ROBOT AND EMERGENCY STOP METHOD OF ROBOT |
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申请号 | US14202631 | 申请日 | 2014-03-10 | 公开(公告)号 | US20150027862A1 | 公开(公告)日 | 2015-01-29 |
申请人 | Seiko Epson Corporation; | 发明人 | Kaoru Takeuchi; Tatsuya Matsudo; | ||||
摘要 | A robot includes a power source of the robot, and a switch section adapted to block electrical power supply to the power source. The switch section is disposed on a front side of the robot arranged to face to a workbench when at work. The switch section blocks the electrical power supply to the power source in a case in which it is detected that a distance between the robot and the workbench is longer than a predetermined distance. | ||||||
权利要求 | What is claimed is: |
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说明书全文 | 1. Technical Field The present invention relates to a robot, an emergency stop method of a robot, and so on. 2. Related Art Industrial robots play an active role in a lot of production sites. In such production sites, according to the principle of separation, robots and humans are physically separated from each other with a guard fence or the like to secure the safety. However, it is unachievable to separate robots and humans from each other in, for example, a teaching operation to the robots, and there is a possibility that the safety is diminished by, for example, a contact of an arm and so on of the robot with people. Alternatively, there is a case in which the safety is diminished due to an unwanted action (e.g., uncontrollable error) of a robot. Further, there is a demand for prevention of a damage of the robot itself due to the uncontrollable error. In order to cope with such cases as described above, robots are provided with a so-called emergency stop switch. As related art of such an emergency stop switch, there can be cited technologies disclosed in, for example, JP-A-2011-62794 (Document 1) and JP-A-2008-49462 (Document 2). Further, as the related art for resolving a failure due to an unexpected action of a mobile robot in a charging process, there can be cited a technology disclosed in JP-A-2009-142080 (Document 3). Most of the past industrial robots are based on an assumption that the robots do not move from a workplace after once being installed in the workplace. On the other hand, in recent years, mobile industrial robots coexisting with humans to perform operations are also attracting lots of attention. In the case in which such a robot performs an operation on, for example, a workbench, the robot might be shifted from a work position due to an unexpected cause. In such a case, it is unachievable to normally perform the emergency stop of the robot with the emergency stop switch provided to, for example, the robot main body, which is undesirable in terms of safety. According to some aspects of the invention, it is possible to provide a robot, an emergency stop method of a robot, and so on each capable of safely performing an emergency stop in the case in which, for example, the robot moves away from a workbench due to an unexpected cause. An aspect of the invention relates to a robot including a power source of the robot, and a switch section adapted to block electrical power supply to the power source, wherein the switch section is disposed on a front side of the robot arranged to face to a workbench when at work, and the switch section blocks the electrical power supply to the power source in a case in which it is detected that a distance between the robot and the workbench is longer than a predetermined distance. According to this aspect of the invention, the switch section is disposed on the front side of the robot arranged to face to the workbench when at work. Further, when it is detected that the distance between the robot and the workbench is longer than the predetermined distance, the switch section blocks the electrical power supply to the power source. By adopting such a configuration, it becomes possible to detect the case, in which the robot working while facing to the workbench in the normal operation moves away from the workbench due to an unexpected cause, as an abnormal state to block the electrical power supply to the power source to thereby achieve the safe emergency stop of the robot. The aspect of the invention may be configured such that one end of a connection member is attached to the workbench, and the switch section includes an insertion opening to which the other end of the connection member is inserted, and the switch section blocks the electrical power supply to the power source in a case in which the other end of the connection member is pulled out from the insertion opening. By adopting such a configuration, it is only required to insert the other end of the connection member into the insertion opening of the switch section in, for example, the normal operation of the robot. Further, when the other end of the connection member is pulled out from the insertion opening due to the distance between the robot and the workbench increasing to a distance longer than the predetermined distance, the electrical power supply to the power source is blocked. Thus, the emergency stop of the robot can be achieved. Therefore, it becomes possible to realize the emergency stop of the robot while simplifying the installation operation of the robot and the configuration operation of the safety function. The aspect of the