H. Sturges, Jr.
发明人： Robert H. Sturges, Jr.
IPC分类号： B21D5/02 , B21D5/01
CPC分类号： B21D5/0209
摘要： A die for the manufacture of tray like sections has a member with a plurality of slots arranged to accommodate a variety of required gap dimensions. The slots are arranged in a pattern which consists of two sections each of which extends from a common datum in opposite directions along the length of the die. The first or integer section is of arbitrary length and contains slots spaced equally apart from each other a convenient value or metric. The distance between the right edge of the slot and the datum is equal to the metric value.The second section or vernier section contains slots with a different spacing pattern depending on the degree of precision required of the vernier. These slots are spaced incrementally from the datum by a value equal to a multiple of the metric plus a fractional value of the metric. This arrangement permits the accommodation of various tray sizes larger than a minimum size as dictated by die design. In operation, after two opposed side walls of a tray are formed, the outside dimension of the side wall is measured and the fractional part of the measurement used to determine the particular vernier slot to be used. With the correct vernier slot chosen for one side wall, a slot in the integer section automatically lines up with the other tray side wall.
摘要翻译：用于制造托盘状部分的模具具有多个狭槽的构件，其布置成适应各种所需的间隙尺寸。槽被布置成图案，其由两个部分组成，每个部分沿着模具的长度沿着相反方向从公共基准延伸。第一或整数段具有任意长度，并且包含彼此间隔开的方便的值或度量的槽。槽的右边缘和基准之间的距离等于度量值。第二部分或游标部分包含具有不同间隔模式的插槽，这取决于游标器所需的精度。这些时隙从数据增量地分配等于度量的倍数加上度量的分数值的值。这种布置允许适应由模具设计所规定的大于最小尺寸的各种托盘尺寸。在操作中，在形成托盘的两个相对的侧壁之后，测量侧壁的外部尺寸，并且测量的分数部分用于确定要使用的特定游标槽。对于一个侧壁选择正确的游标槽，整数区域中的槽自动与另一个托盘侧壁对齐。

2. 发明授权

US5761940A Methods and apparatuses for backgaging and sensor-based control of bending operations 失效
标题翻译：用于回溯和传感器控制弯曲操作的方法和装置
公开(公告)号：US5761940A
公开(公告)日：1998-06-09
申请号：US385829
申请日：1995-02-09
申请人： Richard M. Moore, Jr. , David Alan Bourne , Anne Marie Murray , Robert H. Sturges, Jr. , Kensuke Hazama
发明人： Richard M. Moore, Jr. , David Alan Bourne , Anne Marie Murray , Robert H. Sturges, Jr. , Kensuke Hazama
IPC分类号： B21D5/00 , B21D5/02 , B21D43/00 , B23Q3/18 , B23Q15/22 , B23Q17/22 , B25J9/16 , B25J19/02 , B21D43/11 , B21J13/12
CPC分类号： B21D5/002 , B21D5/02 , B23Q15/22 , B23Q15/225 , B23Q17/225 , B23Q3/186 , B25J9/1679 , G05B2219/31103 , G05B2219/31326 , G05B2219/37571 , G05B2219/39508 , G05B2219/39528 , G05B2219/39529 , G05B2219/39532 , G05B2219/39542 , G05B2219/40054 , G05B2219/45143 , Y02P90/18
摘要： Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.
摘要翻译：公开了几种方法和子系统，用于在工件被装载到弯曲装置的模具空间中时对准工件，并且用于在机器人在弯曲装置环境中将工件从一个位置移动到另一个位置时执行基于传感器的控制。提供了后退机构，其具有手指测量机构，其具有用于感测与模具垂直并平行的方向的力的力传感器。此外，提供了一种机器人夹持器传感器，用于感测由夹持器保持的工件的运动产生的剪切力和法向力中的任一者或两者。公开了几个基于传感器的控制模块，包括弯曲跟随控制模块，速度控制模块，用于主动地阻尼工件中的振动的模块，用于控制工件和障碍物之间的主动顺应/接触的模块，用于执行有保护的动作以有意地使工件与障碍物接触，以及用于检测工件和障碍物之间的无意冲击的模块。还公开了若干下垂感测方法和系统，包括使用基于视觉的下垂传感器，复合断路器下垂传感器和单个断路器下垂传感器执行下垂感测和补偿的方法。此外，公开了一种角度传感器以及利用所公开的角度传感器的回弹控制方法。

