| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To effectively cope with a case when a large tensile force as to impair a function of wiring and piping is applied. <P>SOLUTION: A cable protection device 23 is suitably interposed between adjacent clamp parts of a cable 21 clamped by a clamp part to respective first and fourth arms of a multi-articulated arm of a robot. The cables 21 is configured so as to be contactable/separatable by a pair of connectors 23a, 23b in the housing 23c of the cable protection device 23. The state of contact and separation of the connectors 23a, 23b is detected by air pressure of air piping 21a and electric potential of a signal line 21d of the cable 21. When the separation of the connectors 23a, 23b is detected, the operation of the robot is stopped and the robot is reversely operated to a passing point where the robot has immediately passed. When the connectors 23a, 23b are recovered to a contact state, the robot is operated in an operation pattern before reverse operation. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