invention may be configured such that the connection member includes an insertion section to be inserted into the insertion opening, and a wire section having one end attached to the insertion section and the other end attached to the workbench, and the switch section blocks the electrical power supply to the power source in a case in which the insertion section is pulled out. By using the connection member formed of the insertion section and the wire section as described above, fine-tuning of the installation position of the robot and so on become possible using, for example, the slack of the wire section. The aspect of the invention may be configured such that the robot further includes a base, and a body section rotatably supported by the base, and the insertion opening is disposed on the front side to the body section. As described above, by disposing the insertion opening to which the other end of the connection member is inserted on the front side of the body section of the robot, it becomes possible to surely detect the abnormal state of the robot, and at the same time, to achieve the simplification of the configuration operation of the safety function of the robot. The aspect of the invention may be configured such that the robot further includes at least one arm provided to the body section, and the connection member located outside a movable range of the arm in a state of being inserted in the insertion opening. By adopting such a configuration, it becomes possible to inhibit the problem of the damage or the abnormal operation of the robot from being caused by the arm having contact with the connection member. The aspect of the invention may be configured such that the robot further includes a second switch section adapted to achieve emergency stop of the robot, and the electrical power supply to the power source is blocked by at least one of the switch section and the second switch section. By adopting such a configuration, it becomes possible to block the electrical power supply to the power source by the switch section in the case in which the abnormal state of the robot moving away from the workbench occurs, and also block the electrical power supply to the power source by the operation of the second switch section in the case in which other abnormal state occurs. The aspect of the invention may be configured such that the second switch section is disposed on a rear side of the robot. By disposing the second switch section on the rear side of the robot as described above, it becomes possible to surely block the electrical power supply to the power source of the robot by the operation of the second switch section while avoiding the contact with the arms and so on. The aspect of the invention may be configured such that a first switch of the switch section and a second switch of the second switch section are disposed in series with each other, and the electrical power supply to the power source is blocked by turning OFF at least one of the first switch and the second switch. By adopting such a configuration, it becomes possible to block the electrical power supply to the power source by the first switch of the switch section in the case in which the robot moves away from the workbench due to an unexpected cause, and block the electrical power supply to the power source by the second switch in the case in which the second switch section is operated by the operator. The aspect of the invention may be configured such that the robot further includes a robot control section adapted to control the robot, and the switch section blocks the electrical power supply to the power source and the robot control section in a case in which it is detected that the distance between the robot and the workbench is longer than the predetermined distance. By adopting such a configuration, it becomes possible to block the electrical power supply to the robot control section in the case in which the robot moves away from the workbench due to an unexpected cause. Another aspect of the invention relates to an emergency stop method of a robot including detecting, by a switch section disposed on a front side of the robot arranged to face to a workbench when at work, that a distance between the robot and the workbench is longer than a predetermined distance, and blocking, by the switch section, electrical power supply to a power source of the robot in accordance with a detection result in the detecting. The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements. Hereinafter, a preferred embodiment of the invention will be explained in detail. It should be noted that the present embodiment explained below does not unreasonably limit the content of the invention as set forth in the appended claims, and all of the constituents set forth in the present embodiment are not necessarily essential as means of the invention for solving the problems. The electrical power supply section 10 is for supplying each section of the robot with electrical power, and can be formed of, for example, a power supply circuit or a battery. The electrical power supply section 10 can also supply each section of the robot with the electrical power based on an external AC power supply. The electrical power supply section 10 supplies, for example, direct current power based on the battery or the external AC power supply. The switch section 20 is for performing a switching operation for