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1. 发明授权

US4335616A Process and device for measuring the flow rate of a fluid 失效
标题翻译：用于测量流体流速的方法和装置
公开(公告)号：US4335616A
公开(公告)日：1982-06-22
申请号：US171794
申请日：1980-07-24
申请人： Ambro Oliva , Luc Joly
发明人： Ambro Oliva , Luc Joly
IPC分类号： G01F1/704 , G01F1/708 , G01P5/00 , G01P5/18 , G01F1/68 , G01F1/70
CPC分类号： G01F1/7084 , G01F1/704 , G01F1/7044 , G01P5/006 , G01P5/18
摘要： A device for measuring the velocity of flow of a fluid comprises a length of pipeline through which the fluid flows. A first resistance is mounted to extend across the pipeline at a first point and is supplied with periodic input pulses by a pulse generator such that the temperature of the first resistance is caused to rise periodically. A second resistance is mounted to extend across the pipeline at a second point which is spaced downstream of the first point. The second resistance has a value which varies with temperature and produces an output signal when it detects fluid heated by the first resistance. A circuit measures the time between an input pulse and the corresponding output signal such that the velocity of the flow of the fluid can be determined.
摘要翻译：用于测量流体流速的装置包括流体流经的一段管道。安装第一电阻以在第一点处延伸跨过管线，并且通过脉冲发生器提供周期性输入脉冲，使得第一电阻的温度被周期性地上升。安装第二阻力以在第一点延伸跨过管道延伸，第二点在第一点的下游间隔开。第二电阻具有随温度变化的值，并且当其检测到由第一电阻加热的流体时产生输出信号。电路测量输入脉冲与对应的输出信号之间的时间，以便可以确定流体的流速。

2. 发明申请

US20080147238A1 Method And Apparatus For Controlling Displacements Of A Moving Portion Of A Multi-Axis Robot 有权
标题翻译：用于控制多轴机器人运动部分位移的方法和装置
公开(公告)号：US20080147238A1
公开(公告)日：2008-06-19
申请号：US10582297
申请日：2004-12-17
申请人： Luc Joly
发明人： Luc Joly
IPC分类号： B25J9/00
CPC分类号： G05B19/237
摘要： The inventive method consists in supplying motion instructions (300) at least including information about the path geometry (320) and load instructions (310) to a path generator (400), calculating an allied load signal (800), transmitting said applied load signal (800) to the path generator (400), calculating motion instructions (500) along the path in such a way that the deviation between the projection of the applied load on a tangent to said path and the projection of the instruction on said tangent is minimized and in transmitting said motion instructions (500) to means for actuating a robot (600). A device comprising means (200, 400, 700) for carrying out said control is also disclosed.
摘要翻译：本发明的方法包括将至少包括关于路径几何（320）和加载指令（310）的信息的运动指令（300）提供给路径发生器（400），计算联合负载信号（800），传送所述施加的负载信号（800）到路径发生器（400），沿着路径计算运动指令（500），使得施加的负载在所述路径的切线上的投影与所述切线上的指令的投影之间的偏差为最小化并将所述运动指令（500）传送到用于致动机器人（600）的装置。还公开了一种包括用于执行所述控制的装置（200,400,700）的装置。

3. 发明授权

US07853358B2 Method and apparatus for controlling displacements of a moving portion of a multi-axis robot 有权
标题翻译：用于控制多轴机器人的移动部分的位移的方法和装置
公开(公告)号：US07853358B2
公开(公告)日：2010-12-14
申请号：US10582297
申请日：2004-12-17
申请人： Luc Joly
发明人： Luc Joly
IPC分类号： B25J9/00
CPC分类号： G05B19/237
摘要： The inventive method consists in supplying motion instructions (300) at least including information about the path geometry (320) and load instructions (310) to a path generator (400), calculating an allied load signal (800), transmitting said applied load signal (800) to the path generator (400), calculating motion instructions (500) along the path in such a way that the deviation between the projection of the applied load on a tangent to said path and the projection of the instruction on said tangent is minimized and in transmitting said motion instructions (500) to means for actuating a robot (600). A device comprising means (200, 400, 700) for carrying out said control is also disclosed.
摘要翻译：本发明的方法包括将至少包括关于路径几何（320）和加载指令（310）的信息的运动指令（300）提供给路径发生器（400），计算联合负载信号（800），传送所述施加的负载信号（800）到路径发生器（400），沿着路径计算运动指令（500），使得施加的负载在所述路径的切线上的投影与所述切线上的指令的投影之间的偏差为最小化并将所述运动指令（500）传送到用于致动机器人（600）的装置。还公开了一种包括用于执行所述控制的装置（200,400,700）的装置。

