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1. 发明申请

WO2009056378A2 REGELEINRICHTUNG ZUM POSITIONSREGELN EINER HYDRAULIKZYLINDEREINHEIT MIT LINEARISIERUNGSEINHEIT 审中-公开
标题翻译：用线性化单元定位液压缸单元规律的控制装置
公开(公告)号：WO2009056378A2
公开(公告)日：2009-05-07
申请号：PCT/EP2008/061804
申请日：2008-09-05
申请人： SIEMENS AKTIENGESELLSCHAFT , TAUTZ, Wilfried , WOHLD, Dietrich
发明人： TAUTZ, Wilfried , WOHLD, Dietrich
IPC分类号： G05D3/20
CPC分类号： F15B9/09 , B21B37/62 , F15B2211/6336 , F15B2211/6656 , G05B19/231 , G05B19/291 , G05B19/351 , G05B2219/41124 , G05B2219/41309
摘要： Eine Regeleinrichtung (11) zum Positionsregeln einer Hydraulikzylindereinheit (1) weist einen Regler (15) auf, der eingangsseitig eine Sollstellung (s*) eines Kolbens (3) der Hydraulikzylindereinheit (1) und eine Iststellung (s) des KoIbens (3) entgegen nimmt und anhand der Differenz (δs) von Sollstellung (s*) und Iststellung (s) eine vorläufige Stellgröße (u' ) für eine Ventilsteuereinheit (7) der Hydraulikzylindereinheit (1) ermittelt. Dem Regler (15) ist eine Linearisierungseinheit (17) nachgeordnet, welche die vorläufige Stellgröße (u') mit einem Linearisierungsfaktor (F) multipliziert und die mit dem Linearisierungsfaktor (F) multiplizierte vorläufige Stellgröße (u') als endgültige Stellgröße (u) an die Ventilsteuereinheit (7) ausgibt, so dass der Kolben (3) mit einer Verstellgeschwindigkeit (v) verstellt wird. Die Linearisierungseinheit (17) bestimmt den Linearisierungsfaktor (F) dynamisch als Funktion der Iststellung (s) des Kolbens (3) und beidseitig des Kolbens (3) sowie zufluss- und abf lussseitig der Ventilsteuereinheit (7) herrschender Arbeitsdrücke (pA, pB, pP, pT). Die Bestimmung erfolgt derart, dass ein Verhältnis der Verstellgeschwindigkeit (v) zur Differenz (δs) von Sollstellung (s*) und Iststellung (s) unabhängig von der Iststellung (s) des Kolbens (3) und den Arbeitsdrücken (pA, pB, pP, pT) ist. In dem Spezialfall, dass der Regler (15) als P-Regler ausgebildet ist, kann die Reihenfolge von Regler (15) und Linearisierungseinheit (17) vertauscht sein.
摘要翻译：
用于位置控制的液压缸单元（1）的控制装置（11）包括控制器（15），输入侧，一个给定位置（S *）的活塞（3）的液压缸单元的（1）和实际位置（或多个）取KoIbens（3）对和所期望的位置（S *）和实际位置（多个）vorl BEAR CASUAL操纵＆oUML的差（ΔS值）的基础上;道路（U“）的F导航用途R A阀控制单元（7）的液压缸单元（1）确定。该控制器（15）为（17）的下游，其中所述vorl BEAR CASUAL操纵＆OUML线性化单元; ROAD（U“）与线性化因子（F）相乘，并且与所述线性化因子（F）乘以vorl BEAR CASUAL操纵＆OUML;道路 e（u'）将最终控制变量（u）输出到阀控制单元（7），使得活塞（3）以调节速度（v）移位。线性化单元（17）确定当活塞的实际位置（S）的函数的线性化因子（F）动态地（3），并且在活塞的两侧（3）以及流入和ABF lussseitig（7）盛行Arbeitsdr BRIDGE（PA，PB的阀控制单元，pP，pT）。在判断为使得Verh＆AUML; ltnis调节速度（v）至期望的位置的差（ΔS值）（S *）和实际位置（一个或多个）独立地与AUML;从所述活塞（3）和所述Arbeitsdr导航用途CKEN的实际位置（一个或多个）ngig （pA，pB，pP，pT）。在于，所述控制器（15）被形成为P控制器，所述控制器（15）和线性化单元（17）的顺序可以互换的特殊情况。

