Robotic power and signal distribution using laminated cable with separator webs
AssigneeRethink Robotics, Inc.
InventorMichael Sussman
Life of this patent
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Abstract
Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.
Claims11
An electromechanical joint for a robot, the joint comprising:
- a plurality of mechanical elements configured for relative motion therebetween;
- passing through the joint, a cable comprising a plurality of insulated sub-cables in a unitary flat configuration for conveying power and signals, wherein:
- (i) the cable is slack within the joint to accommodate the relative motion;
- (ii) each of the sub-cables is insulated and separable from all other sub-cables along at least a portion of a length of the cable;
- (iii) at least some of the sub-cables are only partially separated from the cable, via cuts along thinned insulating dividers disposed between the sub-cables, and each of the at least some of the sub-cables is electrically connected to at least one joint-associated component for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint;
- and
- (iv) at least one of the joint-associated components is a sensor for detecting relative motion between at least two mechanical elements.
Dependencies are inferred from the claim text.