公开(公告)号：US4818173A

公开(公告)日：1989-04-04

申请号：US484228

申请日：1983-04-12

申请人： Mohammed M. Khusro

发明人： Mohammed M. Khusro

IPC分类号： G01L1/00 ,  B25J17/02 ,  B25J19/02 ,  G01B11/00 ,  B25J9/00

CPC分类号： B25J19/021 ,  B25J17/0208

摘要： Apparatus for determinig when the gripper or hand of a robot arm, resiliently mounted on a robot arm body with a set of highly compliant springs, strikes or makes contact with an object that impedes or limits hand movement. The apparatus includes a light source, preferably mounted in a particular location on the robot arm hand and a light sensitive device cooperatively mounted in a particular location on the robot arm body, a device is capable of continuously generating hand-to-robot arm body relative position signals in response to the position of optically focused light from the light source impinging on the light sensitive device. Relative movement between the robot arm body and the robot hand normally resulting from contact between a motion impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm body movement. This signal may be employed, for example, to either terminate robot arm movement or cause a particular force to be applied to the object contacted by the robot hand.

摘要翻译： 用于当机械手臂的夹持器或手部弹性地安装在机器人手臂主体上时具有一组高柔顺弹簧的装置，用于与妨碍或限制手部移动的物体撞击或接触。 该装置包括优选地安装在机器人手臂上的特定位置的光源和协作地安装在机器人手臂主体上的特定位置的光敏装置，该装置能够连续地产生手至机器人臂体相对 响应于来自照射在光敏装置上的来自光源的光聚焦光的位置的位置信号。 通常由运动阻碍物体和机器人手之间的接触引起的机器人手臂主体和机器人手之间的相对运动导致光敏装置产生指示这种物体接触的信号和/或相对的手至机器人手臂的程度 身体运动。 该信号可以用于例如终止机器人手臂运动或使特定的力施加到由机器人手接触的物体上。

公开(公告)号：US4818174A

公开(公告)日：1989-04-04

申请号：US484229

申请日：1983-04-12

申请人： Archie H. Arpiarian ,  Mohammed M. Khusro

发明人： Archie H. Arpiarian ,  Mohammed M. Khusro

IPC分类号： B25J19/02 ,  B25J19/06 ,  B25J9/00 ,  B25J17/02

CPC分类号： B25J19/025 ,  B25J19/063

摘要： Apparatus for determining when the hand of a robot arm, resiliently mounted on a robot arm body, strikes or makes contact with an object that impedes or limits its movement, employs an optical fiber in place of conventional light focusing optics to produce a compact and ruggedized robot arm member relative movement sensor. The apparatus includes a light source mounted in a particular location on the robot arm hand and a light sensitive device spaced from the light source and mounted in a particular location on the robot body, a device that is capable of continuously generating a hand-to-robot arm body relative position signal in response to the particular location of collimated light from the robot hand mounted light source that passes through a light collimating optical fiber and strikes the light sensitive surface of the light sensitive device. Relative movement between the robot arm body and the robot hand resulting from contact between a motion-impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm movement. The use of an optical fiber in the light path in place of a conventional lens makes it possible to employ this relative movement sensing apparatus in a vibratory environment and also makes it possible to shorten the light path length and thereby reduce the size of said relative motion sensing apparatus.

摘要翻译： 用于确定何时弹性地安装在机器人手臂主体上的机器人的手与阻碍或限制其运动的物体相撞或接触的装置采用光纤代替传统的光聚焦光学器件，以产生紧凑且坚固的 机器人臂部件相对运动传感器。 该装置包括安装在机器人手臂上的特定位置的光源和与光源间隔开并安装在机器人主体上的特定位置的光敏装置，该装置能够连续生成手 - 响应于来自机器人手持式光源的准直光的特定位置的机器人臂体的相对位置信号，其通过光准直光纤并且撞击光敏装置的光敏表面。 由运动阻碍物体与机器人手之间的接触产生的机器人手臂主体与机器人手之间的相对运动导致光敏装置产生指示这种物体接触的信号和/或相对的手到机器人手臂的程度 运动。 在光路中使用光纤代替常规透镜使得可以在振动环境中使用该相对运动感测装置，并且还可以缩短光路长度，从而减小所述相对运动的尺寸 感测装置。