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1. 发明申请

US20110287692A1 Automated determination of jet orientation parameters in three-dimensional fluid jet cutting 有权
标题翻译：在三维流体射流切割中自动确定射流取向参数
公开(公告)号：US20110287692A1
公开(公告)日：2011-11-24
申请号：US12800756
申请日：2010-05-21
申请人： Glenn A. Erichsen , Jiannan Zhou , Dana S. Haukoos , Hyun Jung
发明人： Glenn A. Erichsen , Jiannan Zhou , Dana S. Haukoos , Hyun Jung
IPC分类号： B24B51/00 , B24C1/00
CPC分类号： B24C1/045 , B26D5/00 , B26D5/005 , B26F3/004 , G05B15/02 , Y10T82/2585
摘要： Methods, systems, and techniques for automatically determining jet orientation parameters to correct for potential deviations in three dimensional part cutting are provided. Example embodiments provide an Adaptive Vector Control System (AVCS), which automatically determines speeds and orientation parameters of a cutting jet to attempt to insure that a part will be cut within prescribed tolerances where possible. In one embodiment, the AVCS determines the tilt and swivel of a cutting head by mathematical predictive models that examine the cutting front for each of “m” hypothetical layers in a desired part, to better predict whether the part will be within tolerances, and to determine what corrective angles are needed to correct for deviations due to drag, radial deflection, and/or taper.
摘要翻译：提供了用于自动确定喷射取向参数以校正三维部分切割中的潜在偏差的方法，系统和技术。示例性实施例提供自适应矢量控制系统（AVCS），其自动确定切割喷嘴的速度和取向参数，以试图确保在可能的情况下部件将在规定的公差内被切割。在一个实施例中，AVCS通过数学预测模型来确定切割头的倾斜和旋转，该预测模型检查所需部分中的每个“m”个假想层的切割前沿，以更好地预测该零件是否在公差内，以及确定需要什么矫正角度来纠正由于阻力，径向偏转和/或锥度引起的偏差。

2. 发明授权

US4977971A Hybrid robotic vehicle 失效
标题翻译：混合型机动车
公开(公告)号：US4977971A
公开(公告)日：1990-12-18
申请号：US353027
申请日：1989-05-17
申请人： Carl D. Crane, III , Dana S. Haukoos
发明人： Carl D. Crane, III , Dana S. Haukoos
IPC分类号： B25J5/00 , B62D55/075
CPC分类号： B25J5/00 , B62D55/075
摘要： A hybrid robotic vehicle is provided for use in environments which are hazardous to humans, the vehicle being adapted to carry a payload for use in viewing the area or acquiring other types of sensory data. The hybrid robotic vehicle has a main body and four appendages or legs, each of which has a wheel assembly and a track assembly, and is configured to operate having three degrees-of-freedom about one vertical and two horizontal axes, the three degrees-of-freedom permitting improved capability to cross obstacle-strewn terrain, as well as to traverse inclined surfaces while maintaining the main body and its payload in an upright and level attitude. The vehicle may operate in any of wheeled, tracked, or legged modes, with actuators controlling each of the three joint angles on each leg, and having separate motors for driving the wheels and the tracks, the control being effected by a human operator through a control panel computer interface, and a computer relaying commands through a cable tether connected to the vehicle.
摘要翻译：提供混合机器人车辆用于对人类有危害的环境中，车辆适用于承载用于观看该区域或获取其他类型的感觉数据的有效载荷。混合机器人车辆具有主体和四个附属物或腿，每个附属物或腿具有轮组件和轨道组件，并且构造成围绕一个垂直和两个水平轴具有三个自由度的操作，自由度允许改善跨越障碍物散落地形的能力，以及横向倾斜的表面，同时保持主体及其有效载荷处于直立和平坦的姿态。车辆可以以任何轮式，跟踪或腿式模式操作，致动器控制每个腿上的三个关节角度中的每一个，并且具有用于驱动车轮和轨道的单独的马达，该控制由人类操作者通过控制面板计算机接口，以及通过连接到车辆的电缆系统的计算机中继命令。

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