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:
Feb. 27, 2018
Filed:
Mar. 14, 2016
Applicant:
Fanuc Corporation, Yamanashi, JP;
Inventor:
Yoshitake Furuya, Yamanashi, JP;
Assignee:
FANUC CORPORATION, Yamanashi, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B23Q 3/00 (2006.01); B23Q 7/00 (2006.01); G06F 19/00 (2011.01); B25J 9/16 (2006.01); B23Q 3/18 (2006.01); B23Q 7/04 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1633 (2013.01); B25J 9/1674 (2013.01); B23Q 3/002 (2013.01); B23Q 3/186 (2013.01); B23Q 7/04 (2013.01); G05B 2219/40453 (2013.01); Y10S 901/02 (2013.01); Y10S 901/30 (2013.01);
Abstract
A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.