US 11,305,434 B2Granted

Robot system

AssigneeFanuc Corporation

InventorsMasahiro Morioka, Munehiro Jinushi, Akihiro Fukasawa, Ken Takahashi, Yasuhiro Nozawa, Hideyuki Watanabe

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Abstract

A robot system includes a robot main body, a sensor that detects a magnitude of an external force applied to the robot main body, a control unit that controls the robot main body, a reference value storage unit that stores a value of an external force detected by the sensor as a reference external force value in an operating state where only the weight of the robot main body and the load handled by the robot main body act on the robot main body, a determination unit that, during operation of the robot main body, determines that an external force other than the weight of the robot main body and the load acts on the robot main body when an absolute value of a difference between a value of an external force detected by the sensor and the stored reference external force value is larger than a predetermined threshold value.

Claims12

Dependent claims

A robot system comprising:

a robot main body;
a sensor that detects a magnitude of an external force applied to the robot main body, the external force including a weight of the robot main body, a load handled by the robot main body, and a force received from a person or an object coming into contact with the robot main body;
and
a processor;
wherein the processor is configured to:
control the robot main body;
store, in a memory, a value of the external force detected by the sensor as a reference external force value, in a specific operating state in which only the weight of the robot main body and the load handled by the robot main body act on the robot main body;
and
determine that, during operation of the robot main body, an external force other than the weight of the robot main body and the load acting on the robot main body when an absolute value of a difference between the external force detected by the sensor and the reference external force value stored in the memory is larger than a predetermined threshold value, and
wherein a magnitude of the load handled by the robot main body changes continuously.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/571,433Filed 16 Sep 2019
Priority: JP JP2018-20186026 Oct 2018
Published: US 2020/0130199 A130 Apr 2020
Granted: 19 Apr 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

B25J 9/1633
Characterised by the control loop: compliant, force, torque control, e.g. combined with position control
B25J 13/085
By means of sensing devices, e.g. viewing or touching devices: force or torque sensors
B25J 9/0081
Program-controlled manipulators: with leader teach-in means
B25J 13/084
Touching devices, e.g. pressure-sensitive: tactile sensors

Family

US 2020/0130199 A1Pre-grant publication · published 30 Apr 2020
US 11,305,434 B2This patent

From the US filing history. Foreign family members aren’t listed.

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