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:
Jun. 24, 2014
Filed:
Oct. 12, 2011
Richard Shafer, Webster, TX (US);
William Robertson, Houston, TX (US);
Richard Shafer, Webster, TX (US);
William Robertson, Houston, TX (US);
Oceaneering International, Inc., Houston, TX (US);
Abstract
A manipulator joint includes an encoder having a body and shaft. The encoder body may be fixed to a first housing and the encoder shaft may be fixed to a second housing. The second housing is separate from, distal to, and rotatable with respect to the first housing. Rotation of the second housing may be about a common axis shared with the first housing. A hollow driveshaft, rotatably coupled to the second housing, extends across the joint from the second to the first housing. A torque limiter may be fixedly coupled to the second housing and releasably coupled to the driveshaft. The encoder may be configured to output an absolute angular position of the first housing with respect to the second housing. A method of detecting an over-torque condition of the manipulator joint includes transmitting commands from a processor to the drive motor and receiving data from the encoder.