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Robot system, robot controller and avoidance method of robot

A robot system and robot technology, applied in the direction of program control manipulator, program control, general control system, etc., to achieve the effect of improving reliability

Active Publication Date: 2022-05-31
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] However, from the viewpoint of improving the reliability of the retreat operation of the collaborative robot that works in cooperation with humans, there is room for improvement in the above-mentioned prior art.

Method used

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  • Robot system, robot controller and avoidance method of robot
  • Robot system, robot controller and avoidance method of robot
  • Robot system, robot controller and avoidance method of robot

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Experimental program
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Embodiment Construction

[0022] Hereinafter, with reference to the accompanying drawings, the robot system, the robot controller and the robot's evacuation method disclosed in the present application will be described.

[0024] First, the outline of the robot system 1 according to the embodiment will be described with reference to FIG. 1 . FIG. 1 shows an embodiment

[0025] As shown in FIG. 1 , the robot 20 includes a plurality of motion axes 20a and a detection unit that detects an external force of each motion axis 20a

[0026] Furthermore, in FIG. 1, a representative point 10 of the robot 20 is shown. Here, the representative point 10 is the robot controller 30

[0027] As shown in FIG. 1 , it is assumed that the robot 20 follows the motion trajectory TR and clamps the object 600 to the tool 200 as a result.

[0029] This is because the obstacle that the robot 20 first contacts is the object 600. Therefore, it can be considered that the robot 20

[0030] Here, the moving distance and the moving time ...

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Abstract

The invention provides a robot system, a robot controller and a robot avoidance method. Improve the reliability of the robot's evasive action. The robot system includes a robot, a detection unit, and a robot controller. A robot has multiple axes of motion. The detection unit detects an external force applied to the robot. The robot controller controls the movement of the robot. In addition, the robot controller includes a motion control unit. When the external force detected by the detection unit satisfies the first condition, the motion control unit executes the reverse avoidance mode, which is to make the robot retreat by reversing the motion track of the robot. When the second condition is satisfied, the external force reduction avoidance mode is executed, which retracts the robot so as to reduce the external force.

Description

Robot system, robot controller, and robot backoff method technical field [0001] The disclosed embodiments relate to a robotic system, a robotic controller, and a method for backing off a robot. Background technique [0002] Conventionally, a robot is known that changes its posture by operating a plurality of rotation axes. in the robot The end of the tool is equipped with a tool corresponding to the purpose of suction and holding, and various operations such as holding and moving the workpiece are performed. [0003] In addition, a robot system is also proposed, which utilizes a sensor mounted on the robot to detect the robot and the obstacle. When an obstacle is in contact, the external force received by the robot from the obstacle is reduced (for example, refer to Patent Document 1). [0004] Patent Document 1: Japanese Patent Laid-Open No. 2012-051042 [0005] However, based on the concept of improving the reliability of the retraction action of a human collaborative r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/08B25J19/02
CPCB25J9/1676B25J9/1694G05B2219/40202G05B2219/40559G05B2219/40582B25J9/1633
Inventor 中村民男泉哲郎西邑考史大野祥平
Owner YASKAWA DENKI KK