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1. 发明授权

US5229951A Apparatus for machining a non-circular workpiece 失效
标题翻译：加工非圆形工件的装置
公开(公告)号：US5229951A
公开(公告)日：1993-07-20
申请号：US588940
申请日：1990-09-27
申请人： Kazuhiko Sugita , Norio Sakakibara , Nobumitsu Hori , Yoichi Yamakawa
发明人： Kazuhiko Sugita , Norio Sakakibara , Nobumitsu Hori , Yoichi Yamakawa
IPC分类号： B23B5/24 , B23Q1/60 , B23Q15/00 , B23Q33/00 , G05B19/18 , G05B19/4097
CPC分类号： B23Q33/00 , B23Q1/601 , G05B19/184 , G05B2219/34048 , G05B2219/41352 , G05B2219/41457 , Y10T82/2502
摘要： An apparatus for machining a non-circular workpiece, wherein the profile data of plural sections of the workpiece stored in the profile data storage means are transformed into the frequency functions of 1 to n degree which is a function of the rotary angular velocity of the workpiece. The calculation means finds the amplitudes and the phases of each degree of the frequency function of each of plural intermediate sections by means of the interpolation according to the position between selected two sections based on the frequency functions of the selected two sections so as to obtain high frequency functions and low frequency functions which are then converted to high frequency and low frequency profile data. The machining apparatus actuates a linear motor in accordance with the high frequency profile data and actuates a PZT actuator in accordance with the low frequency profile data. The actuations of these actuators are accomplished in a synchronized relationship with the rotation of the workpiece to machine the workpiece into a non-circular shape whose sectional shape changes with respect to its axial position.

2. 发明授权

US5021798A Antenna with positionable reflector 失效
标题翻译：带定位反射器的天线
公开(公告)号：US5021798A
公开(公告)日：1991-06-04
申请号：US346445
申请日：1989-05-01
申请人： Shivadev K. Ubhayakar
发明人： Shivadev K. Ubhayakar
IPC分类号： B25J9/00 , B25J9/06 , B25J9/08 , B25J9/10 , B25J9/12 , B25J9/16 , B25J15/00 , B25J15/10 , B25J17/02 , B25J18/06 , B25J19/00 , G02B26/08 , G05B19/414
CPC分类号： B25J19/0029 , B25J15/0009 , B25J15/103 , B25J17/0266 , B25J18/06 , B25J9/0084 , B25J9/06 , B25J9/08 , B25J9/1085 , B25J9/126 , B25J9/1625 , G02B26/0833 , G02B26/0858 , G05B19/4141 , G05B2219/25353 , G05B2219/33002 , G05B2219/33204 , G05B2219/33207 , G05B2219/33338 , G05B2219/34236 , G05B2219/34488 , G05B2219/37572 , G05B2219/39549 , G05B2219/40195 , G05B2219/40234 , G05B2219/40303 , G05B2219/40304 , G05B2219/41342 , G05B2219/41352 , Y10S343/02
摘要： A horn type microwave antenna includes a main reflector and sub-reflector that are supported in proper spaced relationship by flexidigit robotic manipulators, multisection arms that are capable of positional changes, whereby the supports may be changed in position responsive to the application of control voltages. At least a portion of the manipulators include piezo electric actuators, permitting rapid adjustment of the reflectors' position.
摘要翻译：喇叭型微波天线包括主反射器和副反射器，该主反射器和副反射器通过柔性机器人操纵器以适当间隔的关系支撑，能够进行位置改变的多分支臂，由此可以响应于施加控制电压来改变支撑。操纵器的至少一部分包括压电致动器，允许快速调节反射器的位置。

