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公开(公告)号：US06703603B2
公开(公告)日：2004-03-09
申请号：US09996698
申请日：2001-11-30
申请人： Souichi Tohyama , Hiromu Hirai , Kichio Nakajima , Atsushi Sakamoto , Yaichi Okubo , Masahiro Oishi
发明人： Souichi Tohyama , Hiromu Hirai , Kichio Nakajima , Atsushi Sakamoto , Yaichi Okubo , Masahiro Oishi
IPC分类号： H01J4014
CPC分类号： G02B26/105 , G02B7/1821 , H05K3/0026
摘要： A controller for an optical scanner includes a mirror angle detecting unit for detecting an angle of a mirror, a rotation shaft angle detecting unit for detecting an angle of the shaft, a current detecting unit for detecting a current supplied to a motor, and a torsional vibration stabilizing compensation unit for stabilizing a torsional vibration of the shaft, thereby a value subjected to a proportional compensation and a differential compensation by using a rotation shaft angle detected value and a value from the torsional vibration stabilizing compensation unit are negatively fed back to a value obtained by integrally compensating for a tracking error between the angle desired value and a mirror angle detection value to determine a current value to be supplied to the motor.
摘要翻译： 光学扫描器的控制器包括用于检测反射镜的角度的反射镜角度检测单元，用于检测轴的角度的旋转轴角度检测单元，检测供给马达的电流的电流检测单元， 用于稳定轴的扭转振动的振动稳定补偿单元，由此通过使用旋转轴角度检测值和来自扭转振动稳定补偿单元的值进行比例补偿和差分补偿的值被负反馈回到值 通过整体补偿角度期望值和镜像角度检测值之间的跟踪误差来确定要提供给电动机的电流值而获得。
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公开(公告)号：US20130144480A1
公开(公告)日：2013-06-06
申请号：US13816523
申请日：2011-07-29
IPC分类号： G06F17/00
CPC分类号： G06F17/00 , B60K7/0007 , B60K28/16 , B60K2007/0061 , B60L15/20 , B60T8/17616 , B60T2201/04 , B60W2520/263 , B60W2520/28 , Y02T10/645 , Y02T10/646 , Y02T10/7275
摘要： An electrically driven vehicle equipped with electric motors (1, 4) for driving or braking drive wheels (3, 6), and an electric motor controller (33) for controlling the electric motors includes: wheel speed detectors (9 to 12) for detecting the wheel speed of the drive wheels and that of idler wheels (7, 8); computing means (22 to 28, 35 to 38) for computing the slip ratio of the drive wheels based on the wheel speed of the drive wheels and that of the idler wheels; and a determiner (29) for determining that the drive wheels are slipping if the slip ratio exceeds a slip ratio determination value. If the wheel speed of the idler wheels is lower than set speeds Va2, Vb2, then the determiner (29) changes the slip ratio determination value to a value having as the same sign as, and a larger absolute value than, the values λa2, λb2 used when the wheel speed of the idler wheels is higher than the set speeds Va2, Vb2. This structure shortens acceleration time during acceleration traveling and reduces braking distance during deceleration traveling while inhibiting vibrations of the electrically driven vehicle.
摘要翻译： 一种配备有用于驱动或制动驱动轮（3,6）的电动机（1,4）的电动车辆和用于控制电动机的电动机控制器（33），包括：用于检测的车轮速度检测器（9至12） 驱动轮的轮速和惰轮（7,8）的转速; 用于基于所述驱动轮的轮速和所述惰轮的车轮速度计算所述驱动轮的打滑比的计算装置（22至28,35至38）; 以及如果滑移比超过滑移率确定值，则确定驱动轮滑动的确定器（29）。 如果惰轮的车轮速度低于设定速度Va2，Vb2，则确定器（29）将滑移率判定值改变为具有与值λa2，Vb2相同的符号和更大的绝对值的值， 当惰轮的车轮速度高于设定速度Va2，Vb2时，使用lambdab2。 该结构缩短了加速行驶时的加速时间，并且减少了减速行驶时的制动距离，同时抑制了电动车辆的振动。
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公开(公告)号：US06992450B2
公开(公告)日：2006-01-31
申请号：US11039947
申请日：2005-01-24
申请人： Kichio Nakajima , Akira Busujima , Yasushi Ito , Nobuhiko Suzuki , Toru Yuki
发明人： Kichio Nakajima , Akira Busujima , Yasushi Ito , Nobuhiko Suzuki , Toru Yuki
IPC分类号： H02P7/00
CPC分类号： F16F7/1005 , F16F15/02
摘要： The invention provides an active mass damper by use of which a machining apparatus can be downsized. The active mass damper includes a support unit for supporting a weight movably and horizontally, a motor for driving the weight, and a controller for controlling the motor. A torque command signal to be given to a motor of an X-table and a torque command signal to be given to a motor of a Z-table are put into the controller of the active mass damper so that the motor for driving the weight can be driven by feed-forward control using the torque command signals and feedback control based on the displacement of the weight.