3. 发明授权

US4377238A Flaw detection and evaluation 失效
标题翻译：缺陷检测和评估
公开(公告)号：US4377238A
公开(公告)日：1983-03-22
申请号：US181567
申请日：1980-08-27
申请人： Robert S. Wilks , Robert H. Sturges, Jr.
发明人： Robert S. Wilks , Robert H. Sturges, Jr.
IPC分类号： G01N21/89 , G01N21/88 , G01N21/952 , G21C17/06 , B07C5/342
CPC分类号： G01N21/952
摘要： The invention provides a method of and apparatus for optically inspecting nuclear fuel pellets for surface flaws. The inspection system includes a prism and lens arrangement for scanning the surface of each pellet as the same is rotated. The resulting scan produces data indicative of the extent and shape of each flaw which is employed to generate a flaw quality index for each detected flaw. The flaw quality indexes from all flaws are summed and compared with an acceptable surface quality index. The result of the comparison is utilized to control the acceptance or rejection of the pellet.
摘要翻译：本发明提供了用于光学检查用于表面缺陷的核燃料颗粒的方法和装置。检查系统包括棱镜和透镜装置，用于当其旋转时扫描每个颗粒的表面。所得到的扫描产生指示每个缺陷的程度和形状的数据，其用于为每个检测到的缺陷产生缺陷质量指数。将所有缺陷的缺陷质量指标相加，并与可接受的表面质量指数进行比较。比较结果用于控制颗粒的接受或排斥。

4. 发明授权

US4295740A Photoelectric docking device 失效
标题翻译：光电对接装置
公开(公告)号：US4295740A
公开(公告)日：1981-10-20
申请号：US939555
申请日：1978-09-05
申请人： Robert H. Sturges, Jr.
发明人： Robert H. Sturges, Jr.
IPC分类号： G01B11/00 , B25J19/00 , B25J19/02 , G01B11/27 , G01C15/00 , G01D7/08 , G01S3/783 , G01S11/12 , G05D3/12 , G01B11/26 , B64G1/62
CPC分类号： G01S3/783 , B25J19/021 , G01B11/272 , G01S11/12
摘要： A photoelectric docking device for remotely positioning a first member relative to a second member, having a point light source coupled to the first member, which is directed to focus a narrow beam of light on a photosensor fixedly connected to the second member. The photosensor is responsive to the reception of light from the point light source on the first member to provide electrical outputs representative of the relative position of the point source with respect to the photosensor in three-dimensional space. The electrical outputs of the photosensor are then displaced as a three-dimensional pictorial representation of the relative position of the first and second members. Means are further provided for identifying when the first and second members are in intimate contact.
摘要翻译：一种用于相对于第二构件远程定位第一构件的光电对接装置，其具有联接到第一构件的点光源，该点光源被定向成将窄光束聚焦在固定地连接到第二构件的光电传感器上。光传感器响应于从第一构件上的点光源接收光，以提供表示点源相对于三维空间中的光电传感器的相对位置的电输出。然后光传感器的电输出作为第一和第二构件的相对位置的三维图示表示。进一步提供用于识别第一和第二构件何时紧密接触的装置。

