公开(公告)号：US06491127B1

公开(公告)日：2002-12-10

申请号：US09134241

申请日：1998-08-14

Applicant: Robert Holmberg ,  James C. Slater

Inventor： Robert Holmberg ,  James C. Slater

IPC: B60K100

CPC classification number: B60K7/0007 ,  B60K17/043 ,  B60K17/30 ,  B60K17/303 ,  B60K2007/0046 ,  B60K2007/0084 ,  B60L2220/46 ,  B62D7/026

Abstract: A drive system base or platform, such as for a mobile robot, is disclosed having multiple caster wheels, each wheel having its own first motor for independent driving and its own second motor for independent steering. Each wheel is rotably and pivotably mounted in a separate wheel module, which includes both the driving and steering motors associated with the wheel. All of the wheel modules on the base are identical and interchangeable. The two motors of each module are mounted side by side in a vertical arrangement for compactness. Each wheel module includes a suspension for allowing each wheel to move vertically and independently relative to the base. The hub and tread of each wheel are each cast concentrically around a bevel drive gear in an offset manner to provide a wheel and bevel gear that turn more smoothly and precisely.

Abstract translation: 公开了一种用于移动机器人的驱动系统基座或平台，其具有多个脚轮，每个车轮具有其自己的用于独立驾驶的第一马达和用于独立转向的其自己的第二马达。 每个车轮可旋转地和可枢转地安装在单独的车轮模块中，其包括与车轮相关联的驾驶和转向电动机。 底座上的所有车轮模块是相同的和可互换的。 每个模块的两个电机以垂直方式并排安装，以实现紧凑。 每个车轮模块包括用于允许每个车轮相对于底座垂直且独立地移动的悬架。 每个车轮的轮毂和胎面都以偏移的方式同心地围绕斜面驱动齿轮铸造，以提供更平滑和精确地转动的车轮和锥齿轮。

公开(公告)号：US06853877B1

公开(公告)日：2005-02-08

申请号：US09263163

申请日：1999-03-05

Applicant: James C. Slater ,  Robert Holmberg ,  Richard M. Legrand

Inventor： James C. Slater ,  Robert Holmberg ,  Richard M. Legrand

IPC: G05D1/02 ,  G06F19/00 ,  B62D11/00

CPC classification number: G05D1/0272

Abstract: A mobile base movable relative to a surface is disclosed. The base includes a main housing having at least two wheels pivotably and rotatably mounted to the housing with each wheel having a steering axis and a rotation axis. The steering and rotation axes are nonintersecting and are offset by a known caster distance. Further, included are drive means for rotating the wheels to roll along the surface, steering means for pivoting the wheels and changing their heading with respect to the surface, and controller means for reading an input vector from a host processor. The input vector is a three dimensional force torque vector.

Abstract translation: 公开了一种相对于表面可移动的移动基座。 基座包括主壳体，其具有至少两个可枢转地并且可旋转地安装到壳体的轮子，每个轮子具有转向轴线和旋转轴线。 转向和旋转轴是不间断的，并被已知的脚轮距离抵消。 此外，包括用于使车轮沿着表面旋转的驱动装置，用于枢转车轮并相对于表面改变其行程的转向装置，以及用于从主机处理器读取输入向量的控制器装置。 输入向量是三维力矩向量。

公开(公告)号：US06685371B1

公开(公告)日：2004-02-03

申请号：US09914021

申请日：2002-01-10

Applicant: Robert Holmberg

Inventor： Robert Holmberg

IPC: B41J2902

CPC classification number: B41J11/04 ,  B41J13/025

Abstract: An arrangement for a printer, which printer comprises a chassis to which a print mechanism (3) as well as a feed mechanism comprising a print roller (4) are mounted for printing on and feeding of a printing material. The arrangement is characterized by said chassis comprising a central piece (1) in which said roller (4) is mounted only at one of its ends (12), whereby the roller (4) at its other end (11) is freely suspended in relation to the chassis.

Abstract translation: 一种用于打印机的装置，该打印机包括底盘，打印机构（3）以及包括打印辊（4）的进给机构安装在其上，用于打印和进给打印材料。 该装置的特征在于，所述底架包括中心件（1），其中所述辊（4）仅安装在其一端（12）上，由此在其另一端（11）处的辊（4）自由地悬挂在 与底盘的关系。

公开(公告)号：US06283651B1

公开(公告)日：2001-09-04

申请号：US09367201

申请日：1999-10-26

Applicant: Robert Holmberg

Inventor： Robert Holmberg

IPC: B41J156

CPC classification number: B41J25/006 ,  B41J25/34

Abstract: The invention relates to an arrangement for mounting a print head in a printer. The arrangement comprises a frame (1) to which a feeder device feeds a material to be printed which the printer will print on by means of a print head (3), movably arranged adjacent to a print roll (2) for being brought into, or out of, contact with the material to be printed. According to the invention, the arrangement uses a magnet (5) to hold the print head. Preferably, the print head is fitted in a fixture device (4), which is pivoting freely around a rear axle (7) parallel to the print roll, and the pressure is applied on the print head by a pressure member (6). The magnet (5) is preferably attached to the pressure member (6) so as to transfer pushing as well as pulling forces. The invention enables screws or fixed mounting of the print head to be avoided. The arrangement according to the invention also allows for the print head (3) pressure point to be transversally displaced. The arrangement has the property of being self-adjusting regarding the alignment of the print head in relation to the print roll (2).

Abstract translation: 本发明涉及一种用于将打印头安装在打印机中的装置。 该装置包括框架（1），馈送装置馈送打印机将借助打印头（3）进行打印的材料，所述打印头可相对于打印辊（2）可移动地布置， 或者与要打印的材料接触。 根据本发明，该装置使用磁体（5）来保持打印头。 优选地，打印头安装在固定装置（4）中，固定装置（4）围绕平行于打印辊的后轴（7）自由枢转，并且压力通过压力构件（6）施加在打印头上。 磁体（5）优选地附接到压力构件（6），以便传递推动力和拉力。 本发明可以避免打印头的螺钉或固定安装。 根据本发明的装置还允许打印头（3）压力点被横向移位。 该布置具有关于打印头相对于打印辊（2）的对准的自调节的特性。

公开(公告)号：US20060159505A1

公开(公告)日：2006-07-20

申请号：US11299574

申请日：2005-12-12

Applicant: Robert Holmberg

Inventor： Robert Holmberg

IPC: B41J35/28

CPC classification number: B41J17/32

Abstract: Ribbon packaging is used to load the ribbon into the printer and to code the media type into the printer. The inventive ribbon packaging comprises a contoured sleeve that acts as a loading device. The contoured sleeve with printer ribbon is inserted into the printer. The contoured sleeve is withdrawn and the printer ribbon is left in the installed position in the printer. The packaging also has coding that can be read by the printer's electronics and coded in to the printer software, thereby automatically setting up the media type.

Abstract translation: 色带包装用于将色带装载到打印机中，并将介质类型编码到打印机中。 本发明的带状包装包括用作装载装置的成形套筒。 带打印机色带的轮廓套筒插入打印机。 轮廓的套筒被取出，打印机色带处于打印机的安装位置。 该包装还具有可由打印机的电子设备读取并编码到打印机软件中的编码，从而自动设置介质类型。