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1. 发明授权

US5023788A Control apparatus of working robot to flatten and finish the concreted floor 失效
标题翻译：工作机器人的控制装置，以平整和完成混凝土地板
公开(公告)号：US5023788A
公开(公告)日：1991-06-11
申请号：US502285
申请日：1990-03-30
申请人： Masahiro Kitazume , Kazuya Honma
发明人： Masahiro Kitazume , Kazuya Honma
IPC分类号： E04F21/24 , B25J5/00 , B25J9/18 , B25J9/22 , B25J13/00 , E04G21/10 , G05D1/02
CPC分类号： G05D1/027 , B60L1/003 , B60L15/20 , B60L2200/40 , B60L2220/46 , B60L2240/12 , B60L2240/421 , B60L2250/16 , B60L2260/32 , G05D1/0227 , G05D2201/0203 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A rotary trowel is provided for a working robot which can freely run and the concreted floor is flattened and finished by the rotary trowel while the robot runs on the concreted floor. The working robot is automatically operated in accordance with a zigzag running pattern which was set in a desired working range which is determined by a width and a depth. When the teaching mode is set, the first straight running and the first turning operation of a zigzag running pattern which will be set are executed by the manual operation. Thus, a straight running distance and turning direction which were detected by the manual operation are set as initial values and the zigzag running pattern is automatically set. Subsequently, the automatic operation is performed in accordance with the zigzag running pattern which was automatically set.
摘要翻译：为机器人在混凝土地板上运行时，为可自由运行的工作机器人提供旋转t刀，混凝土地板由旋转t刀平整并完成。工作机器人根据被设置在由宽度和深度确定的期望工作范围内的之字形运行模式自动操作。当设置教学模式时，将通过手动操作执行要设置的之字形运行模式的第一次直线运行和第一次旋转操作。因此，通过手动操作检测到的直线行驶距离和转向方向被设定为初始值，并且自动设置Z形行驶模式。随后，根据自动设置的Z字形运行模式执行自动操作。

2. 发明授权

US4930992A Control apparatus of variable delivery pump 失效
标题翻译：变送泵控制装置
公开(公告)号：US4930992A
公开(公告)日：1990-06-05
申请号：US408218
申请日：1989-09-18
申请人： Kunihiko Takeuchi , Yoshisuke Akita , Osamu Hayakawa
发明人： Kunihiko Takeuchi , Yoshisuke Akita , Osamu Hayakawa
IPC分类号： F04B49/06 , G05D7/06 , G05D16/20
CPC分类号： G05D16/2066 , F04B49/06 , G05D7/0688
摘要： A control load such as a cylinder or the like is driven at a constant speed by controlling the flow rate of a variable delivery pump. The control mode is switched to the pressure control to keep the stop pressure constant on the basis of an increase in pressure when the control load stops. A remaining delivery amount which will be necessary to raise the delivery pressure to an object stop pressure when the load stops and an excess delivery volume due to the operation time lag when it is assumed that the delivery by the pump is stopped at the present time are predicted. When they coincide, the delivery amount of the pump is set to zero and the control mode is switched to the pressure control. On the other hand, the product of a load volume and a fluid compressibility is calculated from the increase in pressure when the load stops. The feedback gain of the pressure control is controlled on the basis of the calculated value of this product. Further, the pressure difference and the designated flow rate are compared and either smaller one of them is always set to the designated value of the flow control.
摘要翻译：通过控制可变输送泵的流量，以恒定的速度驱动诸如气缸等的控制负载。控制模式切换到压力控制，以便在控制负载停止时基于压力增加来保持停止压力恒定。当假设当前停止泵的输送时，在负载停止时将输送压力提高到物体停止压力以及由于操作时间延迟的过量输送量所需的剩余输送量是：预料到的。当它们重合时，泵的输送量被设置为零，并且将控制模式切换到压力控制。另一方面，当负载停止时，从压力的增加计算负载体积和流体压缩性的乘积。基于该产品的计算值控制压力控制的反馈增益。此外，比较压力差和指定的流量，并且将其中的较小的一个总是设置为流量控制的指定值。

