Patent ID: 11858133
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. An articulated robot system comprising:
a base;
a plurality of arms mutually connected to provide a manipulator on the base;
a plurality of axes each rotatably connecting mutually adjacent two arms of the arms to each other;
a plurality of electric motors mounted in the arms and that drive the respective axes for enabling rotatable connection between the mutually adjacent two arms of the arms;
a plurality of detection units, each of the arms being provided with a corresponding one of the detection units, and each of the detection units being configured to detect a signal showing a user's manual hold of the arm on which the corresponding detection unit is provided; and
a control unit configured to control drive of the motors based on information detected by the detection units for control of motions of the arms, the motions including constraint of at least part of the arms by braking at least one of the motors, wherein,
when the signal shows that the detection units have not detected any user's manual hold, the control unit is configured to control the drive of the motors to constrain the axes, and
when the signal shows that the user's manual hold has been detected by one or more of the detection units, the control unit is configured to control a corresponding one or more of the motors to release constraints of one or more of the axes corresponding to the one or more of the detection units that have detected the user's manual hold, until the detection units stop detecting the signal showing that the user's manual hold has been detected; and
wherein when the one or more of the detection units that detect the user's manual hold are a single detection unit, the control unit is configured to control the motors to release constraints of designated axes of the axes, the designated axes being all of the axes that are positioned between the base and the arm whose detection unit has detected the user's manual hold.