Robot system in which brightness of installation table for robot is changed

• US 9,764,474 B2
• Filed: 01/22/2016
• Issued: 09/19/2017
• Est. Priority Date: 01/27/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Yamamoto, Tomoyuki, Aramaki, Takeaki, Takahashi, Hiromitsu
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/004,008
• Publication Number:
  US 20160214259A1
• Time in Patent Office: 606 Days
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• 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 3/144 using light grids
• CPC Class Codes: G05B 2219/40196 Projecting light on floor to delimit danger zone around robot
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator
• CPC Class Codes: H05B 47/115 by determining the presence or movement of objects or living beings
• CPC Class Codes: Y02B 20/40 Control techniques providing energy savings, e.g. smart controller or presence detection
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot system comprises an intrusion detector which detects that a person has entered into a monitoring area established around a robot, an installation table which supports the robot, a light emitting device which brightens a surface of the installation table, and a control device which receives a signal outputted by the intrusion detector and controls the light emitting device. The control device causes the light emitting device to emit light when it is detected that the person has entered into the monitoring area.

Claims

1. A robot system, comprising:

an intrusion detector which detects that a person has entered into a monitoring area established around a robot;

an installation table which has an upper surface and a side surface, and supports the robot;

a light emitting device which brightens the side surface of the installation table; and

a control device which receives a signal outputted by the intrusion detector and controls the light emitting device, wherein

the upper surface of the installation table is a working surface for workpieces, and

the control device is configured to cause the light emitting device to emit light when it is detected that the person has entered into the monitoring area.

2. The robot system according to claim 1, wherein the light emitting device blinks when it is detected that the person has entered into the monitoring area.

3. The robot system according to claim 1, wherein

the monitoring area includes a stopping area in which an operation of the robot is stopped when the person has entered thereinto, and a speed limiting area in which an operation speed of the robot is limited to a low speed when the person has entered thereinto,

the intrusion detector is configured to detect the intrusion of the person into the stopping area and the intrusion of the person into the speed limiting area separately,

the control device includes a light emission control unit which controls a color of light emitted by the light emitting device, and

the light emission control unit performs at least one of control for changing the color of the light emitted by the light emitting device and control for causing the light emitting device to be lit off, depending on the case where the person has entered into the stopping area, the case where the person has entered into the speed limiting area, or the case where the person does not intrude into both of the stopping area and the speed limiting area.

4. The robot system according to claim 1, wherein

the monitoring area includes a stopping area in which an operation of the robot is stopped when the person has entered thereinto, and a speed limiting area in which an operation speed of the robot is limited to a low speed when the person has entered thereinto,

the intrusion detector is configured to detect the intrusion of the person into the stopping area and the intrusion of the person into the speed limiting area separately,

the control device includes a light emission control unit which controls time intervals at which the light emitting device blinks, and

the light emission control unit controls at least one of whether or not the light emitting device blinks and the blinking time intervals, depending on the case where the person has entered into the stopping area, the case where the person has entered into the speed limiting area, or the case where the person does not intrude into both of the stopping area and the speed limit area.

5. The robot system according to claim 1, further comprises a moving device which moves the installation table, wherein

the monitoring area is moved with the movement of the installation table, and

the intrusion detector is fixed to the installation table so as to move with the installation table and is configured to detect that the person has entered into the monitoring area established at a position to which the installation table is moved.