Robotic power and signal distribution using laminated cable with separator webs

• US 9,579,806 B2
• Filed: 08/23/2012
• Issued: 02/28/2017
• Est. Priority Date: 08/23/2012
• Status: Active Grant

• Current Assignee: Rethink Robotics
• Original Assignee: Rethink Robotics
• Inventors: Sussman, Michael
• Primary Examiner(s): Vo, Peter DungBa
• Assistant Examiner(s): Kue, Kaying
• Application Number:
  US13/592,886
• Publication Number:
  US 20140053676A1
• Time in Patent Office: 1,650 Days
• Field of Search: 294/28, 298/68, 295/921, 298/28, 744/900.5, 744/900.2
• US Class Current: 1/1
• CPC Class Codes: B25J 19/0025 Means for supplying energy to the end effector
• CPC Class Codes: Y10T 74/20311 including power cable or connector

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.

Claims

1. A method of conveying power and signals in a robot system comprising a joint including a plurality of mechanical elements configured for relative motion therebetween, and, 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 and (ii) each of the sub-cables is insulated and separable from all other sub-cables to accommodate a space within the joint, the method comprising:

separating at least one sub-cable from other sub-cables by cutting along a thinned insulating divider therebetween without electrically affecting any of the sub-cables;

making at least one of a mechanical or an electrical connection between the separated sub-cable and at least one joint-associated component for conveying signals and power thereto, the at least one of a mechanical or an electrical connection being made at an intermediate point along the cable spaced away from both ends of the cable;

separating at least one second sub-cable, different from the at least one sub-cable, from other sub-cables by cutting along a thinned insulating divider therebetween without electrically affecting any of the sub-cables;

making at least one of a mechanical or an electrical connection between the separated second sub-cable and at least one second joint-associated component for conveying signals and power thereto, the second joint-associated component being different from the joint-associated component;

conveying signals and power via the sub-cables; and

causing relative motion between mechanical elements of the joint, the cable and the connected sub-cables not mechanically interfering with the relative motion, wherein a separated length of the at least one sub-cable is different from a separated length of the at least one second sub-cable.

2. The method of claim 1, wherein the at least one joint-associated component is spatially separated from the joint.

3. The method of claim 1, wherein, along at least a portion of the cable, all of the sub-cables are physically accessible for removal from the cable to facilitate the separating step.

4. The method of claim 1, further comprising:

separating a second sub-cable from other sub-cables by cutting along a thinned insulating divider therebetween without electrically affecting any of the sub-cables; and

making at least one of a mechanical or an electrical connection between the separated second sub-cable and at least one joint-associated component for conveying signals and power thereto, the at least one of a mechanical or an electrical connection being made at a terminal location along the cable proximate an end of the cable.

5. The method of claim 1, wherein an entirety of the cable is slack within the joint.

6. The method of claim 1, wherein a total length of the at least one sub-cable is smaller than a total length of at least one other sub-cable of the cable.

7. The method of claim 1, wherein, along an entirety of the cable, all of the sub-cables are physically accessible for removal from the cable to facilitate the separating step.

8. The method of claim 1, wherein at least one sub-cable comprises two conductors therewithin, the two conductors being insulated from each other but inseparable from each other.

9. The method of claim 1, wherein a length of the cable passing through the joint remains constant during relative motion of the plurality of mechanical elements.