Importance

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Abstract

A collision sensor and compliance device for use with computer controlled robotic arms adapted to have a robotic hand disposed on the distal end thereof includes a housing affixed to the robotic arm on one end with a robotic hand affixed upon the other end thereof. The front and rear walls of the housing includes triangular-shaped apertures disposed in a common plane with the apex of each of the triangularly-shaped apertures being positioned equally distant from the lower edges of each of the walls. Light emitting diodes are centrally disposed in one pair of the oppositely disposed walls with photoelectric light sensors disposed in the robotic hand support bracket. The robotic hand or support bracket includes at least a pair of bearings (preferably two pair) disposed at right angles to each other and adapted to be received and cooperate with a pair of the triangularly-shaped apertures provided in the housing. The bearings have free movement within the apertures and a spring has one end thereof affixed to the bracket or robotic hand and the other end affixed to the housing in order to urge each of the bearings to the same relative position in each of the triangularly-shaped apertures aligning the light emitting diodes and light sensing devices so that a collision of the robotic hand with an object will cause the light sensor to either provide an electrical output signal or not provide electrical output signal, thereby causing the control computer to correct for the movement of the robotic arm to avoid or guarantee the collision at the selected location.

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First Claim