5. 发明授权

US06292716B1 Method and apparatuses for backgaging and sensor-based control of bending operations 失效
标题翻译：用于回溯和传感器控制弯曲操作的方法和装置
公开(公告)号：US06292716B1
公开(公告)日：2001-09-18
申请号：US09394862
申请日：1999-09-13
申请人： Richard M. Moore, Jr. , David Alan Bourne , Kerry L. Elkins , Anne Marie Murray , Robert H. Sturges, Jr. , Kensuke Hazama
发明人： Richard M. Moore, Jr. , David Alan Bourne , Kerry L. Elkins , Anne Marie Murray , Robert H. Sturges, Jr. , Kensuke Hazama
IPC分类号： G05B1500
CPC分类号： B21D5/002 , B21D5/02 , B23Q3/186 , B23Q15/22 , B23Q15/225 , B23Q17/225 , B25J9/1679 , G05B2219/31103 , G05B2219/31326 , G05B2219/37571 , G05B2219/39508 , G05B2219/39528 , G05B2219/39529 , G05B2219/39532 , G05B2219/39542 , G05B2219/40054 , G05B2219/45143 , Y02P90/18
摘要： Several methods and subsystems are provided for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also provided, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is provided, along with a springback control method utilizing the disclosed angle sensor.
摘要翻译：提供了几种方法和子系统，用于在工件被加载到弯曲装置的模具空间中时对准工件，并且用于在机器人在弯曲装置环境中将工件从一个位置移动到另一个位置时执行基于传感器的控制。提供了后退机构，其具有手指测量机构，其具有用于感测与模具垂直并平行的方向的力的力传感器。此外，提供了一种机器人夹持器传感器，用于感测由夹持器保持的工件的运动产生的剪切力和法向力中的任一者或两者。公开了几个基于传感器的控制模块，包括弯曲跟随控制模块，速度控制模块，用于主动地阻尼工件中的振动的模块，用于控制工件和障碍物之间的主动顺应/接触的模块，用于执行有保护的动作以有意地使工件与障碍物接触，以及用于检测工件和障碍物之间的无意冲击的模块。还提供了几种下垂感测方法和系统，包括使用基于视觉的下垂传感器，复合断路器下垂传感器和单个断路器下垂传感器执行下垂感测和补偿的方法。此外，提供了一种角度传感器以及利用所公开的角度传感器的回弹控制方法。

6. 发明授权

US4503506A Apparatus for mapping and identifying an element within a field of elements 失效
标题翻译：用于映射和识别元素领域内的元素的装置
公开(公告)号：US4503506A
公开(公告)日：1985-03-05
申请号：US289955
申请日：1981-08-05
申请人： Robert H. Sturges, Jr.
发明人： Robert H. Sturges, Jr.
IPC分类号： F22B1/16 , F22B37/00 , F22B37/02 , G01B5/00 , G01B11/00 , G01C15/00 , G01N27/82 , G01N29/44 , G21C17/003 , H04N7/18 , G06F15/20
CPC分类号： F22B37/003
摘要： Apparatus for identifying an element within an array of elements, is disclosed as including a sighting device that is disposable in a plurality of positions to facilitate the operator to position the device in an orientation so that the device is aligned with or sighted upon the element within the array, operator-controllable means coupled to the sighting device to permit the operator to variably position the sighting device, an orientation sensing means coupled to the sighting device to provide an output signal indicative of the particular orientation of the device and computing means responsive to the position indicating signals to provide a manifestation indicating the element's position within the field, as sighted by the operator.
摘要翻译：用于识别元件阵列内的元件的装置被公开为包括在多个位置中一次性使用的瞄准装置，以便于操作者将装置定位成定向，使得装置与元件内的元件对准或瞄准所述阵列操作者可控制装置联接到所述瞄准装置以允许所述操作者可变地定位所述瞄准装置;方向感测装置，其联接到所述瞄准装置，以提供指示所述装置的特定取向的输出信号和响应于所述装置的计算装置位置指示信号以提供表示元素在场内的位置的表现，如操作者所看到的。

