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1. 发明授权

US5946160A Relative-position measuring system of recording-medium library apparatus 失效
标题翻译：记录媒体库设备的相对位置测量系统
公开(公告)号：US5946160A
公开(公告)日：1999-08-31
申请号：US821919
申请日：1997-03-21
申请人： Hiroki Ohashi
发明人： Hiroki Ohashi
IPC分类号： G11B15/68 , G11B17/22
CPC分类号： G11B17/225 , G11B15/6835 , G05B2219/37183 , G05B2219/37487
摘要： A relative-position measuring system of a recording-medium library apparatus including first to third reference flags installed for measuring the magnitude of the gradient of an accessor and a plurality of relative-position flags provided at a cell drum. A flag sensor for detecting the first to third reference flags is installed on a hand mechanism of the accessor for finding the gradients of the accessor with respect to Y and Z axes. The gradients of the accessor with respect to Y and Z axes are used for correcting design tachometer count values of the relative-position flags to give theoretical tachometer count values which are stored in a memory unit. When the accessor is moved, the relative-position flags are sensed by the flag sensor. Actual tachometer count values which are actually obtained when the relative-position flags are detected by the flag sensor are also stored in the memory unit. Then, difference data between the theoretical tachometer count values and the actual tachometer count values is calculated and stored in the memory unit as well.
摘要翻译：一种记录介质库装置的相对位置测量系统，包括安装用于测量存取器的梯度的大小的第一至第三参考标记以及设置在单元鼓上的多个相对位置标志。用于检测第一至第三参考标记的标志传感器安装在存取器的手持机构中，用于找到存取器相对于Y轴和Z轴的梯度。存取器相对于Y轴和Z轴的梯度用于校正相对位置标志的设计转速计数值，以给出存储在存储器单元中的理论转速计计数值。当存取器移动时，相对位置标志由标志传感器感测。当标志传感器检测到相对位置标志时实际获得的实际转速计数值也存储在存储器单元中。然后，计算理论转速计计数值和实际转速计计数值之间的差数据并将其存储在存储器单元中。

2. 发明授权

US5465036A Control apparatus of robot 失效
标题翻译：机器人控制装置
公开(公告)号：US5465036A
公开(公告)日：1995-11-07
申请号：US163655
申请日：1993-12-08
申请人： Masateru Yasuhara
发明人： Masateru Yasuhara
IPC分类号： B25J9/16 , B25J9/18 , G05B19/23 , G05B19/18
CPC分类号： B25J9/1692 , G05B19/23 , G05B2219/37183 , G05B2219/39023 , G05B2219/40301 , G05B2219/50019 , G05B2219/50025 , G05B2219/50034
摘要： A robot of the type having a moving member which is movably attached to a base includes control apparatus for controlling the operation of the moving member, the control apparatus having data setting facility for setting both origin search data and offset data to control the operation of the moving member. The data setting facility provides visible indication of both the origin search data and the offset data.
摘要翻译：具有可移动地附接到基座的移动构件的类型的机器人包括用于控制移动构件的操作的控制装置，该控制装置具有用于设置原始搜索数据和偏移数据两者的数据设置设施，以控制移动构件的操作移动成员。数据设置设备提供原始搜索数据和偏移数据两者的可视指示。

3. 发明授权

US3790876A Paper cutting machine 失效
标题翻译：纸切割机
公开(公告)号：US3790876A
公开(公告)日：1974-02-05
申请号：US3790876D
申请日：1973-02-15
申请人： ROCKWELL INTERNATIONAL CORP
发明人： VAIL R
IPC分类号： B23Q15/24 , B26D7/01 , G05B19/39 , G05B19/425 , G05D3/12 , G05B19/28
CPC分类号： G05B19/39 , G05B19/425 , G05B2219/37183 , G05B2219/37297 , G05B2219/41092 , G05B2219/45044 , G05B2219/49134 , G05B2219/50289
摘要： An improved paper cutting machine is provided with a novel servo control system for repeatedly, precisely positioning the machine movable backgauge assembly at different intermediate positions in its total length of traverse. The control system utilizes conventional command signals and also feedback signals which provide binary-coded position information associated only with key control positions established at selected intervals in the backgauge total traverse and pulsed counting information for incremental position changes in each interval between the key control positions.
摘要翻译：改进的切纸机设置有一种新颖的伺服控制系统，用于在机器可移动后挡板组件的横向总长度的不同中间位置反复精确地定位。控制系统利用传统的指令信号以及反馈信号，该信号提供二进制编码的位置信息，该二进制编码的位置信息仅与在后退总横移中以选定间隔建立的键控位置相关联，并且脉冲计数信息用于在键控位置之间的每个间隔中的增量位置变化。

