The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 22, 2024
Filed:
Jan. 06, 2021
Fanuc Corporation, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A work transfer system includes a robot having a hand which holds a workpiece and a sensor which can detect external force acting on the hand, a balancer connected to the hand and can generate lifting force for lifting the hand in a vertically upward direction, a shape measuring device which conducts measuring of a shape of the workpiece, and a controller controlling the robot and the balancer based on the shape of the workpiece, and the controller adjusts a holding position of the workpiece by the hand based on the shape, and controls the lifting force so that an absolute value of the external force in the vertical direction detected by the sensor becomes equal to or smaller than a predetermined first threshold when the workpiece is held at the adjusted holding position and lifted.