Abstract: A robot including: a robot body that includes an arm having a longitudinal axis, and at least one joint; and a proximity sensor unit that detects an object approaching the arm of the robot body. The proximity sensor unit includes: a support member that is fixed to the arm of the robot body and that is disposed, at such a position as to extend across the joint of the robot body, so as to be away from a surface of the arm in a direction perpendicular to the longitudinal axis of the arm; and a plurality of proximity sensors that are attached to the support member.

Abstract: Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.

Abstract: A force sensor diagnostic device that diagnoses a force sensor provided in a robot, the force sensor disposed near an installation surface on which the robot is installed and detecting a force and a moment applied to the robot from an outside. The device includes a calculation unit that calculates a theoretical value of the force and a theoretical value of the moment detected by the force sensor, a determination unit that determines whether the force sensor is distorted by comparing an actually measured value of the force and an actually measured value of the moment detected by the force sensor with the theoretical values of the force and the moment, and a notification unit that notifies a determination result from the determination unit.

Abstract: The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human.

Abstract: A robot control method includes, storing, in a memory, shape information about a robot including a tool attached to a tip and about a peripheral object located on a periphery of the robot. A teaching program also is stored in the memory. The teaching program includes a setting speed when operating the robot. By a processor connected to the memory, a distance between the robot and the peripheral object, based on the shape information, is calculated at each operation position when operating the robot according to the teaching program. By the processor, it is determined whether or not the calculated distance is changing in a decreasing direction. In response to determining that the calculated distance is changing in the decreasing direction, by the processor, the robot is operated at a speed lower than the setting speed in the teaching program.

Abstract: A robot including: a robot body that includes an arm having a longitudinal axis, and at least one joint; and a proximity sensor unit that detects an object approaching the arm of the robot body. The proximity sensor unit includes: a support member that is fixed to the arm of the robot body and that is disposed, at such a position as to extend across the joint of the robot body, so as to be away from a surface of the arm in a direction perpendicular to the longitudinal axis of the arm; and a plurality of proximity sensors that are attached to the support member.

Abstract: A robot control method includes: storing at least a part of shape information about a robot including a tool attached to a tip and about a peripheral object located on the periphery of the robot; calculating a change in the distance between the robot and the peripheral object, based on the shape information, at each operation position when operating the robot according to a teaching program; and performing control to decrease a speed set in the teaching program only if the calculated distance is changing in a decreasing direction.

Abstract: A robot where, irrespective of the position of the robot with which an operator comes into contact, the contact is more reliably detected, and a force applied to the operator is suppressed. Provided is a collaborative robot including: a wrist axis portion that determines the position of a tool mounted at a distal end thereof; and a basic axis portion that determines the position of the wrist axis portion and that is formed of only one or more linear-motion axes. The one or more linear-motion axes of the basic axis portion are each provided with a driving-force restricting unit that restricts a driving force so as to become equal to or less than a restriction value with respect to a related body area.

Abstract: An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.

Abstract: The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human.

Abstract: An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.

Abstract: A system which can improve the reliability of an emergency stop operation of a robot when contacting a worker. The system is comprised of a force sensor and a malfunction judgment part. The force sensor has a detection part which detects the load in one direction. The detection part includes a first detection element and a second detection element. The malfunction judgment part judges if a first detection value which is detected by the first detection element and a second detection value which is detected by the second detection element differ from each other. If the first detection value and the second detection value differ from each other, it is judged that the first detection element or second detection element have malfunctioned.

Abstract: A human-cooperative industrial robot includes a contact force detection part configured to detect a contact force applied to the robot when an operator and a robot come in contact with each other, a contact force monitoring part configured to either stop the robot or make the robot retreat in a direction in which the contact force is reduced if the contact force exceeds a predetermined threshold value, and an operation force detection part configured to detect an operation force applied to the robot when the lead-through operation is implemented. The robot also includes a lead-through switch for switching between the states of enabling and disabling the lead-through operation. When the lead-through operation is enabled, the contact force monitoring is disabled, and when the lead-through operation is disabled, the contact force monitor is enabled.

Abstract: A system which can improve the reliability of an emergency stop operation of a robot when contacting a worker. The system is comprised of a force sensor and a malfunction judgment part. The force sensor has a detection part which detects the load in one direction. The detection part includes a first detection element and a second detection element. The malfunction judgment part judges if a first detection value which is detected by the first detection element and a second detection value which is detected by the second detection element differ from each other. If the first detection value and the second detection value differ from each other, it is judged that the first detection element or second detection element have malfunctioned.

Abstract: A human-cooperative industrial robot includes a contact force detection part configured to detect a contact force applied to the robot when an operator and a robot come in contact with each other, a contact force monitoring part configured to either stop the robot or make the robot retreat in a direction in which the contact force is reduced if the contact force exceeds a predetermined threshold value, and an operation force detection part configured to detect an operation force applied to the robot when the lead-through operation is implemented. The robot also includes a lead-through switch for switching between the states of enabling and disabling the lead-through operation. When the lead-through operation is enabled, the contact force monitoring is disabled, and when the lead-through operation is disabled, the contact force monitor is enabled.

Abstract: A cable arrangement structure capable of properly arranging a motor-drive cable while preventing a robot from being complicated and increased in size. Among first to sixth motor-drive cables, at least first to third motor-drive cables are introduced to a cable outlet formed on at least one of a rotating body, a first arm and a second arm. The motor-drive cables, introduced to the outlet, are withdrawn outside the robot as a cable bundle or separate cables, and are connected to a robot controller positioned separately from the robot.

Abstract: An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.

Abstract: A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot.