Material or article handling – Vertically swinging load support – Grab
Patent
1992-07-20
1995-08-22
Underwood, Donald W.
Material or article handling
Vertically swinging load support
Grab
811776, 414786, 901 1, 901 9, 901 39, 901 46, B25J 500
Patent
active
054433541
ABSTRACT:
A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a compliant tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.
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Alahuzos George A.
Lloyd James W.
Stone Henry W.
Jones Thomas H.
Kusmiss John H.
Miller Guy M.
The United States of America as represented by the Administrator
Underwood Donald W.
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