US4831232A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Industrial robot equipment capable of automatically terminating operation at a desired sensed location
Assignee: ABB Norden Holding AB
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Filing: 1987-09-16
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Granted: 1989-05-16
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Expires: 2007-09-16
Abstract
Abstract An industrial robot supports an operating member mounted on the robot hand for carrying out work or monitoring operation on an object. The robot has a sensor which controls the path of movement of the robot hand during the operation. The robot is provided with means which during the work operation investigates whether a quantity, sensed with the aid of the sensor, for example a sudden change in the direction of the path, fulfills a predetermined criterion and, in dependence thereon, interrupts the movement of the robot hand if the criterion is fulfilled.
Inventors
- 👤 Bjorn Andersson
- 👤 Mats Bjorkelund
- 👤 Stefan Edstrom
- 👤 Jan Fager
- 👤 Monica Schofield
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 02:25
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/427; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36417
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
161 words
Industrial robot equipment comprising: an industrial robot having a robot hand onto which is mounted an operating member for carrying out an operation on an object, the robot being provided with a sensor for control of the operating member along a path along the object while the operating member is carrying out a required operation, wherein the equipment includes: means for defining a stop zone prior to commencing the required operation; means for sensing, during the required operation, whether the path changes direction and for determining a magnitude for the on-going change in direction; means for determining the position of a sudden change in direction of the path; and means for interrupting the movement of the robot hand along the path during the operation if the robot hand is located within the pre-defined stop zone, the magnitude of the on-going change in direction exceeds a predetermined value and the operating member has reached the sudden change in direction of the path.
Claim 2
Dependent Claim
161 words
Industrial robot equipment comprising: an industrial robot having a robot hand onto which is mounted an operating member for carrying out an operation on an object, the robot being provided with a sensor for control of the operating member along a path along the object while the operating member is carrying out a required operation, wherein the equipment includes: means for defining a stop zone prior to commencing the required operation; means for sensing, during the required operation, whether the path changes direction and for determining a magnitude for the on-going change in direction; means for determining the position of a sudden change in direction of the path; and means for interrupting the movement of the robot hand along the path during the operation if the robot hand is located within the pre-defined stop zone, the magnitude of the on-going change in direction exceeds a predetermined value and the operating member has reached the sudden change in direction of the path.
Claim 3
Dependent Claim
122 words
Industrial robot equipment according to claim 1, further comprising: means for continuously determining respective positions of first, second and third points of the robot hand along the path; means for forming from said three points a first vector which indicates the direction between the first and second points and a second vector which indicates the direction between the second and third points; means for calculating a quantity which is a measure of the angle between the vectors; means for investigating when, upon a change in direction of the path, the quantity reaches a maximum value corresponding to the magnitude for the on-going change in direction; and means for storing the position of the second point when the quantity has the maximum value.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-05-15 | 1992-11-14 | 1993-05-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-05-15 | 1996-11-14 | 1997-05-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-05-15 | 2000-11-14 | 2001-05-16 | $7700.00 | Window Closed / Lapsed |