4. 发明申请

US20050012480A1 Electric actuator system 有权
标题翻译：电动执行器系统
公开(公告)号：US20050012480A1
公开(公告)日：2005-01-20
申请号：US10892432
申请日：2004-07-15
申请人： Tokuhisa Takeuchi , Hiroshi Nakajima
发明人： Tokuhisa Takeuchi , Hiroshi Nakajima
IPC分类号： H02P3/06 , G05B19/23 , H02P3/00 , H02P7/06
CPC分类号： G05B19/231 , G05B2219/37159 , G05B2219/37171 , G05B2219/37183
摘要： The detection of a pulse signal in an initialization pattern is ensured regardless of the position where a DC motor is stopped. A CPU detects the pulse signal generated by the pulse generator and an angle of rotation of a rotating shaft, and controls an angle of rotation of a rotating shaft based on the detected angle of rotation. The pulse generator generates the pulse signal in the initialization pattern, which indicates the position of origin of the angle of rotation, in accordance with the rotation of the DC motor. If a determination means determines that it is impossible to detect the pulse signal in the initialization pattern when the DC motor is rotated in a first direction, the CPU rotates the DC motor in a second direction.
摘要翻译：无论DC电机停止的位置如何，均可确保初始化模式下的脉冲信号的检测。 CPU检测由脉冲发生器产生的脉冲信号和旋转轴的旋转角度，并且基于检测到的旋转角度来控制旋转轴的旋转角度。脉冲发生器根据直流电机的旋转产生初始化模式中的脉冲信号，该脉冲信号表示旋转角的原点位置。如果确定装置确定当直流电动机沿第一方向旋转时不可能检测初始化模式中的脉冲信号，则CPU以直流电动机沿第二方向旋转。

5. 发明授权

US5038088A Stepper motor system 失效
标题翻译：步进电机系统
公开(公告)号：US5038088A
公开(公告)日：1991-08-06
申请号：US546704
申请日：1990-06-29
申请人： Gregory E. Arends , James R. Polzin
发明人： Gregory E. Arends , James R. Polzin
IPC分类号： G05B19/23 , G05B19/4062 , G05B19/416 , H02H7/08 , H02K11/00 , H02P23/00
CPC分类号： G05B19/23 , G05B19/4062 , G05B19/4163 , H02H7/0822 , H02K11/225 , H02K11/33 , H02P23/22 , G05B2219/33268 , G05B2219/33342 , G05B2219/34012 , G05B2219/34215 , G05B2219/34242 , G05B2219/34423 , G05B2219/34427 , G05B2219/34448 , G05B2219/37136 , G05B2219/37183 , G05B2219/37285 , G05B2219/37431 , G05B2219/42279 , G05B2219/49063 , G05B2219/49295 , Y10S388/903 , Y10S388/934
摘要： An electrical stepper motor system is provided in which a microcomputer controlled driver monitors the real time operating parameters of the stepper motor. The driver is controlled by the microcomputer to keep the real time operating parameters of the motor in a range that is governed by limiting parameters. The limiting parameters are determined by the microcomputer on a moment by moment basis in response to changes in certain conditions occurring within the stepper motor, as well as in the outside operating environment. The microcomputer compares the microcomputer determined safe operating parameters with any user stipulated operating parameters, stored in the storage means of the microcomputer, to determine limiting parameters on a moment by moment basis. An encoder senses the position and velocity of the motor and provides appropriate status signals to enable the driver to compensate for position and velocity errors of the stepper motor. An indexer is also provided which provides the driver with pulses that determine the distance, speed and direction of a move. In the illustrative embodiment, the driver, microcomputer, indexer, power supply and encoder circuitry are hybridized on at least one hybrid circuit, each circuit being attached to a heat sinking system, potted in a series of thermally conductive and EMI/RF insulating compounds, and are enclosed in a metallic enclosure that is shielded from outside electrical noise, with the enclosure being directly coupled to the back of the stepper motor to form a compact, unitary device.
摘要翻译：提供了一种电动步进电机系统，其中微型计算机控制的驱动器监视步进电机的实时操作参数。驱动器由微型计算机控制，以将电机的实时操作参数保持在受限参数控制的范围内。限制参数由微型计算机根据步进电机内部发生的某些情况以及外部操作环境的变化而立刻确定。微型计算机将微机确定的安全操作参数与存储在微型计算机的存储装置中的任何用户规定的操作参数进行比较，以便逐个确定限制参数。编码器检测电机的位置和速度，并提供适当的状态信号，使司机可以补偿步进电机的位置和速度误差。还提供了一个分度器，其为驾驶员提供确定移动的距离，速度和方向的脉冲。在说明性实施例中，驱动器，微型计算机，分度器，电源和编码器电路在至少一个混合电路上杂交，每个电路连接到散热系统，该散热系统封装在一系列导热和EMI / RF绝缘化合物中，并且被封闭在屏蔽外部电噪声的金属外壳中，外壳直接连接到步进电机的背面以形成紧凑的整体式装置。

6. 发明授权

US4470108A Position detecting device 失效
标题翻译：位置检测装置
公开(公告)号：US4470108A
公开(公告)日：1984-09-04
申请号：US326251
申请日：1981-12-01
申请人： Yoshito Kato , Toshio Hashimoto , Masatoshi Kimura
发明人： Yoshito Kato , Toshio Hashimoto , Masatoshi Kimura
IPC分类号： G05B19/23 , G05B19/19
CPC分类号： G05B19/23 , G05B2219/34052 , G05B2219/34215 , G05B2219/36159 , G05B2219/37183 , G05B2219/41092 , G05B2219/41358 , G05B2219/50084
摘要： Pulses indicating movement distance are frequency divided to a desired resolution and then counted in a microprocessor in accordance with the direction of movement. The position count value addresses a data memory storing switch output data corresponding to desired detection positions.
摘要翻译：指示移动距离的脉冲被频率划分为期望的分辨率，然后根据移动方向在微处理器中计数。位置计数值寻址存储对应于期望检测位置的开关输出数据的数据存储器。

7. 发明授权

US4129813A Method and apparatus for adaptive control of a stepper motor 失效
标题翻译：步进电机的自适应控制方法和装置
公开(公告)号：US4129813A
公开(公告)日：1978-12-12
申请号：US819188
申请日：1977-07-26
申请人： Barney D. Hunts , John B. S. Waugh
发明人： Barney D. Hunts , John B. S. Waugh
IPC分类号： G05B19/23 , G05B13/00
CPC分类号： G05B19/23 , G05B2219/34215 , G05B2219/37183 , G05B2219/41092 , G05B2219/41326 , G05B2219/43006
摘要： A real time, adaptive control system for a stepper motor is achieved by measuring specific real time characteristics and calculating therefrom the number of steps that will be required to decelerate the stepper motor to a complete stop at a desired position, all within a single displacement or move.
摘要翻译：步进电机的实时自适应控制系统通过测量具体的实时特性并从其计算将步进电机减速到期望位置的完全停止所需的步骤数，来实现，全部在单个位移或移动。

8. 发明授权

US3628120A Closed loop stepping motor control system with seek reference capability 失效
标题翻译：具有SEEK参考能力的闭环循环电机控制系统
公开(公告)号：US3628120A
公开(公告)日：1971-12-14
申请号：US3628120D
申请日：1969-12-22
申请人： ELECTROGLAS INC
发明人： FREDRIKSEN THORBJOERN ROLAND
IPC分类号： G05B19/23 , G05B19/40
CPC分类号： G05B19/232 , G05B2219/37183 , G05B2219/42213 , G05B2219/50031
摘要： A closed loop stepping motor control system provides seek reference position capability. A disc discriminator on the output shaft of the stepping motor includes a single aperture to indicate a unique step in a single revolution. A unique single revolution is indicated by the use of a mechanical slider mounted on a linearly moving carriage in conjunction with appropriate cutouts and photocells; alternatively a limit switch is used. Appropriate logic provides for stopping the stepping motor when the reference position has been reached.