3. 发明授权

US4858103A Fluid valve control system for controlling fluid pressure or flow 失效
标题翻译：用于控制流体压力或流量的流体阀控制系统
公开(公告)号：US4858103A
公开(公告)日：1989-08-15
申请号：US576924
申请日：1984-02-03
申请人： Kunihiko Takeuchi , Kiyoshi Hayashi , Yasuo Shimomura
发明人： Kunihiko Takeuchi , Kiyoshi Hayashi , Yasuo Shimomura
IPC分类号： G05B19/40 , G05B19/4093
CPC分类号： G05B19/40 , G05B19/4093 , G05B2219/41298 , G05B2219/41303 , G05B2219/43083 , G05B2219/45006 , Y02P90/265 , Y10T137/86397 , Y10T137/86461
摘要： Controlled variable table data, which consist of pulse number data corresponding to the maximum controlled variable of a fluid valve and divided into N divisions in each of which given pulse number data are set, are stored in a memory so that the sum of the given pulse number data in the N divisions may be equal to the number of pulses for giving a given controlled variable to the fluid valve. On the other hand, period table data, which consist of pulse interval data divided into divisions corresponding in number to the divisions of the controlled variable table data for determining a given control pattern, are stored in another memory. The fluid valve is controlled by successively generating pulses corresponding to the pulse number data in the individual divisions of the controlled variable table data at pulse intervals set in the individual divisions of the time length table data, driving a pulse motor by means of the generated pulses to control the flow rate and fluid pressure, counting the pulses, converting the count into an analog signal, thereby driving an actuator for the fluid valve.
摘要翻译：控制变量表数据由与流体阀的最大控制变量对应的脉冲数据数据组成，并分配为每个给定脉冲数数据的N个分区，被存储在存储器中，使得给定脉冲的和 N个分区中的数字数据可以等于给予给定的控制变量到流体阀的脉冲数。另一方面，由另外一个存储器存储周期表数据，该脉冲间隔数据被分成与用于确定给定控制模式的受控变量表数据的分割数相对应的数字。通过在时间长度表数据的各个分区中设置的脉冲间隔上连续产生与受控变量表数据的各个分割中的脉冲数数据对应的脉冲来控制流体阀，通过产生的脉冲驱动脉冲电动机以控制流量和流体压力，计数脉冲，将计数转换成模拟信号，从而驱动流体阀的致动器。

4. 发明授权

US4724372A Speed control apparatus of hydraulic actuator 失效
标题翻译：液压执行器调速装置
公开(公告)号：US4724372A
公开(公告)日：1988-02-09
申请号：US909110
申请日：1986-09-18
申请人： Kunihiko Takeuchi , Masao Oba , Kiyoshi Hayashi
发明人： Kunihiko Takeuchi , Masao Oba , Kiyoshi Hayashi
IPC分类号： F15B9/09 , H02P23/00 , G05B19/40
CPC分类号： H02P23/16
摘要： The driving speed of a hydraulic actuator is feedback controlled by adjusting an amount of fluid by a digital valve having a valve which is opened and closed by a pulse motor. For speed control, the deviation between a set speed of the actuator which is set by a speed setting device and a detection speed of the actuator which is detected by a speed sensor is obtained. A pulse signal of a frequency proportional to the magnitude of the deviation is generated. When the deviation is positive, the pulse motor is driven using the pulse signal as a CW command pulse. When the deviation is negative, the pulse motor is driven using the pulse signal as a CCW command pulse. The rotational amount of the pulse motor is the integral of the pulse frequency which is proportional to the deviation.
摘要翻译：液压致动器的驱动速度通过由具有由脉冲电机打开和关闭的阀的数字阀调节流体的量来反馈控制。对于速度控制，获得由速度设定装置设定的致动器的设定速度与由速度传感器检测的致动器的检测速度之间的偏差。产生与偏差大小成比例的频率的脉冲信号。当偏差为正时，使用脉冲信号作为CW指令脉冲驱动脉冲电机。当偏差为负时，使用脉冲信号作为CCW指令脉冲驱动脉冲电机。脉冲电机的旋转量是与偏差成正比的脉冲频率的积分。

5. 发明授权

US4419572A Check digit calculator 失效
标题翻译：校验位计算器
公开(公告)号：US4419572A
公开(公告)日：1983-12-06
申请号：US196134
申请日：1980-10-10
申请人： Mutsumi Takahashi , Toshio Uwabe , Toshio Nagase , Shosuke Sato , Hideshi Matsuzawa
发明人： Mutsumi Takahashi , Toshio Uwabe , Toshio Nagase , Shosuke Sato , Hideshi Matsuzawa
IPC分类号： G06C1/00 , G06C3/00 , G06C27/00 , G01D13/22
CPC分类号： G06C1/00
摘要： There is provided a calculator for calculating check digits which are obtained from code numbers according to a modulus 10, modulus 11 or the like check. In accordance with one embodiment of the invention, the desired check digit original numerals are indicated in response to the determination of a code number and weights and the desired check digit is readily obtained from the sum of the check digit original numerals. In accordance with another embodiment, the desired check digit is directly indicated in response to the setting of a code number. In accordance with still another improved embodiment, the desired check digit according to the modulus 10 and that according to the modulus 11 are selectively indicated in response to the setting of a code number.
摘要翻译：提供了一种用于计算根据模数10，模数11等检查从代码号获得的检验数字的计算器。根据本发明的一个实施例，响应于代码号和权重的确定来指示期望的校验位原始数字，并且从校验位原始数字的总和容易地获得期望的校验位。根据另一实施例，响应于代码号的设置直接指示所需的校验位。根据另一改进的实施例，响应于代码号的设置选择性地指示根据模数10的所需校验位和根据模数11的所需校验位。

