Kabushiki Kaisha Yaskawa Denki

Satoshi Murakami

Yuji Arinaga

Koji Suzuki

Takeo Suzuki

Takayuki Imanaka

Masafumi Tamai

Shinji Yamashita

Akihiro Nomura

Shinobu Satou

A two-dimensional absolute position sensor comprises at least one magnetic slit thin plate provided to an end-effector which is attached to the end of a robot arm and moves in a plane, and having slits extending in the X and Y directions, magnetic sensor heads having magnetic sensors for position measurement in the X and Y directions opposed to the magnetic slit thin plate through a gap therebetween and bias magnets for applying magnetic fields to the magnetic sensors, and a signal processing circuit for outputting an absolute position signal generated from signals outputted from the magnetic sensors. Therefore, a small-sized, light-weighted two-dimensional absolute position sensor with an excellent environment-resistance used for readily measuring the two-dimensional absolute position of the end-effector of a robot in a non-contact manner can be provided.

Two-dimensional absolute position sensor

The invention relates to a protective device for a clean robot that includes a base in which actuators and for driving a robot arm are accommodated; a translational guide for causing the base to travel in a rectilinear direction; and a robot controller that drives and controls the drive motor A and A of the robot arm and an actuator of the translational guide ; wherein the protective device further includes acceleration sensors , which are disposed in the base and are provided in respective axes so that they can detect an impact, when the clean robot interferes with a surrounding substance, as vibration acceleration in the three-dimensional directions; an interference detecting device that outputs a pulse when the detection signals of the acceleration sensors of the respective axes exceed the threshold values that will become standards; and the first AND circuit that converts signals outputted from the interference detection means of the respective axes to interference signals, and the drive motors A and A for the robot arm and the actuator for driving the translation guide are stopped; whereby it is possible to prevent an internally incorporated speed reducer in the robot from being damaged.

Protective device for clean robot

Magnetic encoder apparatus

Growing community of inventors

Fukuoka, Japan

Satoshi Murakami