Title:
ロボットシステム
Document Type and Number:
Japanese Patent JP7436241
Kind Code:
B2
Abstract:
To provide a robot system which can achieve cost reduction while ensuring safety of an operator.SOLUTION: This robot system comprises a robot 110, and a control device 120 for controlling the robot 110. The robot 110 comprises a wrist part 60 including a plurality of wrist joints 5, 6, 7, and a plurality of basic joints 1, 2, 3, 4 which determine a position of the wrist part 60 on a three-dimensional space. All of the basic joints 1, 2, 3, 4 and some of the wrist joints 5, 6, 7 are equipped with torque detection parts S1, S2, S3, S4 which detect torque around axes J1, J2, J3, J4, J5, J6 of the basic joints 1, 2, 3, 4 and wrist joints 5, 6, 7. The control device 120 detects an approach distance between an external surface of the robot 110 and an object 9 mounted on the robot 110 with respect to the wrist joints 5, 6, 7 which are not equipped with the torque detection part, and operates the robot 110 within an operation range in which a minimum value of the approach distance exceeds a prescribed threshold.SELECTED DRAWING: Figure 1
Inventors:
Yusuke Watanabe
Kazutaka Nakayama
Kuniyasu Matsumoto
Kazutaka Nakayama
Kuniyasu Matsumoto
Application Number:
JP2020029307A
Publication Date:
February 21, 2024
Filing Date:
February 25, 2020
Export Citation:
Assignee:
FANUC CORPORATION
International Classes:
B25J19/06; B25J13/08
Domestic Patent References:
| JP2015199174A | ||||
| JP2019098410A | ||||
| JP2017170581A | ||||
| JP2020032517A |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Previous Patent: Underfill material and method for manufacturing semiconductor devices using the same
Next Patent: Overflow prevention valve
Next Patent: Overflow prevention valve