ROBOT SYSTEM

• US 20190091873A1
• Filed: 09/19/2018
• Published: 03/28/2019
• Est. Priority Date: 09/25/2017
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: KATOU, Tomoki, YAMAMOTO, Tomoyuki, ARAMAKI, Takeaki
• Granted Patent: US 10,639,799 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 1/02 articulated or flexible
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G01L 5/226 to manipulators, e.g. the force due to gripping
• CPC Class Codes: G05B 19/423 Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
• CPC Class Codes: G05B 2219/37357 Force, pressure, weight or deflection
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/39573 Tool guidance along path
• CPC Class Codes: G05B 2219/40582 Force sensor in robot fixture, base

Abstract

A robot system includes: a robot that is movable according to an external force applied thereto by a worker; a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot; a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit.

Claims

1. A robot system comprising:

a robot that is movable according to an external force applied thereto by a worker;

a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot;

a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and

a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit.

2. The robot system according to claim 1,

wherein the force detecting unit detects the direction of the external force;

and

the warning part makes the vibration different depending on the direction of the external force.

3. The robot system according to claim 1, wherein the warning part changes the vibration according to the magnitude of the external force.

4. A robot system comprising:

a robot that is movable according to an external force applied thereto by a worker;

a force detecting unit that is provided in the robot and that detects the magnitude and the direction of an external force acting on the robot;

a warning part that issues a warning when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and

a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit,

wherein the warning part issues a different warning depending on the direction of the external force detected by the force detecting unit.