| 摘要 |
PROBLEM TO BE SOLVED: To provide an arm type robot preventing a robot body and an obstruction damaged by a collision from being further damaged by stopping of the driving motor for actuating a robot arm when the robot arm is stopped by the collision to the obstruction. SOLUTION: When a load torque detecting means 43 detects load torque over the limit quantity being applied to any one of motors 21-24, all the motors 21-24 are stopped. The motors 21-24 can therefore be stopped when a robot arm stops in collision with an obstruction. Burning of the motors 21-24 can be prevented without large load torque being continuously applied to the motors 21-24 for a long period of time, and a problem of further damaging the obstruction does not arise because of not continuing to press the struck obstruction.
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