Accelerometer to monitor movement of a tool assembly attached to a robot end effector
First Claim
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1. An industrial robot comprising:
- an accelerometer mounted on said robot for monitoring movement of a tool assembly attached to an end effector of said robot for safety monitoring purposes; and
a controller connected to said robot to stop movement of said robot when said controller determines from a signal from said accelerometer that one or more predetermined criteria related to robot acceleration are detected during lead-through teaching of said robot.
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Abstract
An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.
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Citations
26 Claims
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1. An industrial robot comprising:
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an accelerometer mounted on said robot for monitoring movement of a tool assembly attached to an end effector of said robot for safety monitoring purposes; and
a controller connected to said robot to stop movement of said robot when said controller determines from a signal from said accelerometer that one or more predetermined criteria related to robot acceleration are detected during lead-through teaching of said robot. - View Dependent Claims (3, 4, 5, 9, 10)
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2. (canceled)
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6. (canceled)
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7. (canceled)
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8. (canceled)
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11. A method for monitoring an industrial robot for safety during lead-through teaching of said robot comprising:
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mounting an accelerometer on said robot to monitor movement of a tool assembly attached to an end effector of said robot; and
stopping motion of said robot responsive to said tool assembly movement exceeding a predetermined criteria during said lead-through teaching of said robot. - View Dependent Claims (12, 13, 14, 17)
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15. (canceled)
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16. (canceled)
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18. (canceled)
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19. A computer readable medium having instructions for monitoring an industrial robot for safety during lead-through teaching of said robot, said robot having an accelerometer mounted on said robot to monitor movement of a tool assembly attached to an end effector of said robot, said instructions comprising:
stopping motion of said robot responsive to said tool assembly movement exceeding a predetermined criteria during said lead-through teaching of said robot. - View Dependent Claims (20, 21, 22)
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23. A system comprising:
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a computing device having executable instructions for monitoring an industrial robot for safety during lead-through teaching of said robot, said robot having an accelerometer mounted on said robot to monitor movement of a tool assembly attached to an end effector of said robot, said executable instructions comprising;
an instruction for stopping motion of said robot responsive to said tool assembly movement exceeding a predetermined criteria during said lead-through teaching of said robot. - View Dependent Claims (24, 25, 26)
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Specification