Transfer leg and robot apparatus
AssigneeFanuc Corporation
InventorJunya Fujita
Life of this patent
Estimating the term…
Abstract
A robot apparatus according to one aspect of the present disclosure includes a robot body and a transfer leg for transferring the robot body. The robot body includes a robot arm mechanism and a sensor device for detecting an external force applied to the robot arm mechanism. The sensor device includes a sensor bottom plate to be installed on a robot installation table, a sensor top plate attached to the bottom surface of a base of the robot arm mechanism, and a sensor body for detecting the displacement between the sensor bottom plate and the sensor top plate. The transfer leg is configured to be able to fix the base or the sensor top plate to a transfer table in such a manner as to prevent the sensor bottom plate from coming into contact with the transfer table.
Claims7
A robot apparatus comprising:
- a robot body including a robot arm mechanism and a sensor device configured to detect an external force applied to the robot arm mechanism;
- and
- a transfer leg for fixing the robot body to a transfer table, wherein
- the sensor device includes a sensor bottom plate to be installed on a robot installation table, a sensor top plate attached to a bottom surface of a base of the robot arm mechanism, and a sensor body configured to detect a displacement between the sensor bottom plate and the sensor top plate,
- the transfer leg is configured to be able to connect the base or the sensor top plate to the transfer table in such a manner that the sensor bottom plate is floated relative to the transfer table,
- the robot body and the transfer table are connected only via the transfer leg, and
- the transfer leg has a height longer than a height from the sensor bottom plate to the base or a height from the sensor bottom plate to the sensor top plate, with one end connected to the base or the sensor top plate and another end connected to the transfer table, whereby the sensor bottom plate is separated from the transfer table and a gap is formed between the sensor bottom plate and the transfer table.
A robot apparatus comprising:
- a robot body including a robot arm mechanism and a sensor device configured to detect an external force applied to the robot arm mechanism;
- and
- a transfer leg for fixing the robot body to a transfer table, wherein
- the sensor device includes a sensor bottom plate to be installed on a robot installation table, a sensor top plate attached to a bottom surface of a base of the robot arm mechanism, and a sensor body configured to detect a displacement between the sensor bottom plate and the sensor top plate,
- the transfer leg is configured to be able to connect the base or the sensor top plate to the transfer table in such a manner that the sensor bottom plate is floated relative to the transfer table,
- the robot body and the transfer table are connected only via the transfer leg,
- the transfer leg has a height that is shorter than a height from the sensor bottom plate to the base or a height from the sensor bottom plate to the sensor top plate,
- one end of the transport leg is connected to the base or the sensor top plate by a first bolt,
- another end of the transport leg is connected to the transport table by a second bolt inserted in a direction orthogonal to the transport table, and
- when the second bolt is tightened so that a tip of the second bolt abuts against the transport table, the robot body is separated from the transport table, thereby forming a gap between the sensor bottom plate and the transport table.
Dependencies are inferred from the claim text.