performing the emergency stop of the robot. For example, in the normal action (normal operation) of the robot, the switch section 20 supplies the power source 50 with the electrical power (the power supply voltage) from the electrical power supply section 10. Further, the switch section 20 supplies the robot control section 40 with the electrical power from the electrical power supply section 10. In contrast, in the case of the emergency stop, the switch section 20 blocks the electrical power supply to the power source 50 and the robot control section 40. In other words, the switch section 20 prevents the electrical power (the power supply voltage) from the electrical power supply section 10 from being supplied to the power source 50 and the robot control section 40. It should be noted that details of the switch section 20 will be described later. The robot control section 40 is for performing a control process of the robot. The robot control section 40 can be realized by a hardware circuit such as a variety of processors (e.g., a CPU) or an ASIC, a program acting on a processor or the like, and so on. The sensor section 42 is for performing a variety of types of sensing for controlling the robot. The sensor section 42 can be realized by a kinesthetic sensor for performing force control, a visual sensor (a camera) for visual servo, a joint angle detection sensor (a rotary encoder), a posture detection sensor (a gyro sensor, an acceleration sensor, and a clinometer), and so on. For example, the robot control section 40 controls an electric motor and so on of the power source 50 based on the sensing information from the sensor section 42 to control an action of an arm and so on of the robot. In the case of using the kinesthetic sensor of the sensor section 42, the robot control section 40 performs the force control (impedance control, compliance control) based on the kinesthetic sensor value from the kinesthetic sensor to drive the electric motor of the power source 50 to perform feedback control for moving the arm and so on of the movable mechanism 52. In the case of using the visual sensor of the sensor section 42, the robot control section 40 performs the visual servo control using a taken image obtained from the visual sensor and a reference image to drive the electric motor of the power source 50 to perform the control for moving the arm and soon of the movable mechanism 52. The power source 50 is for generating the power for working the robot, and can be realized by, for example, an electric motor (a servo motor, a stepping motor, or a linear motor), a hydraulic cylinder, or a pneumatic cylinder. For example, the power source 50 converts the electrical energy derived from the electrical power from the electrical power supply section 10 into the kinetic energy for working the robot. By the power source 50 such as the electric motor and a power transmission mechanism such as reduction gears, an actuator for driving the movable mechanism 52 of the robot such as an arm is realized. The movable mechanism 52 is a mechanical structure for constituting a movable section of the robot, and corresponds to, for example, an arm or an end effector of the robot, or a moving mechanism of the robot. The arm is formed of links and joints. The end effector is a part having a function of the robot directly acting on a work object, and corresponds to a hand (a gripping section) or a variety of types of tools to be attached to the tip of the arm such as a nut-fastening tool. The moving mechanism of the robot is a mechanism for moving the robot, and corresponds to a wheel mechanism, a walk mechanism, and so on. Then, the emergency stop method according to the present embodiment will be explained in detail. For example, a normal industrial robot of the related art is physically separated from humans according to the principle of separation. Further, the robot is fixed by an anchor or the like, and usually has no chance to move (be displaced). On the other hand, in recent years, small-sized mobile industrial robots coexisting with humans to perform operations are attracting lots of attention. Basically, such a robot is mounted of a workbench, or only fixed with a simple fixation method. Alternatively, the robot is mounted on a wagon, and when in use, the wagon is fixed with a simple method such as leveling feet. Therefore, there is a possibility that the robot is shifted from the work position at which the robot has been placed when, for example, the robot lifts a work with a weight heavier than expected, or the robot acts in an unintended manner. Alternatively, in the worst case (e.g., occurrence of an earthquake), it is possible for the robot to fall down. In order to ensure the safety of the humans from such an abnormal action of the robot, or in order to prevent damages of the robot itself, the emergency stop switch of the robot is required. Further, in most cases, the emergency stop switch is provided to the robot main body, and it is required for the human to directly operate the emergency stop switch. In other words, the human is required to come closer to the robot in the abnormal state, and there is a problem that the safety cannot sufficiently be ensured. In order to solve such a problem, in the present embodiment, there is adopted a method of operating the emergency stop switch without requiring a human operation to perform the emergency step of