A safety system presets a corresponding safety module and a safety function suitable for each operation mode. When a mode switching device switches among the operation modes of the robot, the safety system starts the corresponding safety module and the safety function for the chosen operation mode to ensure the special safety module and safety function for each operation mode.

A roll joint is provided. The roll joint may comprise: a first body; a second body disposed opposite to and spaced apart from the first body; a connection body which is disposed between the first body and the second body and is not in contact with the first body and the second body; and a connection wire member which connects the first body, the second body, and the connection body to one another so as to make a tensegrity structure.

The future of manufacturing, agriculture, distribution, healthcare, and virtually every other labor-intensive endeavor is robotic - a multitude of autonomous, mobile, robotic systems. One of the many problems this will bring is the coordination of independently-navigating robots in limited spaces. Communication is the key to coordination. Examples herein provide means for robots to identify and localize each other in real-time using pulses of visible or infrared light, synchronized with wireless messages in 5G or 6G. For example, a fixed-position robot such as an assembly device can identify a mobile robot bringing raw components, by exchanging synchronized pulses and messages. Busy robots in a distribution center can avoid collisions and improve throughput by coordinating with other proximate robots, using the communication tools provided herein. Fixed-position robots can enforce boundary conditions and provide oversight, keeping innumerable mobile devices in-lane and on-task. Many other aspects and applications are provided.

A snag point cover for an industrial manufacturing robot, the snag point cover including: a body adapted to be disposed about a protrusion extending from an external surface of an industrial manufacturing robot, wherein the body is adapted to form an external transition surface between the protrusion and the external surface of the industrial manufacturing robot thereby preventing a dresspack from becoming snagged on the protrusion when the industrial manufacturing robot is articulated. The snag point cover body is adapted to surround and cover one or more protrusions. The snag point cover body may be elongated or arcuate in shape and defines an internal cavity that conforms to the one or more protrusions. This allows external structures such as wiring harnesses and conduits to slide over these protrusions without becoming snagged or pinched during complex motion.

A safety switch device including a device main body, a movable portion movable in a moving direction with respect to the device main body, and a holding portion configured to hold the movable portion at a position in the moving direction. The device main body includes a main-body-side holding portion, the movable portion includes a movable-portion-side holding portion provided so as to be opposite to the main-body-side holding portion in the moving direction, the holding portion includes a rack gear provided in one of the device main body and the movable portion, an engaging tooth member provided in the other of the device main body and the movable portion so as to be movable in a direction intersecting the moving direction, and an springy member that urges the engaging tooth member in a direction in which the engaging tooth member meshes with the rack gear.

A safety switch device including a device main body, a movable portion movable in a moving direction with respect to the device main body, and a holding portion configured to hold the movable portion at a position in the moving direction. The device main body includes a main-body-side holding portion, the movable portion includes a movable-portion-side holding portion provided so as to be opposite to the main-body-side holding portion in the moving direction, the holding portion includes a rack gear provided in one of the device main body and the movable portion, an engaging tooth member provided in the other of the device main body and the movable portion so as to be movable in a direction intersecting the moving direction, and an springy member that urges the engaging tooth member in a direction in which the engaging tooth member meshes with the rack gear.

A state monitoring system for monitoring a state of a robot configured to perform work on a workpiece executes: a step of obtaining state data from a sensor and deriving a deterioration index parameter based on the obtained state data; a step of determining whether or not the deterioration index parameter is greater than a first threshold that is preset to a level lower than a level at which corrective maintenance is required; a step of further determining whether or not a frequency of having determined that the deterioration index parameter is greater than the first threshold is greater than a preset frequency threshold; and a step of suppressing an operation of the robot without stopping the robot if it is determined that the frequency is greater than the frequency threshold.

A state monitoring system for monitoring a state of a robot configured to perform work on a workpiece executes: a step of obtaining state data from a sensor and deriving a deterioration index parameter based on the obtained state data; a step of determining whether or not the deterioration index parameter is greater than a first threshold that is preset to a level lower than a level at which corrective maintenance is required; a step of further determining whether or not a frequency of having determined that the deterioration index parameter is greater than the first threshold is greater than a preset frequency threshold; and a step of suppressing an operation of the robot without stopping the robot if it is determined that the frequency is greater than the frequency threshold.

Embodiments of the technology disclosed herein is directed to a medical manipulator capable of detecting an instant when a tip of the medical manipulator is unexpectedly separated from a body tissue and thus avoid making contact with surrounding body tissues. The technology disclosed eliminates the needs for providing a force sensor located on the tip of the medical manipulator. The medical manipulator includes a movable unit at one end and an electric motor, a control unit, and an operation input unit at opposed end thereof. The movable unit includes a treating unit for treating the body tissue. The electric motor is configured to operate the movable unit. The electric motor includes a current sensor or a torque detecting unit for detecting the torque of the motor. The control unit includes a torque reducing unit for reducing the torque transmitted to the movable unit from the electric motor.

Embodiments of the technology disclosed herein is directed to a medical manipulator capable of detecting an instant when a tip of the medical manipulator is unexpectedly separated from a body tissue and thus avoid making contact with surrounding body tissues. The technology disclosed eliminates the needs for providing a force sensor located on the tip of the medical manipulator. The medical manipulator includes a movable unit at one end and an electric motor, a control unit, and an operation input unit at opposed end thereof. The movable unit includes a treating unit for treating the body tissue. The electric motor is configured to operate the movable unit. The electric motor includes a current sensor or a torque detecting unit for detecting the torque of the motor. The control unit includes a torque reducing unit for reducing the torque transmitted to the movable unit from the electric motor.