Workpiece transport apparatus
AssigneeFanuc Corporation
InventorYoshiaki Kato
Life of this patent
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Abstract
A workpiece transport apparatus for transporting a workpiece includes: a hand device; a moving device that includes a movable part mounted with the hand device and that includes at least one drive axis configured to operate the movable part; a current measurement section configured to measure a current value of a motor that drives the drive axis; and a workpiece number detection section configured to detect that a number of workpieces held by the hand device is different from an expected number based on a comparison result between the current value measured by the current measurement section when the hand device holds the workpiece, and a predetermined threshold value.
Claims5
A workpiece transport apparatus configured to transport a workpiece, the workpiece transport apparatus comprising:
- a robot mounted with a hand device;
- an arm of the robot that includes a movable part mounted with the hand device and that includes at least one drive axis configured to operate the movable part;
- and
- a processor configured to:
- measure a current value of a motor that drives the drive axis;
- detect that a number of workpieces held by the hand device is different from an expected number based on a comparison result between the measured current value when the hand device holds the workpiece, and a predetermined threshold value;
- and detect an abnormality in the number of pieces held by the hand device occurs when the comparison result exceeds the predetermined threshold.
Dependencies are inferred from the claim text.