摘要翻译： 本发明提供一种主动质量阻尼器，通过使用这种减震器可以减小加工装置的尺寸。 有源质量阻尼器包括用于可移动和水平地支撑重物的支撑单元，用于驱动重物的电动机和用于控制电动机的控制器。 将给予X台的电动机的转矩指令信号和给予Z表的电动机的转矩指令信号放入有源质量阻尼器的控制器中，使得用于驱动重量的电动机 通过使用转矩指令信号的前馈控制和基于重量位移的反馈控制来驱动。
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公开(公告)号：US20050162110A1
公开(公告)日：2005-07-28
申请号：US11039947
申请日：2005-01-24
申请人： Kichio Nakajima , Akira Busujima , Yasushi Ito , Nobuhiko Suzuki , Toru Yuki
发明人： Kichio Nakajima , Akira Busujima , Yasushi Ito , Nobuhiko Suzuki , Toru Yuki
CPC分类号： F16F7/1005 , F16F15/02
摘要： The invention provides an active mass damper by use of which a machining apparatus can be downsized. The active mass damper includes a support unit for supporting a weight movably and horizontally, a motor for driving the weight, and a controller for controlling the motor. A torque command signal to be given to a motor of an X-table and a torque command signal to be given to a motor of a Z-table are put into the controller of the active mass damper so that the motor for driving the weight can be driven by feed-forward control using the torque command signals and feedback control based on the displacement of the weight.
摘要翻译： 本发明提供一种主动质量阻尼器，通过使用这种减震器可以减小加工装置的尺寸。 有源质量阻尼器包括用于可移动和水平地支撑重物的支撑单元，用于驱动重物的电动机和用于控制电动机的控制器。 将给予X台的电动机的转矩指令信号和给予Z表的电动机的转矩指令信号放入有源质量阻尼器的控制器中，使得用于驱动重量的电动机 通过使用转矩指令信号的前馈控制和基于重量位移的反馈控制来驱动。
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公开(公告)号：US5335547A
公开(公告)日：1994-08-09
申请号：US793392
申请日：1992-02-04
申请人： Kichio Nakajima , Kazuo Honma , Yukio Sumiya , Takeshi Yamaguchi , Hiroshi Inamitsu , Eiji Minamiyama
发明人： Kichio Nakajima , Kazuo Honma , Yukio Sumiya , Takeshi Yamaguchi , Hiroshi Inamitsu , Eiji Minamiyama
IPC分类号： G01N29/22 , G01N29/265 , G01N29/30 , G01N29/10 , G01N29/26
CPC分类号： G01N29/30 , G01N29/22 , G01N29/265 , G01N2291/0289 , G01N2291/044
摘要： The distance sensor means and the ultrasonic probe are integrally coupled to each other in such a manner that a preceding scanning line to a current scanning line which is scanned by the ultrasonic probe is scanned by the distance sensor means, and the shape-measurement scanning operation of the distance sensor means and the flaw-detection scanning operation of the ultrasonic probe are performed in parallel with each other. A flaw detection area is divided into plural sub-areas, and plural storing areas are arranged in a mesh form in one-to-one correspondence to the sub-areas, only one shape information of position storing area including the flaw detection area being stored in each of the storing areas. The position and orientation of the ultrasonic probe at each flaw detection point is controlled using the stored shape information.
