Limit Switch Patents (Class 901/13)
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Patent number: 8342586Abstract: A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.Type: GrantFiled: August 20, 2009Date of Patent: January 1, 2013Assignee: Samsung Electronics Co., Ltd.Inventor: Hyun Sik Sim
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Patent number: 7893646Abstract: A game system comprises a game board having a playing area and game pieces for playing a game on the game board. Each game piece comprises a mobile robot for sensing and decoding a position-coding pattern printed on the game board. Each game piece is in communication with a computer system. The computer system is configured to send instructions for moving each game piece relative to the playing area in response to position information corresponding to the game pieces.Type: GrantFiled: September 22, 2009Date of Patent: February 22, 2011Assignee: Silverbrook Research Pty LtdInventors: Zhenya Alexander Yourlo, Paul Lapstun, Kia Silverbrook
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Patent number: 7680551Abstract: An industrial robot includes a first member, a positioning member arranged to be attached to the first member, a second member arranged to rotate relative to the first member, and a first joint for coupling the first member with the second member. The second member has a contact point arranged to contact the positioning member. An indication for requesting to enable the positioning member to contact the contact point is displayed. The second member rotates at the first joint relatively to the first member while the positioning member can contact the contact point. It is detected whether or not the contact point of the second member contacts the positioning member. A position of the second member is stored as an origin when it is detected that the contact point of the second member contacts the positioning member. This method prevents a possible failure of the attaching of the positioning member, and decreases a work load on an operator.Type: GrantFiled: October 24, 2005Date of Patent: March 16, 2010Assignee: Panasonic CorporationInventors: Tatsuya Ikeda, Hiroyuki Nakata, Seiji Iwai
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Patent number: 6913192Abstract: An ATM currency cassette with a currency overload prevention arrangement. The cassette includes a currency stack push plate having a flexible arm. The arm becomes flexed by currency pressing against it due to an overloaded condition. The cassette lid includes a rib. The rib engages the flexed arm during closing of the lid to prevent full closure of the lid. With the lid prevented from closure, the currency loader can become aware of the overloaded situation and remove excess currency from the cassette.Type: GrantFiled: February 27, 2004Date of Patent: July 5, 2005Assignee: Diebold Self-Service Systems division of Diebold, IncorporatedInventors: Jon Washington, Eric VanKeulen, H. Thomas Graef, Jeffrey Eastman
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Patent number: 6135702Abstract: An apparatus for preventing the over-tilt of a gripper assembly in a cassette loading device is described. The apparatus provides an additional sensor arm system rigidly mounted to the gripper assembly such that the additional sensor arm not only provides a method for it to reach an over-tilt position, but also provides a mechanical stop to manually stop the gripper assembly from making further motion beyond the maximum downward-tilt position of the arm. The apparatus may further be provided with a warning system and a manual override device such that a machine operator may be alerted of the over-tilt condition and further, may manually override the sensor system by temporarily restoring power to the gripper assembly and returning it to a safe position.Type: GrantFiled: June 3, 1998Date of Patent: October 24, 2000Assignee: Taiwan Semiconductor Manufacturing Company, Ltd.Inventors: Gwo-Jou Huang, Ping-Yu Hu, Ton-Li Lee, Chen-Shin Lin
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Patent number: 5697480Abstract: A breakaway connection for securely mounting a tool to a robot is disclosed. The breakaway connection incorporates a plunger that is spring biased from a moving member into a notch in a fixed member. Moment arm forces on the tool are translated to the connection between the plunger and the notch. Should those overload forces exceed the spring force on the plunger, the plunger moves out of the notch. At that time, the tool is free to pivot relative to the housing to a disabled position. This pivoting movement allows the tool to move away from an obstruction that might have caused the force. A universal joint connection is used between the moving member and its housing. The spring force on the plunger may be adjusted. In addition, a sensor may monitor movement of the plunger and communicate with a control for the robot to allow the robot to identify when the plunger begins to move.Type: GrantFiled: March 22, 1995Date of Patent: December 16, 1997Assignee: Syron Engineering & Manufacturing CorporationInventors: Alfred F. Herbermann, Michael A. Filipiak
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Patent number: 5558196Abstract: A device for detecting the limits of the rotational motion of a rotating member in an industrial robot is provided. The rotating member rotates in a first and a second rotational direction about an axis relative to a fixed member. The device comprises a limit switch provided on one of the members and a contact piece, provided on the fixed member, for activating the limit switch. The contact piece is rotatable between first and second angular position about an axis parallel to the axis of rotating member.Type: GrantFiled: October 6, 1994Date of Patent: September 24, 1996Assignee: Fanuc Ltd.Inventors: Ryo Nihei, Akihiro Terada, Kyozi Iwasaki, Masatoshi Ito
