Title:
ROBOT
Document Type and Number:
Japanese Patent JP2020179483
Kind Code:
A
Abstract:
To provide a robot that can detect necessary contact modes without increasing the number of sensors.SOLUTION: A robot 1 comprises: a first member 3: a second member 4 that is rotationally driven around a first axis line B with respect to the first member 3; a third member 5 that is rotationally driven around a second axis line C arranged with an interval with respect to the first axis line B, with respect to the second member 4; a first-axis torque detecting part 12 that detects only torque for at least either of rotation around the first axis line B and rotation around the second axis line C; and a force sensor 11, provided in any one of the first member 3, the second member 4 and the third member 5, between the first member 3 and an installation surface G, which can detect force in a direction crossing both of the first axis line B and the second axis line C.SELECTED DRAWING: Figure 1
Inventors:
HATADA YASUNOBU
NISHIMURA TOSHIHIRO
NAKAYAMA KAZUTAKA
NISHIMURA TOSHIHIRO
NAKAYAMA KAZUTAKA
Application Number:
JP2019085597A
Publication Date:
November 05, 2020
Filing Date:
April 26, 2019
Export Citation:
Assignee:
FANUC LTD
International Classes:
B25J19/06
Domestic Patent References:
| JP2016064474A | 2016-04-28 | |||
| JP2019042906A | 2019-03-22 | |||
| JP2017177293A | 2017-10-05 | |||
| JP2018012193A | 2018-01-25 | |||
| JP2017159427A | 2017-09-14 | |||
| JP2015199174A | 2015-11-12 | |||
| JP5980877B2 | 2016-08-31 |
Foreign References:
| US20130255426A1 | 2013-10-03 |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi