Title:
ROBOT
Document Type and Number:
WIPO Patent Application WO/2017/043081
Kind Code:
A1
Abstract:
A plurality of sets of arm mechanisms (3) that each connects a base (2) and a bracket (4) to each other, each arm mechanism being provided with: an arm (18) having a base end section thereof swingably connected to the base; a pair of mutually parallel links (21, 22) that have base end sections thereof arranged so as to rotatably pinch a base end side link holding part (20) of the arm mechanism, and that have tip sections thereof arranged so as to rotatably pinch a tip side link holding part (29) of the bracket (4); and an urging unit (27) which is disposed between the pair of links and which urges the pair of links closer to each other; a link separation detection unit (5) fitted to the pair of links; and a control unit (61) that controls motion of the arm. The link separation detection unit is provided with a detection part (41b) which is fitted to the middle section of one of the pair of links and which can detect separation greater than a predetermined distance between the middle section of one of the pair of links and the middle section of the other one of the pair of links.
Inventors:
WAKITA DAISUKE
Application Number:
PCT/JP2016/004083
Publication Date:
March 16, 2017
Filing Date:
September 07, 2016
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J11/00; B25J19/06
Domestic Patent References:
| WO2008059659A1 | 2008-05-22 |
Foreign References:
| JP2013052501A | 2013-03-21 | |||
| JP2009248289A | 2009-10-29 |
Other References:
See also references of EP 3348359A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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