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Browse Prior Art Database

ROBOT/MANIPULATOR IMPACT PROTECTION DEVISE

IP.com Disclosure Number: IPCOM000008552D
Original Publication Date: 1998-Mar-01
Included in the Prior Art Database: 2002-Jun-24
Document File: 2 page(s) / 70K

Publishing Venue

Motorola

Related People

John Steward: AUTHOR

Abstract

Current manipulators suffer severe damage should they impact fixed tooling or other parts of the machine. This problem normally occurs when the manipulator incorrectly picks or drops a large robust component such as a cast aluminum housing.

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0 M MO-LA

Technical Developments

ROBOT/MANIPULATOR IMPACT PROTECTION DEVISE

by John Steward

BACKGROUND

  Current manipulators suffer severe damage should they impact fixed tooling or other parts of the machine. This problem normally occurs when the manipulator incorrectly picks or drops a large robust component such as a cast aluminum housing.

  As a result of the impact, it normally necessi- tates the need to reteach the manipulator pick and place points and to replace damaged tooling/ machine parts. This incurs extended down time with high costs.

  Manipulators are currently protected by detec- tion of high current drawn by the manipulator motors at the time of impact. This has proven to be of insufficient sensitivity to stop the manipulator and protect the system from impact damage.

SOLUTION

The proposed solution to this problem would be

to construct the manipulator with a pivot point to both "x" and "Y" axis where the arm intersects the leadscrew saddle. In an arc about the pivot point would be 4 X pretensioned securing devices and an "x" number of replaceable shear pins which would also act as tooling pins to ensure correct vertical realignment of the arm. Above, a sensor would be mounted to detect any movement of the arm about the pivot point. Material, size and number of the shear pins would depend on the manipulator arm load.

  With the above devise, should the arm suffer an impact, the shear pins would allow controlled move- ment of the arm, this in turn being s...