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1. 发明授权

US06298282B1 Robot crash sensor system 有权
标题翻译：机器人碰撞传感器系统
公开(公告)号：US06298282B1
公开(公告)日：2001-10-02
申请号：US09338753
申请日：1999-06-23
申请人： Richard L. Guldi , Robin D. Worley , Keith W. Melcher
发明人： Richard L. Guldi , Robin D. Worley , Keith W. Melcher
IPC分类号： G06F1900
CPC分类号： B25J9/1674 , G05B19/4061 , G05B2219/37434 , G05B2219/39082 , Y10S477/906 , Y10S477/907 , Y10T74/20305
摘要： A method of detecting object scratching during robotic arm movement of the object. The method includes providing a robotic arm for grasping and placing of an object into a cassette and providing a cassette having an entrance for receiving an object therein. A vibration sensor is placed on at least one of the robotic arm or under the cassette control of the robotic arm is provided in response to a malfunction indication at least one of the vibration sensors. There can further be provided an air flow across the entrance of the cassette with placement of a particle counter at the downstream end of the air flow across cassette entrance, wherein the control of said robotic arm is provided in response to a malfunction indication at least one of the vibration sensors and the particle counter. The control can also be provided in response to both of the vibration sensors or one or both of the vibration sensors and the particle counter. The control can be one or more of making a record of the malfunction, providing an alarm signal or terminating operation of the arm. The object is preferably some form of disc or disc-shaped object.
摘要翻译：一种在物体的机器人臂运动期间检测物体划伤的方法。该方法包括提供用于将物体夹持并放置到盒中的机器臂，并提供具有用于在其中接收物体的入口的盒。响应于至少一个振动传感器的故障指示，设置有振动传感器，所述振动传感器被放置在所述机器臂的至少一个上或所述机器人臂的盒控制下。可以进一步提供穿过盒的入口的空气流，其中颗粒计数器位于穿过盒入口的空气流的下游端，其中响应于故障指示提供所述机器人手臂的控制，至少一个的振动传感器和粒子计数器。还可以响应于两个振动传感器或者一个或两个振动传感器和粒子计数器来提供控制。该控制可以是记录故障的一个或多个，提供报警信号或手臂的终止操作。该物体最好是某种形式的盘或盘形物体。

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