公开(公告)号：US11167414B2

公开(公告)日：2021-11-09

申请号：US15963109

申请日：2018-04-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takeshi Yokoyama ,  Takahiko Kanamori ,  Keisuke Yonehara

IPC: B25J9/16 ,  B25J9/00 ,  G05B19/418 ,  B25J13/08 ,  B25J11/00

Abstract: A robot includes a robot body, a control processor, a detection circuit, a memory, and a determining circuit. The control processor is configured to control the robot body to perform a work on a workpiece while the workpiece is conveyed. The detection circuit is configured to detect external force which the robot body receives from the workpiece. The memory is to store a threshold force. The determining circuit is configured to determine whether the external force is equal to or larger than the threshold force.