PROTECTIVE DEVICE FOR CLEAN ROBOT

摘要

A clean robot (1) comprises a base (7) that houses actuators (4, 5) for driving robot arms (3), a translational guide (8) for moving the base (7) linearly, and a robot controller (10) for controlling driving motors (4A, 5A) of the robot arms (3) and the actuator (9) of the translational guide (8). There are provided acceleration sensors (11) set in the base (7) to detect impact as vibration acceleration in the directions of three axes when the clean robot (1) interferes with an object, interference detection means (13) that outputs signal pulses when the signal detected by any of the acceleration sensors (11) for the three axes exceeds a threshold, and a first AND circuit (17) for converting the signal from each of the interference detection means (13) into an interference signal. After the interference detection signal is sent to the robot controller (10), the motors (4A, 5A) for driving the robot arms (3) and the actuator (9) for driving the translational guide (8) are stopped. This configuration protects speed reducers built in the robot against damage.