the robot in the case in which, for example, the robot moves from a predetermined place due to an unintended reason, or the robot falls down. For example, the emergency stop switch provided to the robot main body and the workbench (a stationary object in the broad sense) of the robot are connected to each other with a connection member (a wire, a cord) with a predetermined length. Then, in the case in which the relative position between the robot and the workbench is changed due to an unintended movement, the fall, and so on, a pull-type emergency stop switch is made to act to perform the emergency stop of the robot. For example, the switch section 20 shown in The robot shown in The body section 70 is supported rotatably (in a freely rotatable manner) with respect to the base 60. Specifically, the body section 70 is arranged to be rotatable around a rotary shaft along, for example, a vertical direction due to a joint 72 disposed between the body section 70 and the base 60. The body section 70 rotates with respect to the base 60 using, for example, an electric motor. The base 60 is provided with a moving mechanism 62 such as a wheel mechanism so as to be movable in the workplace. In Further, as shown in Further, as shown in Further, as shown in In For example, the connection member 23 has an insertion section 24 to be inserted into the insertion opening 22 of the switch section 20, and a wire section 26. One end of the wire section 26 is attached to the insertion section 24, and the other end of the wire section 26 is attached to the workbench 100 (the stationary object, a work area). For example, the workbench 100 is provided with an attachment section 102 for the wire section 26, and the other end of the wire section 26 (the one end of the connection member) is attached to the attachment section 102. The attachment section 102 can be realized by, for example, a metal fixture for the wire. Further, as shown in It should be noted that although in Further, in the present embodiment, it is also possible to further provide a second switch section 30 for performing the emergency stop of the robot as shown in For example, in the case in which the distance between the robot and the workbench 100 increases due to the unintended movement or the fall of the robot as shown in On the other hand, in the case in which the operator operates the second switch section 30 for the emergency stop of the robot, the electrical power supply to the power source 50 (the robot control section) is also blocked. In Here, the switch section 20 is disposed on the front side of the robot, and the second switch section 30 is disposed on the rear side of the robot. For example, the switch section 20 is disposed on the front side of the body section 70, and the second switch section 30 is disposed on the rear side (the back side) of the body section 70. By disposing the second switch section 30 on the rear side of the robot as described above, in the case in which the robot gets into the abnormal state, it is possible for the operator to perform the emergency stop of the robot without regard to the movement of the arms 80, 90. That is, if the second switch section 30 is disposed on the front side of the robot, there is a problem that the arms 80, 90 of the robot in the abnormal state have contact with the operator to diminish the safety. In this regard, by disposing the second switch section 30 on the rear side of the robot, such a problem can be inhibited from occurring. On the other hand, the switch section 20 automatically acts in response to the increase in the distance between the robot and the workbench 100 to perform the emergency stop. Therefore, the problem of the contact between the operator and the arms 80, 90 does not occur. Further, by disposing the switch section 20 on the front side of the robot, there is obtained the advantage that the unintended movement and the fall of the robot can easily be detected using the method explained with reference to Further, in the present embodiment, the robot has the arms 80, 90 (one or more arms) provided to the body section 70. In this case, in the present embodiment, as shown in Specifically, as shown in However, in this method, the connection member 23 in the state of being inserted into the insertion opening 22 is located on the front side of the robot when the robot is in the normal operation, and if the arms 80, 90 have contact with the connection member 23, there occurs a problem of a damage of the robot or an abnormal operation of the robot. For example, in the case in which the connection member 23 is formed of the insertion section 24 and the wire section 26, the insertion section 24 projects from the front surface of the robot, and the projecting part might have contact with the arms 80, 90. In this regard, in the present embodiment, as shown in As described above, in the present embodiment, the switch section 20 is disposed on the front side of the robot disposed to face to the workbench 100, and the fact that the robot has moved away from the workbench 100 is detected using the switch section 20 to perform the emergency stop of the robot. Therefore, in the case in which there occurs the unintended movement or the fall of the robot, which works while facing to the workbench 100 in the normal operation, it is possible to detect the abnormal state to perform the emergency stop of the robot. Therefore, since it