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    • 1. 发明授权
    • Servo robot gripper
    • 伺服机器人夹具
    • US4579380A
    • 1986-04-01
    • US558425
    • 1983-12-06
    • Mark ZaremskyLee E. WeissThomas A. Mutschler
    • Mark ZaremskyLee E. WeissThomas A. Mutschler
    • B25J13/08B25J15/04B25J19/02B25J15/08
    • B25J13/082B25J15/0475B25J19/021Y10S294/907
    • A light weight servo controlled robot gripper is disclosed. A plastic body houses one or more threaded drive shafts which are powered by a direct current motor. Attached to the shafts are finger mounting blocks which support removable fingers and which can be driven both closer to and further away from a fixed point by the motor. Integral with at least one mounting block is a force transducer which monitors the load exerted on the finger through a pivot and lever action of a mounting bracket provided adjacent to the load cell. Since the transducer is in the block rather than the fingertip, fingers are readily interchangable without reinstrumentation. A limit switch, located above one of the finger mounting blocks, is used to determine coarse finger position, and an optical shaft encoder provides precise position information allowing the gripper to be utilized for a variety of position as well as force servoing tasks.
    • 公开了一种重量轻的伺服控制机器人夹持器。 塑料体容纳由直流电动机驱动的一个或多个螺纹驱动轴。 连接到轴上的是手指安装块,其支撑可移除的手指,并且可以通过马达被驱动到更靠近并远离固定点。 与至少一个安装块成一体是力传感器,其通过邻近测力传感器设置的安装支架的枢轴和杠杆作用来监视施加在手指上的负载。 由于换能器在块而不是指尖,手指易于互换而不进行重新装置。 位于手指安装块上方的限位开关用于确定粗指位置,光轴编码器提供精确的位置信息,允许夹持器用于各种位置以及强制伺服任务。
    • 9. 发明授权
    • Method and apparatus for fabrication of three-dimensional articles by
thermal spray deposition
    • 通过热喷涂沉积制备三维制品的方法和装置
    • US5126529A
    • 1992-06-30
    • US620745
    • 1990-12-03
    • Lee E. WeissFritz R. PrinzE. Levent Gursoz
    • Lee E. WeissFritz R. PrinzE. Levent Gursoz
    • C23C4/02B22F3/115B29C67/00C23C4/12C23C4/18
    • B29C67/0092B22F3/115B29C67/0074G05B2219/49016G05B2219/49039Y10T29/49986
    • A method and apparatus for forming a three-dimensional object by thermal spraying utilizes a plurality of masks positioned and removed over a work surface in accordance with a predetermined sequence. The masks correspond to cross sections normal to a centerline through the workpiece. One set of masks defines all cross sections through the workpiece. A second set of masks contains at least one masks which corresponds to each mask of the first set. Masks from each set are alternatively placed above a work surface and sprayed with either a deposition material from which the workpiece will be made or a complementary material. In this manner, layers of material form a block of deposition material and complementary material. Then, the complementary material which serves as a support structure during forming is removed. Preferably, the complementary material has a lower melting temperature than the deposition material and is removed by heating the block. Alternatively, one could mask only for the deposition material and remove complementary material overlying the deposition material after each spraying of complementary material.
    • 通过热喷涂形成三维物体的方法和装置利用根据预定顺序在工作表面上定位和移除的多个掩模。 掩模对应于垂直于通过工件的中心线的横截面。 一组掩模定义了穿过工件的所有横截面。 第二组掩模包含至少一个对应于第一组的每个掩模的掩模。 每个组的面罩可替换地放置在工作表面上方,并喷涂有将由其制造工件的沉积材料或互补材料。 以这种方式,材料层形成沉积材料块和互补材料。 然后,去除在成形期间用作支撑结构的互补材料。 优选地,互补材料具有比沉积材料更低的熔化温度,并且通过加热块来除去。 或者,可以在每次喷涂互补材料之后,仅掩盖沉积材料并除去覆盖沉积材料的互补材料。