7. 发明授权

US4168782A Remote access manipulator 失效
标题翻译：远程访问操纵器
公开(公告)号：US4168782A
公开(公告)日：1979-09-25
申请号：US806232
申请日：1977-06-13
申请人： Robert H. Sturges, Jr.
发明人： Robert H. Sturges, Jr.
IPC分类号： F22B37/02 , B25J3/04 , B25J9/16 , F22B37/00 , G21C17/003 , G21F7/06 , B25J3/00
CPC分类号： F22B37/006 , B25J3/04
摘要： A remote access manipulator for performing operations on equipment located in areas where human access is limited. The manipulator comprises a slave carriage located in the equipment on which the operation is to be performed, such as a nuclear steam generator, for carrying tools and inspection devices for performing operations on the equipment together with a master carriage located in a scale model of the equipment and electrically connected to the slave carriage for controlling the movement of the slave carriage. The slave carriage is capable of advancing across a surface of the equipment to position the devices which it carries. The manipulator further comprises a slave manipulator arm used to move the slave carriage into and out of the equipment on which the operation is to be performed in conjunction with a master manipulator arm located in the scale model for controlling the movement of the slave manipulator arm.
摘要翻译：一种远程访问操纵器，用于对位于人员访问受限区域的设备执行操作。操纵器包括位于其上将执行操作的设备中的从属托架，例如核蒸汽发生器，用于运送工具和用于在设备上执行操作的检查装置以及位于设备并且电连接到从车架以控制从车厢的移动。从车架能够穿过设备的表面，以便定位其所携带的设备。操纵器还包括从动操纵臂，用于将从动滑架与位于操纵杆上的主机械手臂一起移动到与要执行操作的设备相关的设备上，以控制从动操纵臂的移动。

8. 发明授权

US5396714A Apparatus for assembly of axisymmetric and non-axisymmetric rigid parts 失效
标题翻译：用于组装轴对称和非轴对称刚性部件的装置
公开(公告)号：US5396714A
公开(公告)日：1995-03-14
申请号：US168039
申请日：1993-12-15
申请人： Robert H. Sturges, Jr. , Schitt Laowattana
发明人： Robert H. Sturges, Jr. , Schitt Laowattana
IPC分类号： B23Q1/34 , B23Q1/54 , B25J17/02 , G01B5/25
CPC分类号： G01B5/25 , B23Q1/34 , B23Q1/5456 , B25J17/0208
摘要： An azimuth angle compensation device adapted for use with an assembler device for inserting an object into a workpiece, whereby the assembler device establishes a centerline corresponding substantially to an insertion axis of the object to be inserted into the workpiece. The azimuth compensation device includes:(1) a first member;(2) a second member; and(3) structure connecting the first and second members for causing the second member and the object to rotate about the centerline through at least one angle and in at least one direction when the object is brought into contact with the workpiece by the assembler device.
摘要翻译：一种方法角补偿装置，适于与组装装置一起使用，用于将物体插入工件中，由此组装装置建立基本上对应于待插入工件的物体的插入轴线的中心线。方位补偿装置包括：（1）第一构件; （2）第二成员; 以及（3）连接第一和第二构件的结构，用于当物体通过组装装置与工件接触时，使第二构件和物体围绕中心线通过至少一个角度和至少一个方向旋转。