2. 发明申请

WO1996037329A1 SAW BLADE TOOTH FORMATION 审中-公开
标题翻译：锯片牙齿形成
公开(公告)号：WO1996037329A1
公开(公告)日：1996-11-28
申请号：PCT/IB1996000478
申请日：1996-05-10
申请人： ISELI & CO. AG , ISELI, Benno
发明人： ISELI & CO. AG
IPC分类号： B23D63/12
CPC分类号： G05B19/184 , B23D61/121 , B23D63/008 , B23D63/12 , G05B2219/35585 , G05B2219/36284 , G05B2219/36513 , G05B2219/41309 , G05B2219/45158 , G05B2219/49321
摘要： A method and apparatus for forming a tooth and gullet formation or combination for the teeth (2) of a cutter tool such as a saw blade (1), by displacing a tool (8) for machining the tooth or gullet combination in such manner that a tooth front face (3), the gullet (5) thereof, the rear face (6) and the top face (7) of an immediately adjacent tooth (2) are machined, characterised by using a computer system (51-68) to control the displacements of the tool (8) so that the tooth gullet formation is machined according to predetermined machining profiles by controlling the operational displacements of the tool (8) to follow a predetermined path (19) with respect to the saw blade (1) whereby said tooth and gullet formation is machined according to the selected machining profile. The computer system (51-68) includes input means (60, 61) for establishing a plurality of different machining profiles for said tool displacement path (19) and means (51) for storing such profiles. The computer system includes input storage means (58, 59) for storing data associated with required displacements of the slide and support unit to produce a required grinding profile. The computer system (51-68) includes input storage means (60, 61) for storing data associated with operational speeds for the tool. The computer system (51-68) includes input storage means (54) for storing data associated with the operational characteristics of the tool (8).
摘要翻译：一种用于通过移动用于机械加工牙齿或齿槽组合的工具（8），用于形成用于诸如锯片（1）的刀具的齿（2）的牙齿和齿槽形成或组合的方法和装置，机械加工出齿前面（3），其齿槽（5），后表面（6）和紧邻的齿（2）的顶面（7），其特征在于使用计算机系统（51-68）以控制工具（8）的位移，使得通过控制工具（8）相对于锯片（1）的预定路径（19）的操作位移，根据预定的加工轮廓加工齿槽形成），由此根据所选择的加工轮廓加工所述齿和齿槽形成。计算机系统（51-68）包括用于为所述刀具位移路径（19）建立多个不同加工轮廓的输入装置（60,61）和用于存储这种轮廓的装置（51）。计算机系统包括输入存储装置（58,59），用于存储与滑块和支撑单元的所需位移相关联的数据，以产生所需的研磨轮廓。计算机系统（51-68）包括用于存储与工具的操作速度相关联的数据的输入存储装置（60,61）。计算机系统（51-68）包括用于存储与工具（8）的操作特性相关联的数据的输入存储装置（54）。

3. 发明申请

WO1984000827A1 CONTROL MODE SWITCHING CIRCUIT 审中-公开
标题翻译：控制模式开关电路
公开(公告)号：WO1984000827A1
公开(公告)日：1984-03-01
申请号：PCT/US1983001200
申请日：1983-08-05
申请人： MTS SYSTEMS CORPORATION
发明人： MTS SYSTEMS CORPORATION , DOLLERSCHELL, John, O.
IPC分类号： G05B11/18
CPC分类号： B30B15/166 , G05B7/02 , G05B2219/41309 , G05B2219/42123 , G05B2219/42126
摘要： A "mode switch" (45) is used for smoothly switching a servovalve controlled device such as an SMC press (10), in particular, from control under one parameter to control by another. The mode switch (45) provides a very smooth transfer of control from displacement control (47) between two relatively movable parts (20, 23) to force control (46) to provide for controlling the force exerted by actuators acting between the two parts (20, 23). The mode switch (45) electronically tracks the signals so that when the switching (64, 65) is made the signals are precisely equal to prevent abrupt changes in the control signals. This smooth transfer is achieved even under active control, that is when both control signals are changing in value.

