PRODUCTION SYSTEM FOR PERFORMING COOPERATIVE WORK BY OPERATOR AND ROBOT
First Claim
1. A production system comprising:
- a robot,a controller that controls the robot;
a person detection part that detects whether or not an operator has entered to a cooperative operation space where the robot and the operator are supposed to enter at the same time in order to work in cooperation,a speed detection part that detects a speed of the robot, andan external-force detection part that detects an external force applied to the robot, whereinthe controller includes;
a power cutoff unit that cuts off power supplied to the robot;
a reference-speed storage unit that stores a predetermined reference speed;
a reference-force storage unit that stores a predetermined reference force;
first speed comparison unit that compares a current speed of the robot and the predetermined reference speed stored in the reference-speed storage unit, the current speed being detected by the speed detection part, the first speed comparison unit having a function of activating the power cutoff unit so as to stop an operation of the robot when the current speed exceeds the predetermined reference speed; and
an external-force comparison unit that compares a current external force applied to the robot and the predetermined reference force stored in the reference-force storage unit, the current external force being detected by the external-force detection part, the external-force comparison unit having a function of activating the power cutoff unit so as to stop an operation of the robot when the current force exceeds the predetermined reference force, andthe controller is configured to disable functions of the first speed comparison unit and the external-force comparison unit while the person detection part detects absence of the operator in the cooperative operation space.
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Accused Products
Abstract
A production system includes a robot, a robot controller, and a person detection part. The controller includes first speed comparison unit that has the function of activating a power cutoff unit so as to stop an operation of the robot when a current speed exceeds a predetermined reference speed; and an external-force comparison unit that has the function of activating the power cutoff unit so as to stop the operation of the robot when a current force applied to the robot exceeds a predetermined reference force. The controller disables the functions of the first speed comparison unit and the external-force comparison unit while the person detection part detects the absence of the operator in the cooperative operation space.
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Citations
5 Claims
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1. A production system comprising:
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a robot, a controller that controls the robot; a person detection part that detects whether or not an operator has entered to a cooperative operation space where the robot and the operator are supposed to enter at the same time in order to work in cooperation, a speed detection part that detects a speed of the robot, and an external-force detection part that detects an external force applied to the robot, wherein the controller includes; a power cutoff unit that cuts off power supplied to the robot; a reference-speed storage unit that stores a predetermined reference speed; a reference-force storage unit that stores a predetermined reference force; first speed comparison unit that compares a current speed of the robot and the predetermined reference speed stored in the reference-speed storage unit, the current speed being detected by the speed detection part, the first speed comparison unit having a function of activating the power cutoff unit so as to stop an operation of the robot when the current speed exceeds the predetermined reference speed; and an external-force comparison unit that compares a current external force applied to the robot and the predetermined reference force stored in the reference-force storage unit, the current external force being detected by the external-force detection part, the external-force comparison unit having a function of activating the power cutoff unit so as to stop an operation of the robot when the current force exceeds the predetermined reference force, and the controller is configured to disable functions of the first speed comparison unit and the external-force comparison unit while the person detection part detects absence of the operator in the cooperative operation space. - View Dependent Claims (2, 3, 4, 5)
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Specification