The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 24, 1984
Filed:
Mar. 18, 1982
Kaoru Kimura, Kitakyushu, JP;
Mitsuyoshi Nakano, Munakata, JP;
Yaskawa Electric Mfg. Co., Ltd., Kitakyushu, JP;
Abstract
This invention discloses a contact sensing device for detecting the contact of a moving element such as a welding torch attached to a robot arm with a fixed body. The contact sensing device substantially comprises a support-side member, a work-side member, a spherical bearing mounted on either the support-side member or work-side member, a slide shaft slidably mounted on the spherical bearing, the slide shaft being slidable in an axial direction, an elastic member mounted on the slide shaft for making the work-side member biasingly come into contact with the support-side member, at least three rollers mounted on a first surface of either the support-side member or the work-side member, the rollers capable of coming into contact with a second surface of either the support-side member or the work-side member which opposes the first surface, at least one roller engaging member mounted on the second surface on which one of the rollers runs, and a limit switch actuated by the displacement of the slide shaft.