4. 发明申请

WO2009056378A3 CONTROL DEVICE FOR THE POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, COMPRISING A LINEARIZATION UNIT 审中-公开
标题翻译：尺装置，进行位置调节液压缸单元的线性化UNIT
公开(公告)号：WO2009056378A3
公开(公告)日：2009-09-17
申请号：PCT/EP2008061804
申请日：2008-09-05
申请人： SIEMENS AG , TAUTZ WILFRIED , WOHLD DIETRICH
发明人： TAUTZ WILFRIED , WOHLD DIETRICH
IPC分类号： G05D3/20 , B21B37/62 , F15B15/00
CPC分类号： F15B9/09 , B21B37/62 , F15B2211/6336 , F15B2211/6656 , G05B19/231 , G05B19/291 , G05B19/351 , G05B2219/41124 , G05B2219/41309
摘要： The invention relates to a control device (11) for the position control of a hydraulic cylinder unit (1). Said control device comprises a controller (15) which, on the input side, receives a set position (s*) of a piston (3) of the hydraulic cylinder unit (1) and an actual position (s) of the piston (3) and determines a preliminary manipulated variable (u') for a valve control unit (7) of the hydraulic cylinder unit (1) based on the difference (ds) of the set position (s*) and the actual position (s). A linearization unit (17) is mounted downstream of the controller (15) and multiplies the preliminary manipulated variable (u') with a linearization factor (F) and outputs the preliminary manipulated variable (u') multiplied with the linearization factor (F) as the final manipulated variable (u) to the valve control unit (7) so that the piston (3) is adjusted at an adjustment speed (v). The linearization unit (17) determines the linearization factor (F) dynamically as a function of the actual position (s) of the piston (3) and of working pressures (pA, pB, pP, pT) that prevail at both sides of the piston (3) and at the inlet and outlet side of the valve control unit (7). The linearization factor is determined in such a manner that a ratio of the adjustment speed (v) to the difference (ds) of the set position (s*) and the actual position (s) is independent of the actual position (s) of the piston (3) and the working pressures (pA, pB, pP, pT). In the specific case where the controller (15) is configured as a P controller, the order of the controller (15) and the linearization unit (17) can be reversed.
摘要翻译：用于位置控制的液压缸单元的控制装置（11）（1）包括所述KoIbens的输入侧的控制器（15），一个给定位置（S *）的活塞（3）的液压缸单元的（1）和实际位置（S）（3）对并且基于所希望的位置（S *）和实际位置（一个或多个）进行初步调节变量的差值（DS）（U“）为（7）的液压缸单元的（1）所确定的阀控制部。该控制器（15）是一个线性化单元（17）下游布置，“乘以一个线性化因子（F），并用线性化因子（F）乘以初步操作变量（U其中初步操纵变量（u）的”）作为最终的操作变量（u）由输出阀控制单元（7），使得活塞（3）的位移速度（v）的调整。线性化单元（17）确定当活塞的实际位置（S）的函数的线性化因子（F）动态地（3），并且在活塞的两侧（3）以及流入和ABF lussseitig阀控制单元（7）现行工作压力（PA，PB，PP ，PT）。在判断为以使得所述位移速度（v）的与所述差的比所希望的位置（S *）和实际位置（多个）的（DS）独立于所述活塞的实际位置（多个）的（3）和所述工作压力（PA，PB，PP ，PT）为。在于，所述控制器（15）被形成为P控制器的特殊情况下，控制器（15）和线性化单元（17）的顺序可以互换。

