Piezoelectric film load cell robot collision detector
US4821584A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Mar 15, 1988 |
| Grant date | Apr 18, 1989 |
| Priority date | — |
| Expiry date | Mar 15, 2008 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S310/80
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.