Industrial robot system having sensor assembly

摘要

An industrial robot system includes an end effector connectable to a robot arm, a drive assembly, and a controller. The end effector includes a distal housing, a spindle assembly rotatable about a rotational axis, a drill bit rotatable about the rotational axis, and a sensor assembly. The sensor assembly includes a first light source, a second light source, and a photosensitive array. The first light source produces a first fan of light which is projected as a first line of light on the object surface. The second light source produces a second fan of light, which is projected as a second line of light on the object surface. The photosensitive array detects a first reflection line corresponding to the first line of light and a second reflection line corresponding to the second line of light.

主权项

1. An industrial robot system comprising:
an end effector connectable to a robot arm, the end effector including
a distal housing;a spindle assembly connected with the distal housing and rotatable about a rotational axis;a drill bit connected with the spindle assembly and rotatable about the rotational axis; anda sensor assembly mounted to the distal housing offset from the rotational axis; a drive assembly operatively connected with the robot arm for moving the robot arm; and a controller in electrical communication with the sensor assembly and the drive assembly, wherein the controller is configured to transmit signals to the drive assembly to move the robot arm to adjust the rotational axis with respect to an object surface of a work piece, wherein the sensor assembly includes
a first light source offset from the rotational axis, the first light source configured to produce a first fan of light which is projected as a first line of light on the object surface, the first fan of light residing in a first plane; anda second light source offset from the rotational axis and the first light source, the second light source configured to produce a second fan of light which is projected as a second line of light on the object surface, the second fan of light residing in a second plane that is offset at an angle transverse to the first fan of light; anda photosensitive array offset from the rotational axis, the first light source, and the second light source, the photosensitive array positioned with respect to the first light source and the second light source to detect a first reflection line corresponding to the first line of light and a second reflection line corresponding to the second line of light.