9. 发明授权

US4448680A Apparatus and method for classifying fuel pellets for nuclear reactor 失效
标题翻译：核反应堆燃料颗粒分级装置及方法
公开(公告)号：US4448680A
公开(公告)日：1984-05-15
申请号：US171606
申请日：1980-07-22
申请人： Robert S. Wilks , Eliezer Sternheim , Gerald A. Breakey , Robert H. Sturges, Jr. , Alexander Taleff , Raymond P. Castner
发明人： Robert S. Wilks , Eliezer Sternheim , Gerald A. Breakey , Robert H. Sturges, Jr. , Alexander Taleff , Raymond P. Castner
IPC分类号： B07C5/10 , G01B11/02 , G01B11/08 , G01B11/24 , G01B11/30 , G01N21/84 , G21C17/06 , B07C1/10 , B07C5/16 , B07C5/344
CPC分类号： G01B11/024 , B07C5/10 , G21C17/06
摘要： Control for the operation of a mechanical handling and gauging system for nuclear fuel pellets. The pellets are inspected for diameters, lengths, surface flaws and weights in successive stations. The control includes, a computer for commanding the operation of the system and its electronics and for storing and processing the complex data derived at the required high rate. In measuring the diameter, the computer enables the measurement of a calibration pellet, stores that calibration data and computes and stores diameter-correction factors and their addresses along a pellet. To each diameter measurement a correction factor is applied at the appropriate address.The computer commands verification that all critical parts of the system and control are set for inspection and that each pellet is positioned for inspection. During each cycle of inspection, the measurement operation proceeds normally irrespective of whether or not a pellet is present in each station. If a pellet is not positioned in a station, a measurement is recorded, but the recorded measurement indicates maloperation.In measuring diameter and length a light pattern including successive shadows of slices transverse for diameter or longitudinal for length are projected on a photodiode array. The light pattern is scanned electronically by a train of pulses. The pulses are counted during the scan of the lighted diodes. For evaluation of diameter the maximum diameter count and the number of slices for which the diameter exceeds a predetermined minimum is determined. For acceptance, the maximum must be less than a maximum level and the minimum must exceed a set number. For evaluation of length, the maximum length is determined. For acceptance, the length must be within maximum and minimum limits.
摘要翻译：控制核燃料颗粒的机械处理和测量系统的运行。在连续的站中检查颗粒的直径，长度，表面缺陷和重量。该控制器包括：用于命令系统及其电子设备的操作并用于存储和处理以所需高速率导出的复杂数据的计算机。在测量直径时，计算机可以测量校准颗粒，存储校准数据，并计算和存储直径校正因子及其沿颗粒的地址。对于每个直径测量，在适当的地址应用校正因子。计算机命令验证系统和控制的所有关键部分都被设置为检查，并且每个颗粒定位用于检查。在每次检查周期中，无论每个站中是否存在颗粒，测量操作都将正常进行。如果颗粒物没有位于工位，则记录测量值，但记录的测量值表示误操作。在测量直径和长度时，包括横向于直径或纵向的长度的切片的连续阴影的光图案投影在光电二极管阵列上。通过一串脉冲电子扫描光图案。在点亮的二极管的扫描期间脉冲被计数。为了评估直径，确定了直径超过预定最小值的最大直径计数和切片数量。对于验收，最大值必须小于最大值，最小值必须超过设定值。为了评估长度，确定最大长度。对于验收，长度必须在最大和最小限度内。

10. 发明授权

US4349112A Pellet inspection apparatus 失效
标题翻译：颗粒检查仪
公开(公告)号：US4349112A
公开(公告)日：1982-09-14
申请号：US136122
申请日：1980-03-31
申请人： Robert S. Wilks , Alexander Taleff , Robert H. Sturges, Jr.
发明人： Robert S. Wilks , Alexander Taleff , Robert H. Sturges, Jr.
IPC分类号： G01N21/84 , B07C5/10 , B07C5/36 , G01N21/88 , G01N21/952 , G21C17/06 , B07C5/02
CPC分类号： G21C17/06 , B07C5/10 , B07C5/36 , Y10S209/903 , Y10S209/914
摘要： Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The flGOVERNMENT CONTRACT CLAUSEThe invention herein described was made in the course of or under a contract or subcontract thereunder with the Department of Energy bearing No. EY-67-14-C-2170.
摘要翻译：用于在直径，缺陷，长度和重量的密封容器中检查核燃料颗粒的装置。该装置包括一个颗粒捕获站，四个颗粒检查站和一个颗粒分选站。通过振动的线性输送机，通过振动碗将颗粒一次一个地送到拾取站。每个与连续的一对站相关联的夹爪可往复运动以在每对的上游站处拾取颗粒并将颗粒沉积在相应的下游站处。取决于站处的颗粒的状态和设备运行的特定循环，夹具夹爪选择性地打开。在每种情况下，通过精确的光学系统投射在颗粒上的激光束来检查直径，缺陷和长度，同时每个颗粒通过辊旋转。每个激光器及其光学系统安装在独立于精确表面的容器中，并且设置有定位按钮，其接合表面中的定位孔，使得每个激光器及其光学系统被精确地设定。辊架同样是独立的，并且类似地精确定位。直径光学系统投射一束薄的光束，扫描每个颗粒的顶部并投射在二极管阵列上。缺陷光学系统投射一束薄的光束，扫过颗粒。表面的无裂纹区域将光线反射到光电二极管; 有缺陷的区域扩散光，并将光斑的图像反射离开光电二极管。每个颗粒的扫描由光栅和光电二极管协调，产生与扫描相对应的脉冲。长度光学系统在颗粒的长度上投射一张光，产生投影在二极管阵列上的阴影。

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