Robot system

• US 20040061466A1
• Filed: 09/17/2003
• Published: 04/01/2004
• Est. Priority Date: 09/30/2002
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Toda, Shuntaro, Hashimoto, Yoshiki, Kubo, Yoshiyuki, Chino, Nobuo
• Granted Patent: US 7,221,119 B2
• Time in Patent Office: Days
• US Class Current: 318/445
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: F16P 3/12 with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine F16P3/08 takes precedence

Abstract

In a case in which an operation is alternately carried out by apparatus-1 and the apparatus-2 in cooperation with a robot, an operator carries out operation within an operation range of each of the apparatuses during the interruption of power supply to the apparatus-1 and the apparatus-2. Even if the operator approaches or enters the apparatus-1 or the apparatus-2, an emergency stop unit is not informed of a notice of such approach or entry as far as the interruption of power to the apparatus is confirmed. In a state in which the interruption of power is not confirmed, on the other hand, the emergency stop unit is informed of the notice of operator'"'"'s approach or entry, and the robot system is emergency stopped.

Claims

1. A robot system comprising a robot, and at least one apparatus which is driven by a servomotor and carries out operation in cooperation with the robot, wherein the robot system further comprises:

a detection unit for detecting operator'"'"'s approach to the specified apparatus including at least one apparatus which carries out operation in cooperation with the robot or operator'"'"'s entry to an off-limit region set for the specified apparatus, provided for each specified apparatus;

a unit for connecting/interrupting power supply to the servomotor which drives the specified apparatus, provided for each specified apparatus;

an emergency stop unit for receiving a notice of operator'"'"'s approach or entry from the detection unit to bring the robot system into an emergency stopped state; and

a unit for monitoring, for each specified apparatus, a connection/interruption state of power supply to the servomotor which drives the specified apparatus, and canceling the notice from the detection unit to the emergency stop unit, for the specified apparatus to which power supply is interrupted.

2. The robot system according to claim 1, wherein the specified apparatus further includes the robot.