3. 发明授权

US5212648A Method and apparatus for machining a non-circular workpiece 失效
标题翻译：用于加工非圆形工件的方法和装置
公开(公告)号：US5212648A
公开(公告)日：1993-05-18
申请号：US667577
申请日：1991-03-11
申请人： Kazuhiko Sugita , Norio Sakakibara , Nobumitsu Hori , Yoichi Yamakawa , Toshihiro Takahashi
发明人： Kazuhiko Sugita , Norio Sakakibara , Nobumitsu Hori , Yoichi Yamakawa , Toshihiro Takahashi
IPC分类号： B23Q5/28 , G05B19/18
CPC分类号： G05B19/184 , G05B2219/34048 , G05B2219/41337 , G05B2219/41352 , G05B2219/41457 , Y10T82/2502
摘要： An apparatus for machining a non-circular workpiece wherein a tool is moved by a composite movement given by a linear motor and a piezoelectric actuator. The linear motor is driven by the numerical controller in accordance with the low frequency components of profile data defining a position change of the tool with respect to angular position change of the spindle, while the piezoelectric actuator is driven by the numerical controller in accordance with the high frequency components of the profile data. Further, a positioning error of the tool due to reaction force generated by the piezoelectric actuator is detected by the numerical controller to compensate the high frequency components for the detected positioning error.

4. 发明授权

US4964062A Robotic arm systems 失效
标题翻译：机器臂系统
公开(公告)号：US4964062A
公开(公告)日：1990-10-16
申请号：US156388
申请日：1988-02-16
申请人： Shivadev K. Ubhayakar , Robert D. Baker
发明人： Shivadev K. Ubhayakar , Robert D. Baker
IPC分类号： B25J9/00 , B25J9/06 , B25J9/08 , B25J9/10 , B25J9/12 , B25J9/16 , B25J15/10 , B25J17/02 , B25J18/06 , B25J19/00 , G05B19/414
CPC分类号： G05B19/4141 , B25J15/103 , B25J17/0266 , B25J18/06 , B25J19/0029 , B25J9/0084 , B25J9/06 , B25J9/08 , B25J9/1085 , B25J9/126 , B25J9/1625 , G05B2219/25353 , G05B2219/33002 , G05B2219/33204 , G05B2219/33207 , G05B2219/33338 , G05B2219/34236 , G05B2219/34488 , G05B2219/37572 , G05B2219/39549 , G05B2219/40195 , G05B2219/40234 , G05B2219/40303 , G05B2219/40304 , G05B2219/41342 , G05B2219/41352 , Y10S706/904
摘要： A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location. In an additional aspect the self contained circuitry includes processor means programmed to control the arm to perform a certain task, relieving the operator at the remote location from specifying the details.Control signals to the sections of the arm in an additional aspect to the disclosed invention are provided by an electrical system that uses only a few wires by multiplexing the signals and the actuators, effectively "time sharing" the electrical leads between the large number of actuators.
摘要翻译：多段灵活的多数位臂在每个端部包含手，每个手中的每一只手包含一组合适的手指，合适的是三个，其类似地形成为更小规模构造的柔性多数位臂。每只手包含用于将手连接到安装在相关结构上的配合连接器的连接器，以向臂提供适当的功率和控制信号。一只手可以握住连接器，另一只手可以自由移动到各种位置并执行各种任务。在另一方面，臂可以通过在系统中的间隔开的连接器之间翻转而移动到不同的位置。在组装系统中，机械臂用于构造框架或其他组件。一个完全自给自足的手臂包括一个独立的力量来源。提供无线电通信装置以允许从远程位置与臂的电子交互。在另一方面，自包含电路包括被编程为控制臂以执行某个任务的处理器装置，从而指示操作者在远程位置指定细节。在所公开的发明的附加方面，对臂的各部分的控制信号由仅通过多路复用信号和致动器而仅使用几条电线的电气系统提供，有效地“共享”大量致动器之间的电引线。

5. 发明授权

US4920660A Fine positioning device and displacement controller therefor 失效
标题翻译：精密定位装置及其位移控制器
公开(公告)号：US4920660A
公开(公告)日：1990-05-01
申请号：US244169
申请日：1988-09-14
申请人： Kiyoshi Nagasawa , Kozo Ono , Kojiro Ogata , Ken Murayama , Yoshihiro Hoshino
发明人： Kiyoshi Nagasawa , Kozo Ono , Kojiro Ogata , Ken Murayama , Yoshihiro Hoshino
IPC分类号： B23Q1/36 , B23Q15/24 , G01B5/00 , G01B7/00 , G05B19/23 , G05D3/12 , H01L21/68 , H01L41/09
CPC分类号： B23Q1/36 , B23Q15/24 , G05B19/23 , H02N2/0095 , H02N2/028 , H02N2/062 , H02N2/108 , B82Y35/00 , G05B2219/41133 , G05B2219/41352
摘要： A fine positioning device is formed of a central rigid portion, a first set of outwardly-extending portions extending symmetrically along a first axis from the central rigid portion, a second set of outwardly-extending portions extending symmetrically from the central rigid portion along a second axis which is perpendicular to the first axis, a first set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the first set of outwardly-extending portions respectively to produce translational displacements along the second axis, and a second set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the second set of outwardly-extending portions respectively to produce translational displacements along the first axis. A displacement controller for the fine positioning device is also disclosed.

