Safety detecting device and a safety detecting system including the same
US-2024408755-A1 · Dec 12, 2024 · US
Robot and abnormality detection method of robot
US2020030981A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2020030981-A1 |
| Application number | US-201916524266-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jul 29, 2019 |
| Priority date | Jul 30, 2018 |
| Publication date | Jan 30, 2020 |
| Grant date | — |
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- Title
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Abstract
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A robot includes a robot arm, a first member and a second member placed between a base of the robot arm and an installation part, a first force sensor and a second force sensor placed in contact with both the first member and the second member on a plane in a normal direction along a direction in which the base and the installation part are arranged, an on-virtual line component calculation part that obtains a first translational force component on a virtual line from output of the first force sensor and obtains a second translational force component on the virtual line from output of the second force sensor, and a determination part that outputs a signal when determining that the first force sensor or the second force sensor is abnormal based on a difference between the first translational force component and the second translational force component.
First claim
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What is claimed is: 1 . A robot comprising: a robot arm; a first member and a second member placed between a base of the robot arm and an installation part; a first force sensor and a second force sensor placed in contact with both the first member and the second member on a plane in a normal direction along a direction in which the base and the installation part are arranged; an on-virtual line component calculation part that obtains a translational force component on a virtual line from output of the first force sensor as a first translational force component and obtains a translational force component on the virtual line from output of the second force sensor as a second translational force component; and a determination part that outputs a signal when determining that the first force sensor or the second force sensor is abnormal based on a difference between the first translational force component and the second translational force component. 2 . The robot according to claim 1 , further comprising a control unit that receives the signal from the determination part and restricts driving of the robot arm. 3 . The robot according to claim 1 , further comprising an external force calculation part that calculates a resultant force based on the output of the first force sensor and the output of the second force sensor. 4 . The robot according to claim 1 , wherein the first force sensor and the second force sensor are respectively six-axis force sensors. 5 . The robot according to claim 1 , wherein the first force sensor and the second force sensor are respectively sensors having quartz crystal. 6 . The robot according to claim 1 , further comprising a third force sensor and a fourth force sensor. 7 . An abnormality detection method of a robot having a robot arm, a first member and a second member placed between a base of the robot arm and an installation part, and a first force sensor and a second force sensor placed in contact with both the first member and the second member on a plane in a normal direction along a direction in which the base and the installation part are arranged, the method comprising: obtaining a translational force component on a virtual line from output of the first force sensor as a first translational force component and obtaining a translational force component on the virtual line from output of the second force sensor as a second translational force component; and determining whether or not a difference between the first translational force component and the second translational force component exceeds a threshold value and, when the difference exceeds the threshold value, determining that the first force sensor or the second force sensor is abnormal.
Assignees
Inventors
Classifications
Means or methods for testing manipulators · CPC title
- B25J19/02Primary
Sensing devices · CPC title
Avoid overload servo motor, actuator limit servo torque · CPC title
- B25J9/1674Primary
characterised by safety, monitoring, diagnostic · CPC title
- B25J13/085Primary
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
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Frequently asked questions
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- What does patent US2020030981A1 cover?
- A robot includes a robot arm, a first member and a second member placed between a base of the robot arm and an installation part, a first force sensor and a second force sensor placed in contact with both the first member and the second member on a plane in a normal direction along a direction in which the base and the installation part are arranged, an on-virtual line component calculation par…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J19/02. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Jan 30 2020 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).