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    • 5. 发明授权
    • Multiple-degree-of-freedom sensor tip for a robotic gripper
    • 用于机器人夹具的多自由度传感器端头
    • US4982611A
    • 1991-01-08
    • US198193
    • 1988-05-24
    • Robert D. LorenzDouglas M. Van De Riet
    • Robert D. LorenzDouglas M. Van De Riet
    • B25J13/08G01L5/16G01L5/22
    • G01L5/226B25J13/084G01L5/167
    • A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A signal amplifier (34) and computer (36) may be incorporated for the decoupling of the signals produced by the transducers (14, 16, 18, and 20) into the four components. The sensor tip can be produced at relatively low cost, requiring only low precision manufacturing processes.
    • 用于机器人手中的传感器尖端(10)具有三维柔性弹性体(12),其外边界(22)具有圆形基部(24)和从其延伸的凸表面(26)。 四个应变传感器(14,16,18和20)产生指示由弹性体(12)的边界附近的各个位置处的应变的电信号,其由施加在传感器尖端(10)上的力由机器人 手正在操纵。 传感器(14,16,18和20)围绕凸表面(26)定位,以便产生可以被去耦的信号,以确定正常和切向力以及施加的转矩。 可以结合信号放大器(34)和计算机(36)以将由换能器(14,16,18和20)产生的信号去耦合到四个部件中。 传感器尖端可以以相对较低的成本生产,只需要低精度的制造工艺。
    • 6. 发明授权
    • Height adjustable arm rest assembly
    • 高度可调扶手总成
    • US5667277A
    • 1997-09-16
    • US476846
    • 1995-06-07
    • Douglas M. Van De Riet
    • Douglas M. Van De Riet
    • A47C7/54A47C1/03
    • A47C1/03
    • A height adjustable arm rest assembly for use on a chair, the arm rest assembly includes a support member, an arm rest member, a locking mechanism attached to one of the support member and the arm rest member, and a substantially continuous engagement surface on the other of the support member and the arm rest member. The support member is attached to the chair and extends substantially upward therefrom. The arm rest member is movably attached to the support member and extends substantially coaxially therewith. The locking mechanism is attached to one of the support member and the arm rest member in order to secure the arm rest member in a selected vertical position relative to the support member. The locking mechanism includes an actuation member, a link connected to the actuation member, and a cam pivotably connected to the link. The cam has a front portion and a rear portion. The rear portion is received within a recess in one of the support member and the arm rest member. The recess is sized slightly larger than the rear portion of the cam in order to allow the cam to pivot about a generally horizontal axis through the rear of the cam. The cam is pivotable from a first position to a second position within the recess. A substantially continuous engagement surface is located on the other of the support member and the arm rest member.
    • 一种用于椅子的高度可调式扶手组件,所述扶手组件包括支撑构件,扶手构件,附接到所述支撑构件和所述扶手构件中的一个的锁定机构,以及在所述支撑构件上的基本上连续的接合表面 支撑构件和扶手构件中的另一个。 支撑构件附接到椅子并且基本向上延伸。 扶手构件可移动地附接到支撑构件并与其大致同轴地延伸。 锁定机构附接到支撑构件和扶手构件中的一个,以便将扶手构件相对于支撑构件固定在选定的垂直位置。 锁定机构包括致动构件,连接到致动构件的连杆和可枢转地连接到连杆的凸轮。 凸轮具有前部和后部。 后部容纳在支撑构件和扶手构件中的一个中的凹部内。 该凹部的尺寸稍微大于凸轮的后部,以便允许凸轮围绕凸轮的后部大致水平的轴线枢转。 凸轮可从凹部内的第一位置枢转到第二位置。 基本上连续的接合表面位于支撑构件和扶手构件的另一个上。
    • 8. 发明授权
    • Adjustable arm rest assembly
    • 可调扶手总成
    • US5641203A
    • 1997-06-24
    • US482175
    • 1995-06-07
    • Douglas M. Van De RietJeffrey A. Weber
    • Douglas M. Van De RietJeffrey A. Weber
    • A47C7/54A47C1/03
    • A47C1/03
    • An adjustable arm rest assembly for use on a chair including an arm rest post and an arm rest support surface. According to one aspect of the invention, the support surface is pivotably attached to a top surface of the arm rest post. The support surface includes a front portion and a rear portion and is pivotable about a pivot axis that extends in parallel with the seat back of the chair. A locking element is attached to one of the arm rest post and the support surface. The locking element includes a front portion and a rear portion with the front portion including a first mating element. The front portions of the support surface and locking element are farther from the seat back than the rear portions. A guide member is attached to the other of the arm rest post and the support surface. The guide member is located adjacent the front portion of the locking element and is adapted to receive the first mating element into one of a plurality of second mating elements. The locking element and the guide member are movable with respect to one another so that the support surface may be secured in a selected position relative to the arm rest post.
    • 一种用于椅子上的可调式扶手组件,包括扶手支柱和扶手支撑表面。 根据本发明的一个方面,支撑表面可枢转地附接到扶手柱的顶表面。 支撑表面包括前部和后部,并且可围绕与座椅的座椅背部平行延伸的枢转轴线枢转。 锁定元件附接到扶手支柱和支撑表面中的一个。 锁定元件包括前部和后部,前部包括第一配合元件。 支撑表面和锁定元件的前部比后部离座椅靠背更远。 引导构件附接到扶手支柱和支撑表面中的另一个。 引导构件位于邻近锁定元件的前部并且适于将第一配合元件接收到多个第二配合元件中的一个中。 锁定元件和引导构件可相对于彼此移动,使得支撑表面可以相对于扶手柱固定在选定位置。