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Patent number: 5508686Abstract: An overtravel detecting device, mounted on an angularly movable shaft of an industrial robot for mechanically determining and detecting the limits of rotation of the movable shaft, is attached to a rotating shaft (12) of a wrist portion (10) of an industrial robot and is provided with a pattern plate member (22) having two grooved paths (24) for setting the limits of rotation of the rotating shaft at predetermined position with respect to an origin position of the rotation, and a detecting element constituted by a limit switch (32) for transmitting an overtravel signal when the switch comes into contact with stop walls (24a, 24b) formed at ends of the two grooved paths for setting limits of rotation.Type: GrantFiled: December 14, 1994Date of Patent: April 16, 1996Assignee: Fanuc Ltd.Inventors: Ryo Nihei, Kazuhisa Otsuka, Hideki Sugiyama
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Patent number: 5193658Abstract: The invention relates to an industrial robot with a stand (1) which is rotatably journalled in a base (2) and provided with a mechanical stop for limiting the rotary motion of the stand. The stop comprises at least one radially projecting stop arm (7), which in a certain rotational position makes contact with a stop pin (6) arranged on the base (2). The rotary moment is taken up by deformation of the stop pin (6). The stand (1) is provided with a plurality of recesses (8, 10) arranged around the periphery of the stand, whereas the stop arm (7) is formed with at least one fixing projection (12, 13) which is adapted to the recesses and which, with the aid of a wedge member (14), may be fastened into one of the recesses at an optional location on the periphery of the stand.Type: GrantFiled: January 29, 1992Date of Patent: March 16, 1993Assignee: Asea Brown Boveri ABInventor: Leif Tellden
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Patent number: 4934504Abstract: Angular regions (A, B) for turning a trunk body (12) of an industrial robot can be changed in accordance with an operation of the industrial robot by setting movable stoppers (18, 20). Turning movement can be stopped by an electrical means (LS1, LS2, LS3, LS4, LS5) to protect a drive motor and a drive mechanism, just before a stopper (22) fixed on the trunk body collides with mechanical stoppers (14, 16, 18, 20). An accident based on an error operation of the movable stoppers can be prevented by disposing proximity detectors (PS1, PS2, PS3, PS4).Type: GrantFiled: November 17, 1989Date of Patent: June 19, 1990Assignee: Fanuc Ltd.Inventors: Nobutoshi Torii, Yasuo Naito, Kazuhisa Otsuka, Satoshi Kinoshita
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Patent number: 4860144Abstract: An overload protector for a robot arm has an open-topped cylinder into which a piston is inserted. The piston is held against a circumferential stop surface of the cylinder by compression springs.Type: GrantFiled: December 9, 1987Date of Patent: August 22, 1989Assignee: Siemens AktiengesellschaftInventor: Klaus Berner
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Patent number: 4828094Abstract: An apparatus for limiting range of motion of an industrial robot in accordance with the invention includes an indicating section (7) for indicating e.g. angles of rotation provided on a stationary side (1) of the swivel portion of an axis about which swiveling motion is possible. A range limiting member (6) having a dog and a stopper is movably disposed on the indicating section (7). When the industrial robot attempts to rotate beyond a stipulated range of rotation during operation, a limit member (81) provided on a movable side (2) of the axis portion contacts the dog (61) on the stationary side (1) to detect overtravel, whereby a warning is issued to the effect that the stipulated range of rotation has been exceeded. When the robot attempts to rotate further due to inertia, a shock absorber (82) strikes a stopper mechanism (62) to prevent excessive rotation.Type: GrantFiled: April 8, 1987Date of Patent: May 9, 1989Assignee: Fanuc LtdInventors: Nobutoshi Torii, Ryo Nihei, Hitoshi Mizuno
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Patent number: 4816955Abstract: Robot joint with an electric drive motor (30), a limit switch (36) for a safety shut off of the same, and a sensor (100) for the zero position-scanning of the joint. The limit switch (36) is actuated by annular segment like platform pieces (50) which are securable in different angle positions on a front face of the one robot part (12). For this purpose, a divided support ring (72,74) is provided which is securable in different angle positions independent from the platform pieces (50) and which has a side face (96,98) which influences the sensor (100).Type: GrantFiled: December 1, 1986Date of Patent: March 28, 1989Assignee: Robert Bosch GmbHInventors: Joachim Bruns, Gerhard Gosdowski, Andreas Kettner, Udo Schwarze
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Patent number: 4797564Abstract: An overload detection mechanism for a robot is disclosed, wherein first and second members are relatively urged together by an urging means to urge the axis of the second member toward the Z axis of the first member. The second member is guided in any movements departing from coaxial alignment, and the first member is supported near the end of a robot arm. A tool mount or workpiece mount is connected to the second member. An electrical device is mounted on one of the members, and a device actuator on the other of the members, with the reaction means acting between the members to relatively move the members upon tilting from an X-Y plane normal to the Z axis, or axial thrust applied by the tool mount to the second member. In this manner, an overload of a tool in the tool mount establishes relative movement between the first and second members, so that the electrical device is actuated to change an electrical condition thereof and can be connected to stop movement of the robot.Type: GrantFiled: August 25, 1986Date of Patent: January 10, 1989Assignee: Erickson Tool CompanyInventor: Valdas S. Ramunas
