Robot system for preventing accidental dropping of conveyed objects
AssigneeFanuc Corporation
InventorKeisuke Suga
Life of this patent
Estimating the term…
Abstract
A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.
Claims8
A robot system comprising a robot which is provided with a robot arm having a wrist part and with a robot hand attached to said wrist part, and a control device which controls the motion of said robot, wherein
- a permitted area where a teaching operation for said robot hand should be permitted is preset above a table that is within a maximum area which said robot hand can reach, and that an object to be conveyed by said robot hand can be placed on, wherein the permitted area has a shape covering less than all of the robot arm, and
- said control device comprises
- a judging part which judges if said robot hand as a whole is present in said permitted area, based on robot hand position information which expresses a position and posture of said robot hand and
- a teaching operation restricting part which permits a teaching operation for said robot hand when it is judged that said robot hand as a whole is present in said permitted area, and prohibits a teaching operation for said robot hand when it is judged that said robot hand as a whole is not present in said permitted area.
A robot system comprising a robot which is provided with a robot arm having a wrist part and with a robot hand attached to said wrist part, and a control device which controls the motion of said robot, wherein
- a permitted area where a teaching operation for said robot hand should be permitted is preset above a table that is within a maximum area which said robot hand can reach, and that an object to be conveyed by said robot hand can be placed on, and
- said control device comprises
- a judging part which judges if said robot hand as a whole is present in said permitted area, based on robot hand position information which expresses a position and posture of said robot hand and
- a teaching operation restricting part which permits a teaching operation for said robot hand when it is judged that said robot hand as a whole is present in said permitted area, and prohibits a teaching operation for said robot hand when it is judged that said robot hand as a whole is not present in said permitted area,
- wherein said permitted area has the shape of a convex polyhedron, sphere, or spheroid.
Dependencies are inferred from the claim text.