6. 发明授权

US4800388A Apparatus for measuring pulse compression ratio 失效
标题翻译：用于测量脉冲压缩比的装置
公开(公告)号：US4800388A
公开(公告)日：1989-01-24
申请号：US699154
申请日：1985-02-06
申请人： Kozo Okada
发明人： Kozo Okada
IPC分类号： G01S7/02 , G01S13/28
CPC分类号： G01S7/021 , G01S13/288
摘要： An apparatus for measuring pulse compression ratio which receives a pulse compression radar signal that has been phase-modulated by a two-phase code. The apparatus comprises a means for detecting a function of the number of times of phase inversion existing in the received pulse compression radar signal to obtain the pulse compression ratio corresponding to the function of the number of times of phase inversion.
摘要翻译：一种用于测量脉冲压缩比的装置，其接收已经由两相码相位调制的脉冲压缩雷达信号。该装置包括用于检测接收的脉冲压缩雷达信号中存在的相位反转次数的函数的装置，以获得与相位反转次数的函数相对应的脉冲压缩比。

7. 发明授权

US4272674A Check digit calculator 失效
标题翻译：校验位计算器
公开(公告)号：US4272674A
公开(公告)日：1981-06-09
申请号：US955236
申请日：1978-10-27
申请人： Mutsumi Takahashi , Toshio Uwabe , Toshio Nagase , Shosuke Sato , Hideshi Matsuzawa
发明人： Mutsumi Takahashi , Toshio Uwabe , Toshio Nagase , Shosuke Sato , Hideshi Matsuzawa
IPC分类号： G06C1/00 , G06C27/00 , G01D13/22
CPC分类号： G06C1/00
摘要： A calculator for calculating check digits which are obtained from code numbers according to a modulus 10, modulus 11 or similar check. In accordance with one embodiment of the invention, the desired check digit original numerals are indicated in response to the determination of a code number and weights and the desired check digit is readily obtained from the sum of the check digit original numerals. In accordance with another embodiment, the desired check digit is directly indicated in response to the setting of a code number. In accordance with still another improved embodiment, the desired check digit according to the modulus 10 and that according to the modulus 11 are selectively indicated in response to the setting of a code number.
摘要翻译：用于计算根据模数10，模数11或类似检查的代码号获得的校验数字的计算器。根据本发明的一个实施例，响应于代码号和权重的确定来指示期望的校验位原始数字，并且从校验位原始数字的总和容易地获得期望的校验位。根据另一实施例，响应于代码号的设置直接指示所需的校验位。根据另一改进的实施例，响应于代码号的设置选择性地指示根据模数10的所需校验位和根据模数11的所需校验位。

8. 发明授权

US5070500A Memory package system utilizing inductive coupling between memory module and read/write unit 失效
标题翻译：使用存储器模块与读/写单元之间的感应耦合的存储器封装系统
公开(公告)号：US5070500A
公开(公告)日：1991-12-03
申请号：US387966
申请日：1989-08-01
申请人： Shinichi Horinouchi , Kunihiko Takeuchi
发明人： Shinichi Horinouchi , Kunihiko Takeuchi
IPC分类号： G06K7/00 , H04B1/69 , H04B5/00
CPC分类号： G06K7/0008 , H04B1/69 , H04B5/00 , H04L27/103 , H04B5/0056 , H04B5/0075
摘要： The bidirectional transmission to write or read out data is executed between a read/write unit and a memory module by the contactless electromagnetic coupling using induction coils. A spread spectrum communication technique is used in at least the up transmission to transmit data from the memory module to the read/write unit in the bidirectional transmission. Two kinds of chirp waves or M series having little correlation are used in the spread spectrum communication. For instance, in the case of using the chirp waves, on the transmission side, two kinds of chirp waves having little correlation are prepared and either one of the chirp waves is transmitted in correspondence with the data bit 0 or 1. On the reception side, the correlation between the reception signal and each of the reference values of the two kinds of chirp waves which have previously been stored is calculated and the data bits 0 and 1 are demodulated on the basis of the result of the calculation. Further, a frequency code signal including a combination of a preamble, a terminator, data, and a terminator is used in the down transmission from the read/write unit to the memory module.
摘要翻译：通过使用感应线圈的非接触电磁耦合，在读/写单元和存储器模块之间执行用于写入或读出数据的双向传输。在至少上传传输中使用扩频通信技术，以在双向传输中将数据从存储器模块传送到读/写单元。在扩频通信中使用两种具有很小相关性的啁啾波或M系列。例如，在使用啁啾波的情况下，在发送侧，准备了两种相关性很小的啁啾波，并且与数据位0或1对应地发送线性调频波中的任何一种。在接收侧计算出接收信号与预先存储的两种啁啾波的各参考值之间的相关性，并根据计算结果对数据位0和1进行解调。此外，在从读/写单元向存储器模块的下行传输中，使用包括前同步码，终端符，数据和终止符的组合的频率码信号。

