Method and device for aligning a tool held by a robot
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United States of America Patent
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-
Feb 6, 1996
Grant Date -
N/A
app pub date -
Dec 23, 1994
filing date -
Dec 23, 1994
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A device for indicating the alignment of a tool held by the arm of a robot includes a frame mounted at a known coordinate, an electrical switch mounted on the frame and connected to the robot, a lever having opposite first and second end portions and a central portion therebetween pivotally connected to the frame such that the first end portion normally makes contact with the switch in the absence of outside forces on the lever. The second end portion of the lever has a target bore therein for receiving the tool with a given tolerance for misalignment of the tool. If the tolerance is exceeded, the tool engages the second end portion of the lever and forcibly pivots the first end portion out of contact with the switch to indicate misalignment of the tool. The method of checking alignment with this device includes positioning the tool in an expected position of alignment with the target bore, moving the tool into the bore, and sending an electrical signal to the robot indicating whether the tool strikes the lever and pivots it out of contact with the switch.
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