ROBOT SYSTEM JUDGING ABNORMALITY OF FASTENED WORK AND ABNORMALITY JUDGMENT METHOD

摘要

A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.

主权项

1. A robot system comprising
a work fastening device which positions and fastens a work, a robot to which a hand which grips a workpiece is attached, and a control device which controls the work fastening device and the robot, wherein the control device has a robot operation control part which causes the robot to operate to grip a work by the hand and to place the gripped work at a predetermined position of the work fastening device, a disturbance torque monitoring part which monitors a disturbance torque of a motor which drives rotation about a joint of the robot in accordance with an operating command of the robot operation control part, and an abnormality judging part which, when gripping a work by the hand of the robot, compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.