Patent ID: 7395136
Filing Date: 2008-07-01
Classification: B25J,Y10T

Abstract:
1. In a robot for picking up and placing products in a three-dimensional space, said robot comprising a main casting from which a plurality of arms are pivotally joined for rotation about a corresponding plurality of axes, the main casting supporting a servo motor connected individually in driving relation to each of the plurality of arms, a base plate suspended from at least one of the plurality of arms where the at least one arm member includes a detachable joint on an opposed end thereof for joining to the base plate at one of the opposed ends, said plurality of arms acting in concert to constrain the base plate to pure translational motion, the improvement comprising: (a) angular rate sensing means affixed to the base plate for sensing at least one of inclination and rotation of the base plate upon detachment of said detachable joint from the base plate and producing an electrical control signal; and (b) a control circuit coupled to the servo motors and responsive to said electrical control signal for de-energizing the servo motors.