4. 发明申请

US20070252839A1 Method and a device for adjusting operating parameters of a robot, a program and a recording medium for the method 有权
标题翻译：用于调整机器人的操作参数的方法和装置，用于该方法的程序和记录介质
公开(公告)号：US20070252839A1
公开(公告)日：2007-11-01
申请号：US11790807
申请日：2007-04-27
申请人： Luc Joly , Matthieu Guilbert , Pierre-Brice Wieber
发明人： Luc Joly , Matthieu Guilbert , Pierre-Brice Wieber
IPC分类号： G06T15/70 , G05B19/18 , G06F19/00
CPC分类号： B25J9/1664 , G05B2219/39361
摘要： This method of adjusting the operating parameters of a robot to move an effector tool along a given path in an optimum cycle time comprises a step (140) of modifying the operating parameter values to cause the cycle time to approach its optimum value. During this step, the values of the operating parameters are modified so as to approach an extremum of a compromise function, the compromise function comprising at least first and second terms, the first term being a function of the cycle time and the second term being a function of the temperature and/or the degree of wear.
摘要翻译：这种调整机器人的操作参数的方法在最佳周期中沿着给定的路径移动效应器工具包括修改操作参数值以使循环时间接近其最佳值的步骤（140）。在该步骤期间，操作参数的值被修改为接近折中函数的极值，折衷函数包括至少第一和第二项，第一项是循环时间的函数，第二项是温度和/或磨损程度的功能。

5. 发明申请

US20130116821A1 METHOD FOR CONTROLLING AN AUTOMATED WORK CELL 有权
标题翻译：控制自动化工作单元的方法
公开(公告)号：US20130116821A1
公开(公告)日：2013-05-09
申请号：US13696739
申请日：2011-05-13
申请人： Luc Joly , Jean Michel Bonnet Des Tuves , François Pertin , Gérald Vogt
发明人： Luc Joly , Jean Michel Bonnet Des Tuves , François Pertin , Gérald Vogt
IPC分类号： B25J9/16
CPC分类号： B25J9/16 , B25J9/161 , G05B19/4086 , G05B2219/33273 , G05B2219/39253 , G05B2219/39384 , G05B2219/39408
摘要： The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre (8) to control the control axes to a single arithmetic unit (10) belonging to the device (6) for controlling the robot (4); b) determining, within the arithmetic unit (10) and according to instructions received from the control centre (8), orders (0̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.
摘要翻译：本发明涉及一种应用于自动化工作单元的控制方法，其包括至少一个根据多个控制轴（A1-A6; X，Y，Z，Rx）具有至少三个自由度的机械手臂（4），Ry，Rz）; 控制中心（8）; 一种用于控制机器人臂（4）的装置（6），其包括多个电动机控制器（61-66），每个电动机控制器控制一个电动机（M1-M6）的操作，适用于操作机器人手臂的至少一部分（4）; 以及控制中心（8）和用于控制机器人手臂（4）的装置（6）之间的通信总线（14）。所述方法包括以下步骤：a）发送由控制中心（8）发出的指令（Cri），以将控制轴控制到属于用于控制机器人（4）的装置（6）的单个运算单元（10） ; b）在运算单元（10）内并根据从控制中心（8）接收到的指令确定由马达控制器控制的每个马达的命令（0）; c）将由马达控制器控制的马达发送给步骤b）中确定的每个马达控制器。

6. 发明授权

US08965574B2 Method for controlling an automated work cell 有权
标题翻译：用于控制自动化工作单元的方法
公开(公告)号：US08965574B2
公开(公告)日：2015-02-24
申请号：US13696739
申请日：2011-05-13
申请人： Luc Joly , Jean Michel Bonnet Des Tuves , François Pertin , Gérald Vogt
发明人： Luc Joly , Jean Michel Bonnet Des Tuves , François Pertin , Gérald Vogt
IPC分类号： G05B19/00 , B25J9/16 , G05B19/408
CPC分类号： B25J9/16 , B25J9/161 , G05B19/4086 , G05B2219/33273 , G05B2219/39253 , G05B2219/39384 , G05B2219/39408
摘要： A method for controlling an automated work cell which includes at least one robot arm having at least three degrees of freedom controlled according to a plurality of control axes; a control center; a device for controlling the robot arm which includes a plurality of motor controllers each controlling operation of one motor and suitable for operating at least one portion of the robot arm; and a communication bus between the control center and the device for controlling the robot arm; wherein the method includes steps of: a) sending instructions emitted by the control center to control the control axes to a single arithmetic unit belonging to the device for controlling the robot; b) determining, within the arithmetic unit and according to instructions received from the orders for each of the motors controlled by a motor controller; and c) sending each motor controller an order, determined in step b), for the motor controlled by each motor controller.
摘要翻译：一种用于控制自动化工作单元的方法，所述方法包括根据多个控制轴度控制至少三个自由度的至少一个机械臂; 控制中心; 一种用于控制机器人臂的装置，其包括多个电机控制器，每个电动机控制器控制一个电动机的操作并且适于操作机器人手臂的至少一部分; 以及控制中心和用于控制机器人手臂的装置之间的通信总线; 其特征在于，所述方法包括以下步骤：a）发送由所述控制中心发出的指令以控制所述控制轴到属于所述用于控制所述机器人的装置的单个运算单元; b）在算术单元内并根据由马达控制器控制的每个马达的命令接收的指令进行确定; 以及c）每个电动机控制器为每个电动机控制器控制的电动机发送每个电动机控制器的步骤b）中确定的订单。

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