CPC B25J 9/1633 (2013.01) [B25J 17/025 (2013.01)] | 10 Claims |
1. A horizontal articulated robot comprising:
a base;
a force sensor provided in the base;
a first arm coupled to the base and pivoting about a first pivot axis;
a second arm coupled to the first arm and pivoting about a second pivot axis;
a third arm coupled to the second arm, pivoting about a third pivot axis, and moving in an axial direction of the third pivot axis;
a processor that controls an action of the first arm, the second arm, or the third arm based on a detection value of the force sensor; and
switches having a third arm operation part for operation of the third arm and a teaching point registration operation part for operation of registration of a position of a control point as a teaching point using the processor, and provided in the second arm,
the switches further comprise a teaching mode switching operation part for switching operation of the teaching mode in the robot between jog teach mode and direct teach mode, wherein the jog teach mode is a mode in which the operation of the third arm operation part is enabled so that a teacher operates the third arm using the third arm operation part and direct teaching is disabled, wherein the direct teach mode is a mode in which a teacher grips the first arm, the second arm, or the third arm with a hand, applies a force in a direction to move the gripped arm, and moves the gripped arm to the desired position and the operation of the third arm operation part is disabled.
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