| 摘要 |
PROBLEM TO BE SOLVED: To provide a torque limit circuit of an industrial robot, which properly limits an output torque at the end of the tool of the industrial robot by securing the assuredness of a torque signal detected by a force sensor. SOLUTION: In the industrial robot formed of multiple spindles, when the torque signal detected by the force sensor attached to each shaft drive part and an instruction torque for the drive part detect the mismatch level over an allowable value set beforehand, a drive circuit is cut out. It is verified whether the torque signal detected by the force sensor is correct, and the output can be limited. COPYRIGHT: (C)2009,JPO&INPIT
|
