Production system having cooperating process area between human and robot

• US 8,315,735 B2
• Filed: 01/26/2010
• Issued: 11/20/2012
• Est. Priority Date: 01/26/2009
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Nihei, Ryo, Ban, Kazunori, Morioka, Masahiro, Adachi, Satoshi, Takizawa, Shouta, Sakakibara, Shinsuke
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): FIGUEROA, JAIME
• Application Number:
  US12/694,201
• Publication Number:
  US 20100191372A1
• Time in Patent Office: 1,029 Days
• Field of Search: 700/245, 700/79, 700/247, 700/250, 700/255, 348/152, 318/568.11, 318/568.12, 318/568.16, 318/568.18, 318/568.24
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: F16P 1/00 Safety devices independent of the control and operation of any machine protective devices for the eyes or ears, worn on the body or carried in the hand, A61F9/00, A61F11/00
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator

Abstract

A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human'"'"'s safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

Claims

1. A production system comprising:

a robot;

a peripheral object;

a controller adapted to control the robot;

an operator task area where an operator may enter and the robot cannot enter;

a robot task area where the robot may enter and the operator cannot enter; and

a cooperative task area, arranged between the operator task area and the robot task area, where both the operator and the robot may enter;

and a robot entry-prohibited area being defined as an area having a boundary which is separated from the peripheral object by a predetermined distance or less, and arranged within the cooperative task area, and not within the robot task area,

wherein the controller has a cooperation mode in which, when a component of the robot enters the cooperative task area, the maximum movement speed of the component of the robot is limited lower than when the component of the robot is outside the cooperative task area, or, when the operator enters the cooperative task area while the robot performs a task, the maximum movement speed of the component of the robot is limited lower than when the operator does not enter the cooperative task area, and, the motion of the robot is limited so that the component of the robot does not enter the robot entry-prohibited area in the cooperative task area, so that a part of the operator is not caught between the component of the robot and the peripheral object.

2. The production system as set forth in claim 1, further comprising a device adapted to stop the robot, in the cooperation mode, when the speed of the component of the robot exceeds a predetermined speed, or when the component of the robot enters the robot entry-prohibited area.

3. The production system as set forth in claim 1, wherein the controller comprises at least one of:

a first operation mode, in which the component of the robot cannot enter the cooperative task area and only the operator may perform a task in the cooperative task area;

a second operation mode, in which the maximum movement speed of the component of the robot in the cooperative task area is not limited, and the robot may enter the robot entry-prohibited area and only the robot may perform a task in the cooperative task area; and

a third operation mode, in which the cooperative task area is divided into an area where only the operator may perform a task and an area where only the robot may perform a task.

4. The production system as set forth in claim 3, wherein the controller comprises at least the first operation mode, and wherein the production system further comprises a device adapted to stop the robot, reduce the speed of the robot or command the robot to take avoidance behavior when the robot enters the cooperative task area in the first operation mode, or a device adapted to limit entering of the robot into the cooperative task area in the first operation mode.

5. The production system as set forth in claim 3, wherein the controller comprises at least the second operation mode, and wherein the production system further comprises a device adapted to stop the robot, reduce the speed of the robot or command the robot to take avoidance behavior when the operator enters the cooperative task area in the second operation mode, or a device adapted to limit entering of the operator into the cooperative task area in the second operation mode.

6. The production system as set forth in claim 3, wherein the controller comprises at least the third operation mode, and wherein the production system further comprises a device adapted to stop the robot, reduce the speed of the robot or command the robot to take avoidance behavior when the operator enters the area where only the robot may enter in the third operation mode, or a device adapted to limit entering of the operator into the area where only the robot may enter in the third operation mode.

7. The production system as set forth in claim 3, wherein the controller comprises at last the third operation mode, and wherein the production system further comprises a device adapted to stop the robot, reduce the speed of the robot or command the robot to take avoidance behavior when the robot enters the area where only the operator may enter in the third operation mode, or a device adapted to limit entering of the robot into the area where only the operator may enter in the third operation mode.

8. The production system as set forth in claim 3, wherein the controller comprises the first, second and third operation modes, and wherein the production system further comprises:

a first sensor adapted to detect that the robot has entered the cooperative task area in the first operation mode;

a second sensor adapted to detect that the operator has entered the cooperative task area in the second operation mode; and

a third sensor adapted to detect that the robot has entered the area where in the cooperative task area only the operator may perform a task or that the operator has entered the area where in the cooperative task area only the robot may perform a task in the third operation mode,

wherein switching of the first, second and third operation modes is carried out by switching On/Off state of each of the first, second and third sensors.

9. The production system as set forth in claim 1, wherein the maximum movement speed of the component of the robot in the robot task area is not limited.