5. 发明申请

WO1994024521A1 METHOD AND APPARATUS FOR FAIL-SAFE CONTROL OF AT LEAST ONE ELECTRO-MECHANICAL OR ELECTRO-HYDRAULIC COMPONENT 审中-公开
标题翻译：一种电子机械或电子液压组件的安全控制方法和装置
公开(公告)号：WO1994024521A1
公开(公告)日：1994-10-27
申请号：PCT/US1994004201
申请日：1994-04-15
申请人： CATANESE, Anthony, T., Jr.
IPC分类号： G01D05/00
CPC分类号： G05B19/4063 , G05B2219/41309 , G05B2219/50082 , G05B2219/50083 , Y10T307/615 , Y10T307/625 , Y10T307/878 , Y10T307/891
摘要： A fault management apparatus (10) and method are described for a system that includes at least one electro-mechanical (20) or electro-hydraulic (20) component. An actuator is electrically coupled to the component. A standby power supply (32) stores sufficient electrical energy to energize the valve (12) and/or discharge pump (16). The actuator can be actuated in a number of different ways. Logic circuitry (34) is programmed to sense the external conditions which require shutdown of the system, using the energy stored in the standy power supply. The PLC (34) is programmed to shutdown the system. Similarly, the PLC checks the system to insure proper return of the sytem to the on-line condition.
摘要翻译：对于包括至少一个机电（20）或电动液压（20）部件的系统，描述了故障管理装置（10）和方法。致动器电耦合到部件。待机电源（32）存储足够的电能以使阀（12）和/或排出泵（16）通电。致动器可以以许多不同的方式启动。逻辑电路（34）被编程为使用存储在标准电源中的能量来感测需要关闭系统的外部条件。 PLC（34）被编程为关闭系统。类似地，PLC检查系统以确保系统正确返回到在线状态。

6. 发明申请

WO1991003145A1 SIX AXIS MACHINE TOOL 审中-公开
标题翻译：六轴机床
公开(公告)号：WO1991003145A1
公开(公告)日：1991-03-21
申请号：PCT/US1990004797
申请日：1990-08-28
申请人： KEARNEY & TRECKER CORPORATION , SHELDON, Paul, C. , KIRKHAM, Edward, C. , OSTBY, Lyle, D. , KONKEL, Bruce, P.
发明人： KEARNEY & TRECKER CORPORATION
IPC分类号： B23C01/06
CPC分类号： B23Q11/0032 , B23Q1/5462 , B23Q5/40 , B23Q17/24 , B25J9/1623 , B25J17/0216 , G05B19/231 , G05B19/4015 , G05B19/4086 , G05B2219/41309 , G05B2219/41481 , G05B2219/49257 , Y10T403/32008 , Y10T403/32606 , Y10T403/32861 , Y10T403/32918 , Y10T408/91 , Y10T409/304536 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576
摘要： A machine such as a machine tool includes a pair of spaced platforms. One platform (11, 31, 185, 72, 159, 142) may mount an operator such as a tool in a spindle and the other platforms (10, 20, 180, 170, 144, 163) may mount an object such as a workpiece. The spaced platforms are joined by six powered and extensible legs (20-25, 40-45, 64-69, 145-150, 166, 182-84, 187-89) joined to the respective platforms by universal joints. The length of the legs is individually manipulated to vary the position of the platforms and, therefore, the object and operator relative to each other in six axes. The powered legs may be hydraulic cylinders (20-25) or recirculating ball screw driven (195, 197, 198). The distance between the spaced platforms may be measured by separate extensible instrument arms (130, 131, 171) which join the platforms. The instrument arms may use a digital position device (238, 240) to measure the extension and contraction of the instrument arms or may use a laser interferometer (267) for that purpose. The changes in the length of the instrument arms may be used to generate signals that control the extension and contraction of the powered legs. A method is also disclosed for converting part program coordinate block instructions into instructions for varying the length of the powered legs.
摘要翻译：诸如机床的机器包括一对隔开的平台。一个平台（11,31,185,72,159,142）可以将诸如工具的操作者安装在主轴中，并且其他平台（10,20,180,170,144,163）可以安装诸如工件。隔开的平台通过万向接头连接到各个平台上的六个动力和可伸展腿（20-25,40-45,64-69,145-150,166,182-84,187-89）连接。腿的长度被单独操作以改变平台的位置，并因此改变物体和操作者在六个轴线上相对于彼此的位置。动力腿可以是液压缸（20-25）或驱动的循环滚珠丝杠（195,197,198）。间隔平台之间的距离可以通过连接平台的单独的可伸展的工具臂（130,131,171）来测量。仪器臂可以使用数字位置装置（238,240）来测量仪器臂的延伸和收缩，或者可以为此目的使用激光干涉仪（267）。仪器臂的长度的变化可用于产生控制动力腿的伸展和收缩的信号。还公开了一种用于将部分程序坐标块指令转换成用于改变动力腿的长度的指令的方法。

