Robot operating apparatus provided with handles for operating robot
AssigneeFanuc Corporation
InventorWataru Murakami
Life of this patent
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Abstract
A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.
Claims8
A robot operating apparatus comprising:
- a sensor mounted on the distal end part and of an arm unit of an industrial robot that is controlled by a control apparatus and configured to detect a force or moment;
- and
- a handle supporting unit mounted on the distal end part of the arm unit via the sensor, and wherein the robot operating apparatus is configured to send the force or the moment detected by the sensor to the control apparatus in a form of an electric signal to move the distal end part of the arm unit in accordance with a direction and a magnitude of the force or the moment detected by the sensor, wherein
- the handle supporting unit supports two handles disposed so as to form a substantially right angle with respect to each other, and a handle structure including the two handles includes two force points where forces are applied, and
- the two force points are positioned respectively at positions symmetrical with respect to an imaginary extension line of a force input axis of the sensor,
- wherein the sensor is adapted to detect a resultant force of forces applied to the two force points.
Dependencies are inferred from the claim text.