Title:
DEVICE FOR DOUBLY CHECKING EXTERNAL CONTACT OF ROBOT
Document Type and Number:
Japanese Patent JP2019042906
Kind Code:
A
Abstract:
To provide an external contact double-check device that is a device for doubly checking external contact of a robot performing cooperative work with humans and co-existing with humans, and that can reliably make a robot safely control when certain force is applied from outside.SOLUTION: A device for doubly checking external contact of a robot which has a base and multiple joints with at least three axes above the base, comprises double detection means including first detection means and second detection means that detect contact between the robot and the outside and that are mutually independent. The robot is safely controlled according to: the first detection means that is a first system using three torque sensors mounted to a first axis, a second axis, and a third axis among the multiple joints; and the second detection means that is a second system using torque sensors with three degrees of freedom force mounted to an installation part of the base.SELECTED DRAWING: Figure 1
Inventors:
MARUYAMA AKIRA
Application Number:
JP2017171787A
Publication Date:
March 22, 2019
Filing Date:
September 07, 2017
Export Citation:
Assignee:
NACHI FUJIKOSHI CORP
International Classes:
B25J19/06
Attorney, Agent or Firm:
Kaichi Otani