Automated Device With A Sensorized Covered Movable Structure, In Particular A Robot
AssigneeComau S.p.A.
InventorsStefano Bordegnoni, Alberto Vizio, Gabriele Cingano
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Abstract
An automated device has a movable structure covered at least in part by a sensorised covering. The sensorised covering comprises a plurality of covering modules, which includes one or more sensorised covering modules. Each sensorised covering module includes a plurality of distinct layers stacked on top of one another and including a load-bearing layer and at least one cushioning layer. Each sensorised covering module integrates at least one contact sensor device (C), which includes a first lower electrically conductive layer (61) and a second upper electrically conductive layer (63), set between which is an electrically insulating layer (62).
Claims20
An automated device comprising:
- a movable structure;
- actuator means operable to cause displacements of the movable structure;
- a control system operable to control the actuator means;
- and
- a sensorised covering which covers at least part of the movable structure,
- wherein the sensorised covering comprises a plurality of covering modules, which include one or more sensorised covering
- wherein each sensorised covering module (has a structure that comprises a plurality of superimposed distinct layers, which comprises a load-bearing layer made of rigid or semi-rigid material, having a predefined shape, and at least one cushioning layer made of elastically compressible material, carried by the load-bearing layer,
- wherein the contact sensor device further comprises a first lower electrically conductive layer and a second upper electrically conductive layer between which an electrically insulating layer is set,
- wherein the electrically insulating layer of the contact sensor device is made of an elastically compressible material and has a plurality of through openings arranged in such a way that the first lower electrically conductive layer and the second upper electrically conductive layer locally face each other at said through openings.
A sensorised covering for use in covering at least part of a structure of an automated device, the sensorised covering comprising:
- a plurality of covering modules each having a respective load-bearing structure of predefined shape, associated to which is at least one layer of elastically compressible material;
- one or more sensor elements connected to at least one of the plurality of covering modules each sensor element comprising at least one of the following:
- a contact sensor device comprising:
- a first electrically conductive layer (61);
- a second electrically conductive layer (63);
- and
- set between which is an intermediate electrically insulating layer made of an elastically compressible material, the intermediate electrically insulating layer having a plurality of through openings arranged in such a way that the first electrically conductive layer and the second electrically conductive layer locally face one another at said through openings;
- and
- an optical-type signalling arrangement operable to supply information regarding at least one operating state of the sensorised covering as detected by the one or more sensor elements, the optical-type signalling arrangement comprising at least one multicolour light-emitting device, which can be controlled for generating light signals, the colour and/or modality of emission of which is dependent upon the type of information that is to be supplied.
Dependencies are inferred from the claim text.