is possible to automatically detect the abnormal state shown in For example, as described in Document 3, in the method in which a wiring member of a charger is attached to the rear section of the robot to detect the tension of the wiring member, it is not achievable to detect the abnormal state such as the unintended movement or the fall of the robot, which operates normally while facing to the workbench. In contrast, according to the method of the present embodiment of disposing the switch section 20 on the front side of the robot, there is an advantage that the detection of such an abnormal state can easily and simply be realized. Further, in the present embodiment, only be inserting the other end (the insertion section) of the connection member 23, the one end of which is connected to the workbench 100, to the insertion opening 22 of the switch section 20, the safety function for the emergency stop can be configured. Therefore, for example, in the normal operation of the robot, since the installation operation of the robot to the workbench 100 and the configuration operation of the safety function can be completed only by inserting the other end of the connection member 23 into the insertion opening 22 of the robot, the installation operation of the robot and the configuration operation of the safety function can be simplified. Further, in the present embodiment, if the robot moves away from the workbench 100 due to the abnormal state such as the unintended movement or the fall of the robot, the other end of the connection member 23 is pulled out from the insertion opening 22 of the robot, and further the switch section 20 detects the pullout of the other end, and thus the abnormal state can be detected. Therefore, it becomes possible to surely detect the abnormal state such as the unintended movement or the fall of the robot with a simple detection mechanism. Specifically, if the robot moves away from the workbench 100, the other end of the connection member 23 is surely pulled out from the insertion opening 22, and therefore, the abnormal state can safely and surely be detected. Further, in the case of restoring the normal operation state after detecting the abnormal state, it is only required to restore the robot to the appropriate installation position, and then inserting the other end of the connection member 23 into the insertion opening 22 again, and therefore, simplification of the installation operation of the robot can be achieved. Further, by configuring the connection member 23 using the insertion section 24 and the wire section 26, it becomes possible to provide a certain degree of freedom to the installation position of the robot with respect to the workbench 100 using the slack of the wire section 26. In other words, it becomes possible to fine-tune the installation position of the robot using the slack of the wire section 26. Further, by disposing the second switch section 30 on the rear side of the robot as shown in Further, by arranging that the connection member 23 is located outside the movable range RM of the arms 80, 90 as shown in Then, a detailed configuration example of the switch sections and the action thereof will be explained. In The switch section 20 has a first switch 21 (a first contact point), and the second switch section 30 has a second switch 31 (a second contact point). These switches 21, 31 are disposed in series. For example, the switches 21, 31 are disposed in series to an electrical power supply line. Specifically, the switches 21, 31 are connected in series between an electrical power supply node of the electrical power supply section 10 and an electrical power input node of the power source 50 (the robot control section). It should be noted that although in Further, in the present embodiment, when at least one of the switches 21, 31 is turned OFF, the electrical power supply to the power source 50 is blocked. Thus, the emergency stop of the robot is achieved. For example, in In contrast, in the Further, in As described above, in Further, in the normal operation of the robot, as shown in In contrast, when the abnormal state shown in In In contrast, in Further, in the present embodiment, as shown in It should be noted that although the present embodiment is hereinabove explained in detail, it should easily be understood by those skilled in the art that it is possible to make a variety of modifications not substantially departing from the novel matters and the advantages of the invention. Therefore, such modified examples should be included in the scope of the invention. For example, a term described at least once with a different term having a broader sense or the same meaning in the specification or the accompanying drawings can be replaced with the different term in any part of the specification or the accompanying drawings. Further, all of the combinations of the working examples and the modified examples of the present embodiment are also included in the scope of the invention. Further, the configuration and the operation of the robot, the emergency stop method, the switch control method, the electrical power supply method, and so on are also not limited to those explained in the present embodiment, but can be put into practice in various modified forms. The entire disclosure of Japanese Patent Application No. 2013-155343, filed Jul. 26, 2013 is expressly incorporated by reference herein. |