摘要翻译： PCT No.PCT / JP90 / 01054 Sec。 一九九二年二月四日 102（e）日期1992年2月4日PCT 1990年10月20日PCT PCT。 出版物WO91 / 02971 日期1991年3月7日。距离传感器装置和超声波探头以这样一种方式被一体地联接，使得由超声波探头扫描的当前扫描线的前一条扫描线被距离传感器装置扫描， 并且进行距离传感器装置的形状测量扫描操作和超声波探头的探伤扫描操作彼此并行进行。 探伤区域被划分为多个子区域，并且多个存储区域以网格形式与子区域一一对应地布置，仅存储包括探伤区域的位置存储区域的一个形状信息 在每个存储区域中。 使用存储的形状信息来控制在每个探伤点处的超声波探头的位置和方位。
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公开(公告)号：US5105367A
公开(公告)日：1992-04-14
申请号：US421841
申请日：1989-10-16
申请人： Akira Tsuchihashi , Shinichi Takarada , Taro Iwamoto , Kichio Nakajima , Hiroshi Yamamoto , Tatsu Aoki
发明人： Akira Tsuchihashi , Shinichi Takarada , Taro Iwamoto , Kichio Nakajima , Hiroshi Yamamoto , Tatsu Aoki
IPC分类号： B25J3/04
CPC分类号： B25J9/0018 , B25J21/00 , B25J3/04
摘要： A master slave manipulator system includes a master arm having six or more axes of motion and an articulated slave arm having six or more axes of motion and being shaped in sharp contrast with the master arm. The master arm has an arm body with three axes perpendicular to each other and a wrist assembly connected to the arm body. The wrist assembly has a gripper disposed in a space of a size large enough for an operator to operate the gripper with his clutched hand in X, Y and Z directions and also has a pitch-axis, a yaw-axis and a roll-axis all disposed outside of the space. The pitch-axis, yaw-axis and roll-axis have output axes directed toward the gripper. The slave arm has an arm body with axes longitudinally stretchable or foldable into parallel positions, and a wrist assembly having three axes disposed in a space of predetermined dimensions in X, Y and Z directions. The output axes of the three axes of the slave arm wrist assembly are directed away from the mounting portions of these axes. The slave arm is so controlled as to follow movements of the master arm.
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公开(公告)号：US4586330A
公开(公告)日：1986-05-06
申请号：US401304
申请日：1982-07-23
申请人： Hiroshi Watanabe , Eiki Izumi , Yukio Aoyagi , Kazuo Honma , Kichio Nakajima
发明人： Hiroshi Watanabe , Eiki Izumi , Yukio Aoyagi , Kazuo Honma , Kichio Nakajima
CPC分类号： F15B11/17 , E02F9/2221 , E02F9/2296 , F15B21/087 , F15B2211/20546 , F15B2211/20561 , F15B2211/27 , F15B2211/30515 , F15B2211/30595 , F15B2211/6333 , F15B2211/6652 , F15B2211/6654 , F15B2211/71
摘要： A control system for a hydraulic circuit including at least first and second variable displacement volume type hydraulic pumps, at least first and second hydraulic actuators driven by the pumps, and valves for controlling hydraulic connections between the pumps and the actuators. The control system includes a device for deciding the order of priority of hydraulic connections between the first actuator and the first and second hydraulic pumps and the order of priority of hydraulic connections between the second pump and the first and second actuators. A first sensor is provided for sensing maximization of the displacement volume of the first pump, sensing that the displacement volume of the second pump has become substantially zero. A device decides target displacement volumes of the first and second pumps based on information supplied at least by the priority order deciding device and first and second sensor. When the flow rate of hydraulic fluid supplied to the first actuator is increased, the displacement volume of the second pump is increased from substantially zero after the displacement volume of the first pump is maximized. When the flow rate of hydraulic fluid supplied to the first actuator is reduced, the displacement volume of the first pump is reduced after the displacement volume of the second pump has become substantially zero.
摘要翻译： 一种用于液压回路的控制系统，包括至少第一和第二可变容量型液压泵，由泵驱动的至少第一和第二液压致动器以及用于控制泵和致动器之间的液压连接的阀。 控制系统包括用于确定第一致动器和第一和第二液压泵之间的液压连接的优先顺序的装置以及第二泵与第一和第二致动器之间的液压连接的优先顺序。 提供第一传感器用于感测第一泵的排量的最大化，感测到第二泵的排量已经变得基本上为零。 设备基于至少由优先顺序决定装置和第一和第二传感器提供的信息来确定第一和第二泵的目标排量。 当提供给第一致动器的液压流体的流量增加时，在第一泵的移动容积最大化之后，第二泵的排出容积从基本上为零增加。 当提供给第一致动器的液压流体的流量减小时，在第二泵的排量已经变为基本为零之后，第一泵的排出容积减小。
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公开(公告)号：US08880261B2
公开(公告)日：2014-11-04
申请号：US13816523
申请日：2011-07-29
CPC分类号： G06F17/00 , B60K7/0007 , B60K28/16 , B60K2007/0061 , B60L15/20 , B60T8/17616 , B60T2201/04 , B60W2520/263 , B60W2520/28 , Y02T10/645 , Y02T10/646 , Y02T10/7275
摘要： An electrically driven vehicle equipped with electric motors (1, 4) for driving or braking drive wheels (3, 6), and an electric motor controller (33) for controlling the electric motors includes: wheel speed detectors (9 to 12) for detecting the wheel speed of the drive wheels and that of idler wheels (7, 8); computing means (22 to 28, 35 to 38) for computing the slip ratio of the drive wheels based on the wheel speed of the drive wheels and that of the idler wheels; and a determiner (29) for determining that the drive wheels are slipping if the slip ratio exceeds a slip ratio determination value. If the wheel speed of the idler wheels is lower than set speeds Va2, Vb2, then the determiner (29) changes the slip ratio determination value to a value having as the same sign as, and a larger absolute value than, the values λa2, λb2 used when the wheel speed of the idler wheels is higher than the set speeds Va2, Vb2. This structure shortens acceleration time during acceleration traveling and reduces braking distance during deceleration traveling while inhibiting vibrations of the electrically driven vehicle.
