| 摘要 |
PROBLEM TO BE SOLVED: To provide a means for surly avoiding a bump of a robot and human, article or the like without restricting upper limits of a conveyable weight and a motion speed of the robot. SOLUTION: This bump avoidance device 100 for avoiding bump of a robot is provided with an arm 101 expandable in an axial direction by providing an inner tube 12 movable back and forth in the axial direction from one end side of an outer tube 11, a coil spring 102 energizing the inner tube 12 in a direction of relatively contracting the inner tube 12 into the outer rube 11, an electromagnet 103 fixing the outer tube 11 in a condition of expanding out from the inner tube 12 against the energizing force of the coil spring 102 and releasing fixing of the outer tube 11 based on control signal, an external sensor 104 detecting a bump of the robot and outputting bump signal, and a control circuit outputting a control signal for stopping motion of the robot and releasing fixing of the electromagnet 103 based on the bump signal.
|
