公开(公告)号：US4694231A

公开(公告)日：1987-09-15

申请号：US853637

申请日：1986-04-18

Applicant: Joseph G. Alvite'

Inventor： Joseph G. Alvite'

IPC: B25J13/08 ,  B25J19/06 ,  G01L5/22 ,  H01C10/06 ,  H01H13/702 ,  H01H13/785 ,  G01L1/16 ,  G05D15/00 ,  H01C10/10

CPC classification number: H01H13/785 ,  B25J13/084 ,  B25J19/063 ,  G01L5/228 ,  H01C10/06 ,  H01H13/702 ,  H01H2201/026 ,  H01H2201/036 ,  H01H2231/04 ,  H01H2239/06

Abstract: A multi-layered tactile sensing skin is provided for a robotic arm or the like. The skin includes adjacent layers of electrically insulative film having opposed contiguous surfaces. An electrically conductive carbon based compound is applied uniformly to one of the surfaces, while the other surface is selectively coated with silver oxide to form a series of pairs of first and second electrically conductive regions separated from one another by a dielectric gap. The carbon based conductor bridges the gap betwen the conductive regions in each pair, permitting flow of electrical current between the regions. The current flow increases with an increase in pressure over the interface between the layers of film, and the amperage increase can be utilized to trigger a signal to the robot power supply, to decelerate, stop or reverse arm movement.

Abstract translation: 为机器人臂等提供多层触觉感测皮肤。 皮肤包括具有相对的邻接表面的相邻的电绝缘膜层。 导电性碳基化合物均匀地施加到其中一个表面，而另一个表面选择性地涂覆有氧化银，以形成通过电介质间隙彼此分开的一系列第一和第二导电区域。 碳基导体桥接每对导电区域之间的间隙，允许区域之间的电流流动。 电流随着膜层之间的界面上的压力增加而增加，并且电流增加可用于触发机器人电源的信号，以减速，停止或反转臂的运动。

公开(公告)号：US4784421A

公开(公告)日：1988-11-15

申请号：US853674

申请日：1986-04-18

Applicant: Joseph G. Alvite'

Inventor： Joseph G. Alvite'

IPC: B25J15/04 ,  B25J17/02 ,  B25J19/06

CPC classification number: B25J17/0208 ,  B25J15/04 ,  B25J19/063 ,  Y10S483/901

Abstract: A system for interchangeably mounting tools on a robotic arm includes a clamping assembly having a core attached to and extending longitudinally from the arm, and two opposed clamping members mounted for transverse sliding on the core. A tool support member is held in the clamping assembly, when it is closed, by guide pins extended transversely from the clamping members engaged with legs of the tool support member. The support member and clamping members have conduit portions that form continuous fluid conduits and electrical paths when the support member is secured in the clamping assembly. A collet housing is supported relative to the tool support member by a linear extension device, a compliant wrist, and an overload protect wrist, which together allow limited longitudinal, transverse and angular displacement of the collet housing relative to the arm.

Abstract translation: 一种用于可互换地将工具安装在机器人手臂上的系统包括夹持组件，其具有附接到臂的纵向并且从臂纵向延伸的芯，以及安装成用于在芯上横向滑动的两个相对的夹紧构件。 通过从与工具支撑构件的腿部接合的夹紧构件横向延伸的引导销将工具支撑构件保持在夹紧组件中。 支撑构件和夹紧构件具有当支撑构件固定在夹紧组件中时形成连续流体导管和电路径的导管部分。 夹头壳体通过线性延伸装置，柔性手腕和过载保护手腕相对于工具支撑构件支撑，它们一起允许夹头壳体相对于手臂的有限的纵向，横向和角位移。