US4591944A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Electronic circuit for tactile sensors
Assignee: Fanuc Robotics North America Inc
•
Filing: 1984-09-10
•
Granted: 1986-05-27
•
Expires: 2004-09-10
Abstract
Abstract An electronic circuit adapted to receive conditioned force signals from a three-axes load cell mounted on the arm of a robot and provide a stop signal for use by a controller of the robot. The circuit compares the sum of the absolute value of the forces with a variable reference signal. A force trip relay and a masking relay are connected in parallel to provide the stop signal when both the resulting sum is greater in value than the reference signal and the robot is in an operating condition in which high forces do not normally occur.
Inventors
- 👤 David P. Gravel
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 20:02
CPC Classifications
G; G01; G01L; G01L5/00; G01L5/22; G01L5/226; G01L5/228; B; B25; B25J; B25J13/00; B25J13/08; B25J13/085; B25J19/00; B25J19/06; B25J19/063
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
104 words
An electronic circuit adapted to receive conditioned input signals from a 3-axis load cell mounted on the arm of a robot, the circuit providing a stop signal for use by a controller of the robot to prevent an overload condition, the circuit comprising: computing means for computing the absolute value of each of the input signals; adding means for adding the absolute values to obtain a resulting value; comparing means for comparing the resulting value with a threshold value to obtain a trigger signal when the resulting value exceeds the threshold value; and means responsive to said trigger signal to provide the stop signal.
Claim 2
Dependent Claim
104 words
An electronic circuit adapted to receive conditioned input signals from a 3-axis load cell mounted on the arm of a robot, the circuit providing a stop signal for use by a controller of the robot to prevent an overload condition, the circuit comprising: computing means for computing the absolute value of each of the input signals; adding means for adding the absolute values to obtain a resulting value; comparing means for comparing the resulting value with a threshold value to obtain a trigger signal when the resulting value exceeds the threshold value; and means responsive to said trigger signal to provide the stop signal.
Claim 3
Dependent Claim
27 words
The circuit as claimed in claim 1 further including generating means coupled to said comparing means for generating a variable threshold signal representing a variable overload condition.
Claim 4
Dependent Claim
35 words
The circuit as claimed in claim 1 or claim 2 wherein said means responsive to said trigger signal includes masking means responsive to the controller for suppressing said trigger signal to prevent said stop signal.
Claim 5
Dependent Claim
32 words
The circuit as claimed in claim 3 wherein said computing means comprises three absolute value circuits, each of said absolute value circuits producing an output equal to the magnitude of its input.
Claim 6
Dependent Claim
15 words
The circuit as claimed in claim 4 wherein said adding means comprises a summing circuit.
Claim 7
Dependent Claim
14 words
The circuit as claimed in claim 5 wherein said comparing means includes a comparator.
Claim 8
Dependent Claim
23 words
The circuit as claimed in claim 3 wherein said masking means comprises a first device for controlling the issuance of said stop signal.
Claim 9
Dependent Claim
23 words
The circuit as claimed in claim 7 including a second device coupled in parallel to said first device and receiving said trigger signal.
References Cited (Backward Citations)
US3845657A
Cited
US3805169A
Cited
US3919563A
Cited
US3948093A
Cited
US4283764A
Cited
US4369663A
Cited
US4305028A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-05-26 | 1989-11-25 | 1990-05-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-05-26 | 1993-11-25 | 1994-05-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-05-26 | 1997-11-25 | 1998-05-27 | $7700.00 | Window Closed / Lapsed |