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    • 5. 发明申请
    • ROBOTIC JOINT USING METALLIC BANDS
    • 使用金属桶的机器人接头
    • WO1997003396A1
    • 1997-01-30
    • PCT/US1996011560
    • 1996-07-10
    • SMART MACHINES
    • SMART MACHINESSOLOMON, Todd, R.SLOCUM, Alexander, H.
    • G05G11/00
    • B25J9/1045Y10T74/20323Y10T403/7117Y10T403/7152
    • A robotic arm (24) utilizing two pulleys (42, 44) connected by two metallic drive bands (50, 52) wound in opposite directions and rotatably attached to the pulleys. The metallic drive bands may include multiple metal strips (72, 74) separated by a visco-elastic material (76). One end of one drive band is attached to the pulley by a pin (62). A positioning mechanism is provided to adjust the tension of the band. The positioning mechanism includes a retaining piece (84), a wedge piece (88) and an adjustment piece (86). The retaining piece is laterally movable and has an attachment point to the metal band and a slanted face (90). The wedge piece is vertically-movable and has a face abutting the slanted face of the retaining piece. The adjustment piece attaches the wedge piece to the pulley and moves the wedge piece vertically.
    • 一种利用由两个以相反方向缠绕并可旋转地附接到滑轮上的两个金属驱动带(50,52)连接的两个皮带轮(42,44)的机器臂(24)。 金属驱动带可以包括由粘弹性材料(76)分开的多个金属条(72,74)。 一个驱动带的一端通过销(62)附接到滑轮。 提供定位机构来调节带的张力。 定位机构包括保持件(84),楔块(88)和调节件(86)。 保持件是横向可移动的并具有与金属带和倾斜面(90)的连接点。 楔形件是可垂直移动的并且具有与保持件的倾斜面邻接的面。 调节件将楔形件附接到滑轮并垂直移动楔形件。