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    • 1. 发明授权
    • Sensor holding apparatus
    • 传感器固定装置
    • US07412776B2
    • 2008-08-19
    • US11507545
    • 2006-08-22
    • Katsushi IikuboHidehito SasakiHidenori SuzukiHiromasa TsukaharaChikao HaradaHitoshi HiranoHiroshi Masuda
    • Katsushi IikuboHidehito SasakiHidenori SuzukiHiromasa TsukaharaChikao HaradaHitoshi HiranoHiroshi Masuda
    • G01B5/004E04G3/00
    • G01B5/0004A61B5/021A61B5/1455A61B8/00A61B8/4218
    • An apparatus for holding a sensor such that the sensor touches an object at an arbitrary position in a three-dimensional space, the apparatus including a base member; a rotatable member which is rotatable relative to the base member about a vertical axis line; a first link device including a first stationary link, a first movable link, and two first pivotable links which are pivotably connected to the first stationary link and the first movable link, such that the first stationary link, the first movable link, and the two first pivotable links cooperate with each other to define a quadrilateral, wherein the first stationary link is fixed to the rotatable member such that the first movable link is movable in a plane containing the axis line; a second link device including two second pivotable links, and a second stationary link and a second movable link which are pivotably connected to the two second pivotable links, such that the two second pivotable links, the second stationary link, and the second movable link cooperate with each other to define a quadrilateral, wherein the second stationary link is fixed to the first movable link such that the second movable link is movable in the plane containing the axis line, and wherein the second movable link supports the sensor; a first biasing device which produces a thrust having a directional component resisting a load applied to the first movable link; and a second biasing device which produces a thrust having a directional component resisting a load applied to the second movable link.
    • 一种用于保持传感器的装置,使得传感器在三维空间中的任意位置处接触物体,该装置包括基座部件; 可旋转构件,其可相对于所述基座构件绕垂直轴线旋转; 第一连杆装置,包括第一固定连杆,第一可移动连杆和两个可枢转地连接到第一固定连杆和第一可动连杆的第一可枢转连杆,使得第一固定连杆,第一可动连杆和两个 第一可枢转连杆彼此协作以限定四边形,其中第一固定连杆固定到可旋转构件,使得第一可移动连杆可在包含轴线的平面中移动; 包括两个第二枢转连杆的第二连杆装置,以及可枢转地连接到两个第二可枢转连杆的第二固定连杆和第二可动连杆,使得两个第二可枢转连杆,第二固定连杆和第二可移动连杆配合 彼此定义四边形,其中所述第二固定连杆固定到所述第一可动连杆,使得所述第二可移动连杆在包含所述轴线的平面中可移动,并且其中所述第二可移动连杆支撑所述传感器; 第一偏置装置,其产生具有抵抗施加到第一可动连杆的负载的方向分量的推力; 以及第二偏置装置,其产生具有抵抗施加到第二可动连杆的负载的方向分量的推力。