Robot system and method of controlling the robot system

• US 9,126,334 B2
• Filed: 03/13/2014
• Issued: 09/08/2015
• Est. Priority Date: 03/18/2013
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Nakamura, Tamio, Kouno, Dai, Nishimura, Takashi, Matsuo, Tomohiro, Ishikawa, Shinichi, Suyama, Takashi, Kawano, Tomoki
• Primary Examiner(s): Tran, Dalena
• Assistant Examiner(s): Figueroa, Jaime
• Application Number:
  US14/207,660
• Publication Number:
  US 20140277726A1
• Time in Patent Office: 544 Days
• Field of Search: 700/245, 700/257, 700/258, 700/259, 318/568.11, 318/568.12, 318/568.16, 318/568.2, 340/5.2
• US Class Current: 1/1
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: F16P 3/147 using electro-magnetic technology, e.g. tags or radar
• CPC Class Codes: G05B 2219/40202 Human robot coexistence

Abstract

A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector.

Claims

1. A robot system, comprising:

a robot having an operable operation arm;

an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body; and

a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector, the motion-control changer sets a wearing level of the movable body based on a weighting value defined for each type of the wearing articles, and changes the motion control based on the wearing level.

2. The robot system of claim 1, wherein the wearing article is a protector for protecting the movable body.

3. The robot system of claim 1, wherein the robot has an articulated operation arm.

4. The robot system of claim 1, wherein the robot includes a pedestal for supporting the operation arm, and a moving mechanism for moving the pedestal.

5. The robot system of claim 1, wherein the motion-control changer changes the motion control based on the number of the wearing articles equipped by the movable body.

6. The robot system of claim 1, wherein the motion-control changer selects, when the wearing articles equipped by the movable body does not satisfy a predetermined condition, at least any one of the motion controls including a stop of an operation of the robot, a reduction in an operating speed of the robot, a reduction in an output of an actuator of the robot, and a reduction in an operating range of the robot.

7. The robot system of claim 1, wherein the motion-control changer performs, when a specific attachment is not detected, at least any one of a stop of an operation of the robot, an issue of an alert, a reduction in an operating speed of the robot, a reduction in an output of an actuator of the robot, and a reduction in an operating range of the robot.

8. The robot system of claim 1, wherein the attachment detector reads data from an IC tag attached to each wearing article to detect the existence and types of the wearing articles.

9. The robot system of claim 1, wherein the attachment detector verifies a bar code attached to each wearing article to detect the existence and types of the wearing articles.

10. The robot system of claim 1, wherein the attachment detector has a gate through which the movable body passes, and a detector disposed at the gate and for detecting the attachment.

11. The robot system of claim 10, wherein the attachment detector further has a safety fence surrounding the circumference of the robot system, and the gate is disposed so that the movable body can enter into and exit the safety fence only by passes passing through the gate.

12. A method of controlling a robot system, comprising:

detecting one or more attachments, each attached to a wearing article equipped by a movable body; and

changing a motion control of the robot having an operable operation arm, based on the detection result, wherein the changing the motion control of the robot includes;

setting a wearing level of the movable body based on a weighting value defined for each type of the wearing articles; and

changing the motion control based on the wearing level.