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1. 发明公开

EP3348359A1 ROBOT 审中-公开
公开(公告)号：EP3348359A1
公开(公告)日：2018-07-18
申请号：EP16843948.7
申请日：2016-09-07
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： WAKITA, Daisuke
IPC分类号： B25J11/00 , B25J19/06
CPC分类号： B25J9/1664 , B25J11/00 , B25J18/00 , B25J19/06 , Y10S901/09 , Y10S901/27
摘要： Included are: a plurality of arm mechanisms (3) that couple between a base (2) and a bracket (4), each arm mechanism including an arm (18) whose proximal end portion is swingably coupled to the base, a pair of links (21, 22) parallel to each other, the pair of links being disposed such that a proximal-end-side link sandwiched portion (20) of the arm mechanism is rotatably sandwiched between proximal end portions of the respective links, and such that a distal-end-side link sandwiched portion (29) of the bracket (4) is rotatably sandwiched between distal end portions of the respective links, and an urging unit (27) connecting between the pair of links in a bridging manner and configured to urge the pair of links toward each other; a link dislocation detection unit (5) mounted to the pair of links; and a controller (61) configured to control an operation of the arm. The link dislocation detection unit includes a detector (41b) mounted to a middle portion of one of the pair of links, the detector being configured to detect that the middle portion of the one of the pair of links and a middle portion of the other one of the pair of links have become spaced apart from each other by more than a predetermined distance.

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