9. 发明授权

US5561355A Motor drive apparatus and method of controlling the same 失效
标题翻译：电机驱动装置及其控制方法
公开(公告)号：US5561355A
公开(公告)日：1996-10-01
申请号：US141623
申请日：1993-10-27
申请人： Yoshinari Ideguchi , Junkichi Yamasaki
发明人： Yoshinari Ideguchi , Junkichi Yamasaki
IPC分类号： G05B11/36 , G05B19/23 , G05D3/12 , H02P3/06 , H02P6/06 , H02P6/02
CPC分类号： G05B19/232 , H02P6/06 , G05B2219/37163 , G05B2219/37183 , G05B2219/41101 , G05B2219/42261 , G05B2219/42262 , G05B2219/42263
摘要： A positional deviation reading sampler reads or samples a positional deviation between a target position inputted from an external device and an actual position of a motor. A position control calculator converts the positional deviation into a speed command. A speed control calculator receives a speed deviation between the speed command and an actual speed, and converts this speed deviation into a torque command to drive the motor. The position control calculator, having a function of switching a sampling interval in accordance with a level of the positional deviation, determines an optimum sampling interval for the positional deviation reading sampler. The speed control calculator performs the open-or-close control of the sampler in such a manner that the sampling interval of the positional deviation reading sampler is reduced with reducing positional deviation. With above arrangement, it becomes possible to stably drive the motor in its moving condition and position the same accurately and responsively in its stationary condition.
摘要翻译：位置偏差读取取样器读取或采样从外部设备输入的目标位置与电动机的实际位置之间的位置偏差。位置控制计算器将位置偏差转换为速度指令。速度控制计算器接收速度指令和实际速度之间的速度偏差，并将该速度偏差转换为转矩指令以驱动马达。具有根据位置偏差的水平切换采样间隔的功能的位置控制计算器确定位置偏差读取取样器的最佳采样间隔。速度控制计算器以这样一种方式执行取样器的开或关控制，使得位置偏差读取取样器的采样间隔减小，同时降低位置偏差。通过上述结构，可以在其静止状态下稳定地驱动电机处于其移动状态并且将其精确地和响应地定位。

10. 发明授权

US5159248A Position detecting apparatus 失效
标题翻译：位置检测装置
公开(公告)号：US5159248A
公开(公告)日：1992-10-27
申请号：US757014
申请日：1991-09-09
申请人： Kiyotaka Kaneko , Minoru Arai
发明人： Kiyotaka Kaneko , Minoru Arai
IPC分类号： G01B21/00 , G02B7/28 , G03B13/36 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/34052 , G05B2219/37154 , G05B2219/37183 , G05B2219/41092 , G05B2219/50025
摘要： A mechanism for moving an object rectilinearly by reducing the speed of motor rotation and converting this rotational motion into rectilinear motion is provided with a first sensor for generating first pulses having a frequency conforming to the rotational speed of the motor, a second sensor for generating second pulses having a frequency conforming to the reduced rotational speed and a pulse interval which is n times that of the first pulses, and third sensor for generating a third output when the object arrives at a predetermined position. A counter is initialized when the first pulse, second pulse and third output satisfy a predetermined condition. Depending upon the direction in which the object is moved, the first pulses are counted up or down by counter. Whenever the second pulses are generated, the count recorded in the counter is forcibly corrected to the value of n.times.m (where m is 0 or an integer) that is closest to the count.
摘要翻译：提供了一种用于通过降低电机旋转速度并将该旋转运动转换为直线运动来直线移动物体的机构，其具有用于产生具有与电动机的转速相符的频率的第一脉冲的第一传感器，用于产生第二传感器的第二传感器具有符合降低转速的频率和n倍于第一脉冲的脉冲间隔的脉冲，以及当物体到达预定位置时产生第三输出的第三传感器。当第一脉冲，第二脉冲和第三输出满足预定条件时，计数器被初始化。根据物体移动的方向，第一个脉冲通过计数器向上或向下计数。每当产生第二个脉冲时，记录在计数器中的计数器被强制地校正为最接近计数的nxm（其中m是0或整数）的值。

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