7. 发明申请

WO1987000456A1 A PROGRAMMABLE MANUFACTURING SYSTEM FOR LOAD/SUPPORT ARMS FOR MAGNETIC DISK DRIVE DATA STORAGE SYSTEMS 审中-公开
标题翻译：用于磁盘驱动器数据存储系统的负载/支持程序的可编程制造系统
公开(公告)号：WO1987000456A1
公开(公告)日：1987-01-29
申请号：PCT/US1986001535
申请日：1986-07-16
申请人： RAS SYSTEMS, INC.
发明人： RAS SYSTEMS, INC. , SMITH, Ronald, A. , JACKSON, James, M. , LEHFELDT, Carl, L. , CYGNAROWICZ, Leonard, P. , MOSHFEGH, Khosro , BLANCHARD, Kenneth, L. , NELSON, Kenneth, J.
IPC分类号： B21D05/00
CPC分类号： B21D5/004 , B23D31/00 , G05B19/41815 , G05B2219/37357 , G05B2219/37398 , G05B2219/41309 , G05B2219/45143 , G05B2219/50158 , G05B2219/50358 , Y02P90/08
摘要： A manufacturing system for sequentially bending a plurality of planar spring elements (11) extending from a regularly perforated bar or fret (24), then adjusting the resiliency of each element (11) to provide a precise load when deflected to a particular position, and finally shearing only those elements (11) meeting the desired deflection load criteria from the fret (24). A microprocessor (33) obtains necessary processing data while controlling the several stations (27, 28, 31, 32) at which the spring elements (11) are measured, formed (bent), thermally adjusted and sheared from the fret (24). A walking beam transport system (38) also controlled by the microprocessor (33) incremently transports the frets (24) of spring elements (11) between and through each station. An oven (29) can be incorporated into the walking beam transport system (38) between the forming (28) and thermal adjust (31) stations for stress relieving the spring elements (11) before adjustment. The invented system and apparatus has particular utility for manufacture of the precision load arms which support flying read/write heads of disk drive data storage systems.

8. 发明申请

WO1996021890A1 JOINT CONTROL SYSTEM WITH LINEAR ACTUATION 审中-公开
标题翻译：具有线性运动的联合控制系统
公开(公告)号：WO1996021890A1
公开(公告)日：1996-07-18
申请号：PCT/CA1996000015
申请日：1996-01-12
申请人： THE UNIVERSITY OF BRITISH COLUMBIA
发明人： THE UNIVERSITY OF BRITISH COLUMBIA , CHAN, Danley, C., K. , LAWRENCE, Peter, D.
IPC分类号： G05B19/427
CPC分类号： G05B19/19 , G05B2219/39221 , G05B2219/41309
摘要： A system for controlling the operation of a tele-operated machine uses a sensor which senses the angular orientation of the joint, converts the angular orientation to a required length of the linear actuator (piston and cylinder) to obtain the then current length. A controller inputs the desired position of the joint and the system defines the length of (or flow to) the linear actuator necessary for the joint to be in the desired position based on a comparison of the desired and actual lengths of the actuator and sets the length of (or flow to) the actuator based on the required length (or flow) necessary to move the joint into the desired position i.e. to extend the length of the actuator to that required for the desired movement of the joint. Alternatively the actual and desired positions may be compared in a comparer (subtracter or adder) and the resultant signal modified based on a function of the actual position and the equipment being controlled and the modified signal is used to define the required length of or flow to the actuator.
摘要翻译：用于控制远程操作机器的操作的系统使用感测接头的角度定向的传感器，将角度定向转换成线性致动器（活塞和气缸）的所需长度，以获得当前的当前长度。控制器输入接头的所需位置，并且系统基于执行器的期望长度和实际长度的比较来确定接头处于期望位置所需的线性致动器的（或流动到）的长度（或流向）基于将接头移动到所需位置所需要的长度（或流量），即致动器的长度（或流动到）致动器的长度，即将致动器的长度延伸到接头所需运动所需的长度。或者，可以在比较器（减法器或加法器）中比较实际和期望的位置，并且基于实际位置和所控制的设备的功能修改的合成信号，并且使用修改的信号来定义所需的长度或流向执行器。

