ROBOT SYSTEM

• US 20180161988A1
• Filed: 12/06/2017
• Published: 06/14/2018
• Est. Priority Date: 12/08/2016
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Kamoi, Toshiaki, Yamamoto, Tomoyuki
• Granted Patent: US 10,421,193 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• 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 19/406 characterised by monitoring or safety G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/39135 For multiple manipulators operating at same time, avoid collision
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40497 Collision monitor controls planner in real time to replan if collision
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

To provide a robot system capable of reducing the burden of a setting operator regardless of conditions such as setting conditions of a robot and the complexity of a work space at the time of setting an operable-inoperable area of the robot. A robot system has a robot capable of detecting contact with an obstacle. The robot moves inside a predetermined search area in a predetermined posture along a previously-determined scheduled search route and sets an operable-inoperable area of the robot inside the search area based on position-posture data with respect to the robot having come into contact with the obstacle during moving of the robot.

Claims

1. A robot system comprising a robot capable of detecting contact with an object, wherein

the robot moves inside a predetermined search area in a predetermined posture and sets an operable-inoperable area of the robot inside the search area based on position-posture data with respect to the robot having come into contact with the object during moving of the robot.

2. The robot system according to claim 1, wherein

the robot specifies which part of a mechanical portion of the robot has come into contact with the object.

3. The robot system according to claim 1, wherein

the robot moves along a previously-determined scheduled search route when moving inside the search area.

4. The robot system according to claim 3, wherein

the robot changes the scheduled search route upon contact with the object.

5. The robot system according to claim 1, wherein

when the operable-inoperable area is set, the operable-inoperable area is indicated on a display device so that whether to make the operable-inoperable area effective becomes selectable.

6. A robot system comprising at least a first robot and a second robot, wherein

either one of the first robot and the second robot moves inside a predetermined search area in a predetermined posture and sets an operable-inoperable area of the one robot inside the search area, based on position-posture data with respect to the one robot having come into contact with an object during moving of the one robot, and wherein

the other of the first robot and the second robot sets the operable-inoperable area of the other robot inside the search area through calculation, by using relative position-angle data against the one robot, based on the operable-inoperable area set by the one robot.

7. A robot system comprising at least a first robot and a second robot, the first robot and the second robot being communicatively connected to each other via a network and being capable of detecting each other'"'"'s position-posture-angle data in real time, wherein

the first robot and the second robot move respectively inside a predetermined search area in a predetermined posture, store mutual position-posture-angle data with respect to the robots through real-time communication via the network when the robots have come into contact with each other during moving of the robots, and set the operable-inoperable areas for each of the robots inside the search area, based on the mutual position-posture-angle data.