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Patent number: 4764078Abstract: A system for feeding production and/or packing material onto manufacturing lines, which system has compartment for storing the material; guide tapes for mobile trucks traveling between a storage area and manufacturing lines. The guide tapes define routes selectively traveled along, in use, by the mobile trucks for transporting and feeding the material to the manufacturing lines. A computer controls the position and operation of the mobile trucks; and a number of mobile trucks having an independent electricity supply and designed to supply operating-arm units are connected at least temporarily to the mobile trucks.Type: GrantFiled: May 6, 1986Date of Patent: August 16, 1988Assignee: G. D. Societa' per AzioniInventor: Armando Neri
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Patent number: 4744266Abstract: A manipulator module comprises an arm bearingly mounted on an axle, confined between left and right adjustable stops with a suitably completed fixing surface. On the arm are stationary mounted hard stops with slits, charged with helical cylindric springs. The springs contact the adjustable stops when the arm approaches the respective stop. Onto parallel guideways, formed by the stationary stops with slits, roll the extreme bearings of a three bearing bearings block, the intermediate bearing of which contacts the fixing surface of the respective stop while the mover is at "on" position. When the arm has reached the stop and has deformed the spring, the "fix" mover is actuated, the arm is fixed to the stop and the energy lost during the arm's movement is added.Type: GrantFiled: January 30, 1987Date of Patent: May 17, 1988Assignee: Institute Po Technicheska KibernetikaInventors: Nedko S. Shivarov, Gencho S. Stainov, Todor N. Todorov
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Patent number: 4571149Abstract: A gantry type orthogonal axes manipulator system including a rack and pinion mechanical drive for the X and Y axis assemblies and a ball screw mechanical drive for the Z axis assembly employs closed loop DC servo electrical drives controlled by the conventional numerical control techniques.A rotary index feature permits horizontal rotation of the Y axis assembly, which supports the Z axis assembly, at the end of travel of the X axis assembly to service work zones on either side of the X axis assembly.Type: GrantFiled: April 14, 1983Date of Patent: February 18, 1986Assignee: Westinghouse Electric Corp.Inventors: Daniel P. Soroka, Mark S. Stoutamire
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Patent number: 4564331Abstract: A robot of the type having a housing and a manipulator mounted to the housing and movable along a plurality of predetermined axes of movement. A drive mechanism is associated with the each axis of movement for moving, upon actuation, the manipulator along its respective axis of movement. The actuation of the drive mechanisms is controlled by a program drum which is rotatably mounted to the housing. A plurality of cam segments are adjustably secured to the drum at both axially and circumferentially spaced positions thus forming a plurality of axially spaced, segmented cam rings. A plurality of cam followers are secured to the housing so that one cam follower registers with each cam ring. Each cam follower is connected with an actuator so that, when the cam follower engages a cam segment on the drum, the actuator activates the drive mechanism corresponding to the particular cam ring. Conversely, the actuator deactivates its associated drive mechanism when the cam follower disengages from the cam segment.Type: GrantFiled: January 17, 1983Date of Patent: January 14, 1986Inventor: Wendell Karr-Ake
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Patent number: 4540869Abstract: A welding torch for use in a welding robot is prevented from being deformed or otherwise damaged on collision with the work while the welding robot is being taught. The welding torch comprises a housing adapted to be supported at a distal end of the robot arm, a torch nozzle axially movably and rotatably supported at a distal end of the housing, a shaft axially movably and rotatably mounted in the housing and movable in response to rotation and/or axial movement of the torch nozzle, and a switch or switches mounted in the housing and actuatable in response to rotation and/or axial movement of the shaft for generating a signal to stop the movement of the robot arm. When the torch nozzle collides with the work, the switch means is actuated to stop the movement of the robot arm.Type: GrantFiled: February 25, 1983Date of Patent: September 10, 1985Assignee: Mitsubishi Denki Kabushiki KaishaInventor: Hirotoshi Yasuoka
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Patent number: 4514136Abstract: Pivot angle adjusting means for the arm of a material handling device such as industrial robots are disclosed. An arm connected to a rotary shaft via a mount is pivotably mounted to a support. A cylindrical vane chamber having a rotary vane therein is mounted to the support, wherein the rotary vane secured to the rotary shaft is pivoted by a fluid supplied to the cylindrical vane chamber. A stopper is mounted to the rotary shaft and its pivot angle is detected by a pair of sensors mounted to the support. A stop is mounted to the support and is movable at a certain distance in the direction of the movement of the stopper. The stop can be placed in the locus of the movement of the stopper so as to stop the stopper at a certain intermediate point within the pivot movement of the stopper in its clockwise and counterclockwise movements, thereby stopping the arm at the intermediate point.Type: GrantFiled: May 17, 1982Date of Patent: April 30, 1985Assignee: Okamura CorporationInventor: Masatoshi Abe