Industrial robot with contact sensor
AssigneeJoven Electric Co., Ltd.
InventorKenji Yasumoto
Life of this patent
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Abstract
A contact sensor for a robot includes a plurality of electrically conductive shafts extending outward from a moving portion of the robot. Electrically conductive flexible feelers are disposed on the shafts. In one embodiment the feelers are disposed in fan-like arrangement similar to a peacock feather. Leakage current from a low voltage power source is used by a robot controller to sense contact with a conductive object. The robot controller immediately stops operation and movement of the robot before damage occurs.
Claims14
An industrial robot having a moveable arm, comprising:
- a contact sensor affixed to said arm;
- said contact sensor including an electrically conductive base around said arm, at least one flexible and electrically conductive shaft affixed to said base, and at least one flexible and electrically conductive feeler affixed to said shaft;
- means for biasing said contact sensor with a voltage;
- means for detecting a leakage current generated when said contact sensor makes contact with an object;
- and
- means for reacting to said leakage current by stopping said arm.
A contact sensor comprising:
- an electrically conductive base;
- at least one flexible and electrically conductive shaft affixed to said base;
- a plurality of flexible and electrically conductive feelers affixed to said at least one shaft;
- means for applying a voltage to said at least one shaft;
- and
- means for sensing a leakage current resulting from contact with an object.
A contact sensor for a machine tool having a moveable element, comprising:
- an insulating ring on said element;
- an electrically conductive base on said insulating ring;
- at least one flexible and electrically conductive shaft affixed to said base;
- a plurality of flexible and electrically conductive feelers affixed to said at least one shaft;
- means for applying a voltage to said at least one shaft;
- and
- means for sensing a leakage current resulting from contact with an object.
Dependencies are inferred from the claim text.