9. 发明授权

US4953590A Electromagnetic directional control valve 失效
标题翻译：电磁方向控制阀
公开(公告)号：US4953590A
公开(公告)日：1990-09-04
申请号：US331381
申请日：1989-03-31
申请人： Toshifumi Kakinuma , Kiyoshi Hayashi
发明人： Toshifumi Kakinuma , Kiyoshi Hayashi
IPC分类号： F02D41/20 , F16K37/00 , H01F7/16
CPC分类号： F02D41/20 , F16K37/0083 , H01F7/1607 , F02D2041/2058 , F02D2041/228 , Y10T137/8242 , Y10T137/86622
摘要： A spool of a valve main body is switched and driven by exciting a solenoid coil by supplying a DC or AC voltage. An intensity of the magnetism generated by the excitation of the solenoid coil is detected by a magnetic sensor. When a predetermined sensor output is obtained, an indicator lamp is lit to indicate that the spool has operated correctly. The intensity of the magnetism due to the DC excitation is detected by magnetoresistive devices. The intensity of magnetism due to the AC excitation is detected by a pickup coil or a current transformer.
摘要翻译：阀主体的阀芯通过提供直流或交流电压激励螺线管线圈来切换和驱动。通过磁传感器检测由螺线管线圈的激励产生的磁强度。当获得预定的传感器输出时，指示灯点亮以指示阀芯已正确操作。通过磁阻器件检测由于直流激发引起的磁场强度。由交流励磁引起的磁场强度由拾取线圈或电流互感器检测。

10. 发明授权

US4886422A Control apparatus of variable delivery pump 失效
标题翻译：变送泵控制装置
公开(公告)号：US4886422A
公开(公告)日：1989-12-12
申请号：US216417
申请日：1988-07-07
申请人： Kunihiko Takeuchi , Yoshisuke Akita , Osamu Hayakawa
发明人： Kunihiko Takeuchi , Yoshisuke Akita , Osamu Hayakawa
IPC分类号： F04B49/06 , G05D7/06 , G05D16/20
CPC分类号： G05D16/2066 , F04B49/06 , G05D7/0688
摘要： A control load such as a cylinder or the like is driven at a constant speed by controlling the flow rate of a variable delivery pump. The control mode is switched to the pressure control to keep the stop pressure constant on the basis of an increase in pressure when the control load stops. A remaining delivery amount which will be necessary to raise the delivery pressure to an object stop pressure when the load stops and an excess delivery volume due to the operation time lag when it is assumed that the delivery by the pump is stopped at the present time are predicted. When they coincide, the delivery amount of the pump is set to zero and the control mode is switched to the pressure control. On the other hand, the product of a load volume and a fluid compressibility is calculated from the increase in pressure when the load stops. The feedback gain of the pressure control is controlled on the basis of the calculated value of this product. Further, the pressure difference and the designated flow rate are compared and either smaller one of them is always set to the designated value of the flow control.
摘要翻译：通过控制可变输送泵的流量，以恒定的速度驱动诸如气缸等的控制负载。控制模式切换到压力控制，以便在控制负载停止时基于压力增加来保持停止压力恒定。当假设当前停止泵的输送时，在负载停止时将输送压力提高到物体停止压力以及由于操作时间延迟的过量输送量所需的剩余输送量是：预料到的。当它们重合时，泵的输送量被设置为零，并且将控制模式切换到压力控制。另一方面，当负载停止时，从压力的增加计算负载体积和流体压缩性的乘积。基于该产品的计算值控制压力控制的反馈增益。此外，比较压力差和指定的流量，并且将其中的较小的一个总是设置为流量控制的指定值。

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