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    • 6. 发明授权
    • Reversing transmission
    • 反转传动
    • US08434604B2
    • 2013-05-07
    • US12761417
    • 2010-04-16
    • Shen-Chun LiShou-Kuo HsuYung-Chieh ChenHsien-Chuan LiangShin-Ting YenHung Chao
    • Shen-Chun LiShou-Kuo HsuYung-Chieh ChenHsien-Chuan LiangShin-Ting YenHung Chao
    • F16D41/10
    • F16D41/10F16H3/14Y10T74/19172
    • A reversing transmission includes a shaft, a retainer, a spacing collar, reversing members, two gears and two covers. The holder is sleeved on the shaft with spaced sliding notches formed thereon. The spacing collar is mounted on an outer surface of the retainer. The reversing members each include two spaced swing plates, with two reversed spiral teeth dented on two diagonal half surfaces of the two spaced swing plates. The reversing members slide into the sliding notches of the holder, with the two swing plates of each reversing member distributed at different sides of the spacing collar. Each of the gears has a group of spiral teeth formed on the inner side for engaging with the group of spiral teeth of the reversing members, and cogs formed on the outer circumference surface. The covers are mounted on two opposite ends of the holder to keep the reversing members in position.
    • 反转变速器包括轴,保持器,间隔套环,换向构件,两个齿轮和两个盖。 保持器套在轴上,其上形成有间隔开的滑动凹口。 间隔套环安装在保持器的外表面上。 反转构件各自包括两个间隔开的摆动板,两个反向螺旋齿凹陷在两个间隔开的摆动板的两个对角半面上。 反转构件滑入保持器的滑动凹口中,每个反向构件的两个摆动板分布在间隔环的不同侧。 每个齿轮具有形成在内侧上的一组螺旋齿,用于与反转构件的一组螺旋齿接合,并且形成在外周表面上的齿。 盖子安装在保持器的两个相对端上,以使反向构件保持在适当的位置。
    • 8. 发明授权
    • Robotic arm control system and method
    • 机器臂控制系统及方法
    • US08838272B2
    • 2014-09-16
    • US13334344
    • 2011-12-22
    • Chun-Neng LiaoShen-Chun LiWen-Laing TsengCheng-Hsien LeeShou-Kuo Hsu
    • Chun-Neng LiaoShen-Chun LiWen-Laing TsengCheng-Hsien LeeShou-Kuo Hsu
    • G06F19/00G05B19/04
    • B25J9/1607G05B2219/39229
    • A robotic arm control system is provided. In, the robotic arm control system, any three points A, B, and C of an object to be determined are picked, thereby creating an original coordinate system. A robotic arm is directed to rotate around the x-axis of the original coordinate system to reach the points B and C. During the rotation of the robotic arm, the three points A, B, and C are recorded by a visual process. A non-linear mapping relation of the original coordinate system and the operation coordinate system is calculated according to length ratios, an angular ratio, and a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C, thereby controlling the movement of the robotic arm according to the non-linear mapping relation. The disclosure further provides a robotic arm control method.
    • 提供机器人手臂控制系统。 在机器人臂控制系统中,拾取要确定的对象的任何三个点A,B和C,从而创建原始坐标系。 机器手臂被引导以围绕原始坐标系的x轴旋转以到达点B和C.在机器人臂的旋转期间,通过视觉过程记录三个点A,B和C。 根据长度比,角比和长度比差与线AB与线AC之间的角度的差分比,计算原始坐标系和操作坐标系的非线性映射关系, 从而根据非线性映射关系来控制机器人手臂的移动。 本公开还提供了一种机器人手臂控制方法。
    • 9. 发明授权
    • Robot arm and detecting device having same
    • 机器人手臂和检测装置具有相同的功能
    • US08781631B2
    • 2014-07-15
    • US13181462
    • 2011-07-12
    • Shen-Chun LiChun-Neng LiaoShou-Kuo Hsu
    • Shen-Chun LiChun-Neng LiaoShou-Kuo Hsu
    • G05B15/00G05B19/00
    • B25J18/005B25J9/044B25J15/0019B25J19/021
    • A robot arm includes a support arm, an adjusting rod and a detecting unit. The adjusting rod rotatably extends through the support arm. The detecting unit is attached to the adjusting rod. The detecting unit includes an image capture device and a probe device. The image capture device captures images of a workpiece. The probe device includes a driving device and a probe. The driving device may drive the probe to move between a first position where the probe does not visually prevent images of the workpiece being captured by the image capture device, and a second position where the probe does block the images of the workpiece being captured by the image capture device.
    • 机器人臂包括支撑臂,调节杆和检测单元。 调节杆可旋转地延伸穿过支撑臂。 检测单元附接到调节杆。 检测单元包括图像捕获装置和探针装置。 图像捕获设备捕获工件的图像。 探针装置包括驱动装置和探针。 驱动装置可以驱动探针在第一位置和第二位置之间移动,在第一位置,探针不可视地防止由图像捕获装置捕获的工件的图像,以及第二位置,其中探针将阻挡被捕获的工件的图像 图像捕获设备。
    • 10. 发明授权
    • Control computer and method of controlling robotic arm
    • 控制计算机和控制机器手臂的方法
    • US08781625B2
    • 2014-07-15
    • US13211324
    • 2011-08-17
    • Shen-Chun LiHsien-Chuan LiangShou-Kuo Hsu
    • Shen-Chun LiHsien-Chuan LiangShou-Kuo Hsu
    • B25J9/10
    • B25J9/1679G05B19/4015
    • A computer determines a first origin of a first coordinate system of a PCB, and controls a robotic arm to position a probe above the first origin. Furthermore, the computer determines a second origin of a second coordinate system of the robotic arm, and determines displacement values from the first origin to a test point in controlling movements of the robotic arm in the second coordinate system. A graph representing the test point is recognized in an image of the PCB, pixel value differences between the graph center and the image center are determined and converted to displacement correction values for controlling the movements of the robotic arm and determining 3D coordinates of the test point. The robotic arm is moved along a Z-axis of the second coordinate system to precisely position the probe on the test point of the PCB.
    • 计算机确定PCB的第一坐标系的第一原点,并且控制机器人臂将探针定位在第一原点上方。 此外,计算机确定机器人手臂的第二坐标系的第二原点,并且在控制机器人手臂在第二坐标系中的运动中确定从第一原点到测试点的位移值。 在PCB的图像中识别表示测试点的图形,并且确定图形中心和图像中心之间的像素值差异并将其转换为用于控制机器人手臂的运动并确定测试点的3D坐标的位移校正值 。 机器人臂沿着第二坐标系的Z轴移动,以将探头精确地定位在PCB的测试点上。