6. 发明授权

US4410951A Positioning apparatus 失效
标题翻译：定位装置
公开(公告)号：US4410951A
公开(公告)日：1983-10-18
申请号：US403963
申请日：1982-08-02
申请人： Takuma Nakamura , Kazumi Sugizaki
发明人： Takuma Nakamura , Kazumi Sugizaki
IPC分类号： G05D3/00 , G05B19/19 , H01L21/027 , G05B19/18
CPC分类号： G05B19/19 , G05B2219/34215 , G05B2219/41352
摘要： A positioning apparatus employing a piezo worm type shifting mechanism in which the position of a platform to be moved to a desired position is measured with a position measuring device and data representing the position thus measured is applied to a microprocessor. The microprocessor calculates the phase of a voltage corresponding to the distance through which the platform should be moved to arrive at the desired position. The digital output is subjected to digital-to-analog conversion and a pulsive voltage produced thereby the magnitude of which corresponds to the distance to be moved. The pulsive voltage is applied directly to expanding and contracting piezoelectric elements which move the platform. The platform is thereby positioned at the desired position at a high speed and with a high accuracy.
摘要翻译：使用位置测量装置测量要移动到期望位置的平台的位置的压电蜗杆式变速机构的定位装置和表示如此测量的位置的数据被应用于微处理器。微处理器计算对应于平台应移动到达期望位置的距离的电压的相位。数字输出经受数模转换和产生的脉冲电压，其大小对应于要移动的距离。脉冲电压直接施加到移动平台的膨胀和收缩压电元件。因此，平台以高速度和高精度地定位在期望的位置。

7. 发明授权

US3469475A Apparatus for maintaining positional stability between a tool member and a workpiece 失效
标题翻译：用于维持工具成员和工件之间的位置稳定性的装置
公开(公告)号：US3469475A
公开(公告)日：1969-09-30
申请号：US3469475D
申请日：1967-04-14
申请人： SPERRY CANADA LTD
发明人： WATT GORDON J
IPC分类号： B23Q15/18 , F16H5/40 , F16H25/12 , F16H25/18
CPC分类号： B23Q15/18 , G05B2219/41352 , G05B2219/49169 , G05B2219/50293 , Y10T408/21

8. 发明授权

US4986150A Micro-positioning tool post 失效
标题翻译：微定位刀架
公开(公告)号：US4986150A
公开(公告)日：1991-01-22
申请号：US322725
申请日：1989-03-13
申请人： Yuichi Okazaki
发明人： Yuichi Okazaki
IPC分类号： B23Q15/013 , B23Q1/36 , B23Q5/28 , B23Q5/34 , G05B19/19 , G05B19/35
CPC分类号： G05B19/19 , B23Q1/36 , G05B19/353 , G05B2219/37462 , G05B2219/41144 , G05B2219/41203 , G05B2219/41345 , G05B2219/41352 , G05B2219/41367 , G05B2219/42035 , Y10T82/2541 , Y10T82/2585
摘要： A micro-positioning tool post comprises a flexible support which performs parallel motion and supports a tool, a piezoelectric actuator for displacing the flexible support, a displacement sensor for detecting displacement of the tool, and a state observer for receiving the voltage applied to the piezoelectric actuator and the output from the displacement sensor as input, producing an estimate of a velocity signal and feeding back the estimate to the voltage applied to the piezoelectric actuator. The feedback control greatly improves the dynamic stiffness of the tool post while also providing excellent static characteristics, dynamic characteristics and static stiffness.
摘要翻译：微定位工具柱包括执行平行运动并支撑工具的柔性支撑件，用于移动柔性支撑件的压电致动器，用于检测工具的位移的位移传感器，以及用于接收施加到压电元件的电压的状态观察器致动器和来自位移传感器的输出作为输入，产生速度信号的估计并将估计值反馈到施加到压电致动器的电压。反馈控制大大提高了刀架的动态刚度，同时还提供了优异的静态特性，动态特性和静态刚度。

