| 摘要 |
PROBLEM TO BE SOLVED: To provide a human-robot cooperative type industrial robot capable of securing safety of a worker while reducing a burden on the worker in performing a lead-through operation.SOLUTION: A human-robot cooperative type industrial robot includes: a contact force detection part for detecting contact force given to a robot when a worker comes in contact with a robot; a contact force monitoring part for, when the contact force exceeds a predetermined threshold, causing the robot either to stop or to evacuate in a direction to reduce the contact force; and an operation force detection part for detecting operation force given to the robot when performing a lead-through operation. The robot has a lead-through switch for switching validity and invalidity of the lead-through operation. When the lead-through operation is valid, the contact force monitoring part is invalidated, and when the lead-through operation is invalid, the contact force monitoring part is validated. |