摘要翻译： 一种配备有用于驱动或制动驱动轮（3,6）的电动机（1,4）的电动车辆和用于控制电动机的电动机控制器（33），包括：用于检测的车轮速度检测器（9至12） 驱动轮的轮速和惰轮（7,8）的转速; 用于基于所述驱动轮的轮速和所述惰轮的车轮速度计算所述驱动轮的打滑比的计算装置（22至28,35至38）; 以及如果滑移比超过滑移率确定值，则确定驱动轮滑动的确定器（29）。 如果惰轮的车轮速度低于设定速度Va2，Vb2，则确定器（29）将滑移率判定值改变为具有与值λa2，Vb2相同的符号，绝对值大的值， 当惰轮的车轮速度高于设定速度Va2，Vb2时使用的λb2。 该结构缩短了加速行驶时的加速时间，并且减少了减速行驶时的制动距离，同时抑制了电动车辆的振动。
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公开(公告)号：US08249765B2
公开(公告)日：2012-08-21
申请号：US12161692
申请日：2007-05-07
CPC分类号： B60W20/10 , B60K6/46 , B60K7/0007 , B60L11/08 , B60L2200/36 , B60L2240/14 , B60L2240/421 , B60L2250/28 , B60W10/06 , B60W10/08 , B60W10/30 , B60W20/00 , B60W2300/125 , E02F9/2075 , E02F9/2246 , F02D29/02 , F02D29/04 , F02D29/06 , Y02T10/6217 , Y02T10/6286 , Y02T10/646 , Y02T10/70 , Y02T10/7077
摘要： Engine driving characteristics are achieved for driving a hydraulic system during non-traveling and traveling in an electrically driven dump truck.When a shift lever 16 is located at a neutral position, the target revolution speed Nr1 corresponding to the operation amount (p) of an accelerator pedal 1 is calculated on the basis of first target revolution speed characteristics (Nr1(p)) which are suitable for driving of a hydraulic pump for working so that an electronic governor 4a is controlled on the basis of this target revolution speed. When the shift lever 16 is located at a forward position, the target revolution speed Nr2 corresponding to the operation amount of the accelerator pedal 1 is calculated on the basis of second target revolution speed characteristics (Nr2(p)) which are suitable for driving of electric motors 12R, 12L so that the electronic governor 4a is controlled on the basis of this target revolution speed.
摘要翻译： 在电动自卸车不行驶和行驶期间，实现用于驱动液压系统的发动机驱动特性。 当变速杆16位于中立位置时，基于适合的第一目标转速特性（Nr1（p））来计算与加速器踏板1的操作量（p）对应的目标转速Nr1 用于驱动用于工作的液压泵，从而基于该目标转速来控制电子调速器4a。 当变速杆16位于前进位置时，基于适合于驾驶的第二目标转速特性（Nr2（p））来计算与加速器踏板1的操作量对应的目标转速Nr2 电动机12R，12L，从而基于目标转速来控制电子调速器4a。
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公开(公告)号：US06340804B1
公开(公告)日：2002-01-22
申请号：US09033979
申请日：1998-03-03
IPC分类号： B07C314
CPC分类号： B07C3/02 , B07C1/02 , Y10S209/90
摘要： A paper sheet sorting apparatus comprising a device for reading the information recorded in paper sheets and a device for sorting the paper sheets in accordance with the information thus read, is disclosed. The load of recognizing the information is detected by a load detector. In accordance with the load detected by the load detector, the interval between the paper sheets supplied or the speed at which the paper sheets are transported is changed. In this way, the interval of the papers sheets entering the reading device is changed. The number of paper sheets having the information that cannot be recognized and hence cannot be sorted is reduced, while at the same time improving the processing speed.
摘要翻译： 公开了一种纸张分类装置，其包括用于读取记录在纸张中的信息的装置和根据所读取的信息对纸张进行分类的装置。 识别信息的负载由负载检测器检测。 根据负载检测器检测到的负荷，改变供给的纸张间的间隔或纸张的输送速度。 以这种方式，进入读取装置的纸张的间隔被改变。 具有不能被识别，因此不能被分类的信息的纸张数量减少，同时提高处理速度。
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