9. 发明授权

US4888878A Fine positioning device 失效
标题翻译：精细定位装置
公开(公告)号：US4888878A
公开(公告)日：1989-12-26
申请号：US244168
申请日：1988-09-14
申请人： Kiyoshi Nagasawa , Kozo Ono , Kojiro Ogata , Ken Murayama , Yoshihiro Hoshino
发明人： Kiyoshi Nagasawa , Kozo Ono , Kojiro Ogata , Ken Murayama , Yoshihiro Hoshino
IPC分类号： B23Q1/36 , B23Q15/24 , G01B5/00 , G01B7/00 , G05B19/23 , G05D3/12 , H01L21/68 , H01L41/09
CPC分类号： B23Q1/36 , B23Q15/24 , G05B19/23 , H02N2/0095 , H02N2/028 , H02N2/062 , H02N2/108 , B82Y35/00 , G05B2219/41133 , G05B2219/41352
摘要： A fine positioning device is formed of a central rigid portion, a first set of outwardly-extending portions extending symmetrically along a first axis from the central rigid portion, a second set of outwardly-extending portions extending symmetrically from the central rigid portion along a second axis which is perpendicular to the first axis, a first set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the first set of outwardly-extending portions respectively to produce translational displacements along the second axis, and a second set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the second set of outwardly-extending portions respectively to produce translational displacements along the first axis. Three set of radial flexible-beam displacement mechanisms are provided to produce angular displacements about three axes.
摘要翻译：精细定位装置由中心刚性部分形成，第一组向外延伸的部分沿着第一轴线从中心刚性部分对称地延伸;第二组向外延伸的部分，从中心刚性部分对称延伸，沿第二组轴线，其垂直于第一轴线;第一组平行的柔性梁移动机构，分别与第一组向外延伸的部分彼此对称设置，以产生沿着第二轴线的平移位移;以及第二组平行的柔性梁光束位移机构分别与第二组向外延伸的部分彼此对称地设置，以产生沿着第一轴线的平移位移。提供三组径向柔性梁位移机构以产生围绕三个轴的角位移。

10. 发明授权

US4422027A Linear motor controller 失效
标题翻译：线性电机控制器
公开(公告)号：US4422027A
公开(公告)日：1983-12-20
申请号：US244438
申请日：1981-03-16
申请人： Richard D. Mohlere
发明人： Richard D. Mohlere
IPC分类号： G05B19/23 , G05B11/00
CPC分类号： G05B19/232 , G05B2219/36383 , G05B2219/41352 , G05B2219/42104 , G05B2219/49382 , G05B2219/50031
摘要： The controller interfaces up to two linear motors to either a manual control panel or a two channel computer. The control commands can emanate from either the computer (for both motors) or a combination of the computer (for one motor) and the linear motor (solenoid) with a lateral throw of one inch. In one mode, the controller will slew the armature back and forth at a uniform rate. In another mode, the controller will slew the armature at a commanded rate and then automatically modify the rate so that the armature will comply with periodic position commands from the computer. In a further mode, the controller will retract the armature to an initial position, clear the counters, and reset all logic. At all times, the position of either motors' armature can be read visually from the control panel and both motors' armature positions can be read from the respective computer channels.
摘要翻译：控制器可将两个线性电机连接至手动控制面板或双通道计算机。控制命令可以从计算机（对于两个电机）或计算机（一个电机）和线性电机（螺线管）的组合以一英寸的横向抛出。在一种模式下，控制器将以均匀的速率来回转电枢。在另一种模式下，控制器将以指令速率转动电枢，然后自动修改速率，使电枢符合计算机的周期性位置指令。在另一种模式下，控制器将将电枢缩回到初始位置，清除计数器并复位所有逻辑。在任何时候，任何一个电机的电枢的位置都可以从控制面板可视地读出，两个电机的电枢位置都可以从相应的计算机通道读取。

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