HUMAN-COLLABORATIVE ROBOT SYSTEM

• US 20160089790A1
• Filed: 09/16/2015
• Published: 03/31/2016
• Est. Priority Date: 09/25/2014
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: NAITOU, Yasuhiro, ARITA, Soichi, WANG, Yuelai
• Granted Patent: US 9,579,798 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/37351 Detect vibration, ultrasound
• CPC Class Codes: G05B 2219/40201 Detect contact, collision with human
• CPC Class Codes: G05B 2219/40541 Identification of contact formation, state from several force measurements
• CPC Class Codes: G05B 2219/42288 Limit, stop drive current if axis obstructed, blocked, force against stop
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.

Claims

1. A human-collaborative robot system in which a robot and a human share a working space, comprising:

a detection unit configured to directly or indirectly detect a physical quantity which is changed in response to contact force applied to the robot when the robot comes in contact with an external environment; and

a stop command unit configured to compare the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stop the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stop the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.

2. The human-collaborative robot system according to claim 1, wherein the physical quantity is force or torque applied to the robot from the external environment.

3. The human-collaborative robot system according to claim 1, wherein the physical quantity is a differential value of force or torque applied to the robot from the external environment with respect to time.

4. The human-collaborative robot system according to claim 1, wherein the physical quantity is an amplitude of vibration of force or of torque at a certain frequency applied from the external environment.

5. A human-collaborative robot system in which a robot and a human share a working space, comprising:

a first detection unit configured to directly or indirectly detect a first physical quantity which is changed in response to contact force applied to the robot when the robot comes in contact with an external environment;

a second detection unit configured to directly or indirectly detect a second physical quantity which is changed in response to the contact force applied to the robot when the robot comes in contact with the external environment; and

a stop command unit configured to compare the first physical quantity detected by the first detection unit with a first threshold value, compare the second physical quantity detected by the second detection unit with a third threshold value, stop the robot according to a predetermined stop method when the first physical quantity is equal to or greater than the first threshold value and the second physical quantity is smaller than the third threshold value, and stop the robot in a shorter period of time as compared with the predetermined stop method when the first physical quantity is equal to or greater than the first threshold value and the second physical quantity is equal to or greater than the third threshold value.

6. The human-collaborative robot system according to claim 5, wherein the first physical quantity is force or torque applied to the robot from the external environment, and the second physical quantity is a differential value of force or torque applied to the robot from the external environment with respect to time.

7. The human-collaborative robot system according to claim 5, wherein the first physical quantity is force or torque applied to the robot from the external environment, and the second physical quantity is an amplitude of vibration of force or torque at a certain frequency applied from the external environment.

8. The human-collaborative robot system according to claim 5, wherein the first physical quantity is force or torque applied to the robot from the external environment, and the second physical quantity is a speed of the robot.

9. The human-collaborative robot system according to claim 5, wherein the first physical quantity is a differential value of force or torque applied to the robot from the external environment with respect to time, and the second physical quantity is force or torque applied to the robot from the external environment.

10. The human-collaborative robot system according to claim 5, wherein the first physical quantity is a differential value of force or torque applied to the robot from the external environment with respect to time, and the second physical quantity is a speed of the robot.

11. The human-collaborative robot system according to claim 5, wherein the first physical quantity is an amplitude of vibration of force or torque at a certain frequency applied from the external environment, and the second physical quantity is force or torque applied to the robot from the external environment.

12. The human-collaborative robot system according to claim 5, wherein the first physical quantity is an amplitude of vibration of force or torque at a certain frequency applied from the external environment, and the second physical quantity is a speed of the robot.