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    • 66. 发明授权
    • Pregripper in a sheet-fed printing machine
    • 单张纸印刷机中的预搓纸机
    • US5398607A
    • 1995-03-21
    • US133461
    • 1993-10-08
    • Andreas FrickeBurkhard MaassJurgen Rautert
    • Andreas FrickeBurkhard MaassJurgen Rautert
    • B41F21/05F16H25/16B41F2/04
    • B41F21/05F16H25/16
    • A pregripper configuration in a sheet-fed rotary printing press feeds single sheets to a rotating cylinder. A cam drive includes a main cam and a roller lever which pivots about a frame-fixed shaft. A lever mechanism, which is articulated to the roller lever and a pregripper pivot arm, transmits the motion of the cam-following roller lever to the pivot arm. The pivot arm is also pivoted about a frame-fixed shaft. In order to compensate for play in the lever mechanism, a pretensioned spring is disposed between an attachment point on the roller lever and an attachment point on the pivot arm. In one embodiment, the pretensioned spring extends approximately parallel to a rigid link connected in articulated fashion between the roller lever and the pivot arm. In another embodiment, the spring is attached to a compensating cam drive.
    • 单张纸旋转印刷机中的预先配置将单张纸送入旋转圆筒。 凸轮驱动器包括主凸轮和绕框架固定的轴枢转的滚子杆。 铰链到滚轮杆和预抓臂枢转臂的杠杆机构将凸轮跟随辊杆的运动传递到枢转臂。 枢转臂也围绕框架固定的轴枢转。 为了补偿杠杆机构中的游隙,预拉伸弹簧设置在滚轮杆上的附接点和枢转臂上的附接点之间。 在一个实施例中,预张紧的弹簧大致平行于在滚轮杆和枢转臂之间以铰接方式连接的刚性连杆。 在另一个实施例中,弹簧连接到补偿凸轮驱动器。
    • 70. 发明授权
    • Cam-actuated robotic manipulator system
    • 凸轮驱动机器人操纵器系统
    • US4527446A
    • 1985-07-09
    • US362539
    • 1982-03-26
    • Daniel J. Borodin
    • Daniel J. Borodin
    • B25J9/04B25J9/10B25J11/00F16H25/16F16H35/08
    • B25J9/104B25J9/046Y10T74/16Y10T74/18288Y10T74/20
    • A cam-actuated robotic manipulator system comprising an articulated robot arm adapted for multiple degrees of angular motion, and an actuator system which includes series-connected four-bar linkages and a cam input mechanism for controlling each degree of motion of the robot arm. The several series-connected four-bar linkages for each degree of motion share at least some common axes of rotation, one of which is position-variable for adjusting output position of the corresponding manipulator arm segment for a given cam input. The input mechanism to each four-bar linkage arrangement comprises conjugate cams and conjugate cam followers having an overload mechanism connected therebetween to detect obstruction to movement of the corresponding arm segment for disengaging the cam drive mechanism, and thereby preventing damage to the robot manipulator arm and actuator.
    • 一种凸轮驱动的机器人操纵器系统,包括适于多角度运动的关节式机器人臂,以及包括串联连接的四杆联动装置和用于控制机器人手臂的每个运动程度的凸轮输入机构的致动器系统。 用于每个运动程度的几个串联连接的四杆连杆共享至少一些共同的旋转轴线,其中一个是位置可变的,用于调整给定凸轮输入的相应机械臂部分的输出位置。 每个四杆联动装置的输入机构包括共轭凸轮和共轭凸轮从动件,它们具有连接在其间的过载机构,以检测对应的臂部分的运动的障碍物,以分离凸轮驱动机构,从而防止对机器人操纵臂的损坏, 执行器。