Abstract: A holding device includes: a grip portion that holds a side surface of one side of a workpiece; a supporting portion that supports the grip portion and moves the workpiece; a detection unit that detects a force applied to the grip portion; and a control unit that controls an angle of the supporting portion with respect to the ground such that a force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into an arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of a conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot constituting a safety cover, and an object being stored in the shelf. The robot control unit disables the intrusion detection sensor to allow a robot arm to perform a work by protruding from the shelf when the clearance distance becomes less than or equal to a present high-speed work allowance threshold.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.