9. 发明申请

WO1988007917A1 APPARATUS FOR CONTROLLING FLEXIBLE-ARM ROBOT 审中-公开
标题翻译：控制灵活ARM机器人的设备
公开(公告)号：WO1988007917A1
公开(公告)日：1988-10-20
申请号：PCT/JP1988000382
申请日：1988-04-15
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , YAMAMOTO, Yuichi , HIRANO, Noboru , SHIRAE, Takashi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B25J09/16
CPC分类号： G05B19/42 , B25J18/06 , G05B2219/37357 , G05B2219/41309 , G05B2219/45083
摘要： A control apparatus for guiding a tip of a flexible-arm robot to a required target point through a shortest path. This apparatus is designed to control a first actuator to give bending motion to flexible arms (2, 4, 6) comprising many discs (9) serially stacked in mutual contact, each of said discs having an outwardly bent surface. The control apparatus comprises an operator panel unit (11); a main operation unit (15) which performs various operations upon receipt of operation signals from the panel unit (11) to produce operation instruction signals (J1 to J7) for each of the degrees of freedom of flexible arms (2, 4, 6); a servo control unit (18) for producing respective control signals (I1 to I11) for a plurality of hydraulic actuators (211 to 2111) for operating said first actuator in response to operation instruction signals from said main operation unit (15); operational force detector means (221 to 228) for detecting the operational force of said first actuator; position detector means (231 to 2311) for detecting the motion of said first actuator; and a feedback means for inputting the present position of said first actuator to an arithmetic unit of said servo control unit in response to signals detected by the above two detect means.

10. 发明申请

WO1988005937A1 OPERATION CONTROLLER 审中-公开
标题翻译：操作控制器
公开(公告)号：WO1988005937A1
公开(公告)日：1988-08-11
申请号：PCT/JP1987000952
申请日：1987-12-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , NISHIDA, Kimio , YOKOYAMA, Toshio , MORIYA, Yukio , KOBAYASHI, Takeshi
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05B24/00
CPC分类号： E02F9/2242 , E02F9/2004 , E02F9/2235 , E02F9/2292 , E02F9/2296 , F15B11/165 , F15B11/17 , F15B21/087 , F15B2211/20553 , F15B2211/20576 , F15B2211/30505 , F15B2211/327 , F15B2211/40507 , F15B2211/41572 , F15B2211/426 , F15B2211/428 , F15B2211/45 , F15B2211/50563 , F15B2211/5159 , F15B2211/528 , F15B2211/6323 , F15B2211/6326 , F15B2211/633 , F15B2211/6333 , F15B2211/6346 , F15B2211/6652 , F15B2211/7135 , G05B19/40 , G05B2219/35438 , G05B2219/41309 , G05B2219/45012
摘要： The controller controls drive quantities of actuators (BMS, AMS, BKS, LDM, RDM, TNM) that follows drive quantity command values generated depending upon the manipulated variables of a plurality of operation means (11, 12, 13, 14, 15, 16). For this purpose, the ratio of said operation quantities to said drive quantity command values is changed depending upon an operation mode flow rate data (41), the drive quantity command values are individually weighted for the same quantity of said manipulated variable depending upon a priority mode weight data (42), at least two energy sources (FR, RP) are provided as an energy source for driving the actuators, and the timing and the amount for supplying energy from the energy source are separately controlled depending upon a pump utilization data (43) and a tilted pump plate control data (44). These control data are suitably calculated and determined (inclusive of look-up table processing) each time depending upon the operation mode of said operation means, and the selection mode of operation mode selecting switch (21) and priority mode selecting switch (22).

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