Robot and emergency stop method of robot

Patent metadata

Field	Value
Publication number	US-9548168-B2
Application number	US-201414202631-A
Country	US
Kind code	B2
Filing date	Mar 10, 2014
Priority date	Jul 26, 2013
Publication date	Jan 17, 2017
Grant date	Jan 17, 2017

Abstract

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.

First claim

What is claimed is:

1. A robot comprising:
a drive power source of the robot that moves the robot;
an electric power supply that supplies electric power to the drive power source of the robot;
a first switch that is provided on a front side of the robot, the front side facing a workbench; and
a second switch that is provided on a rear side of the robot, the rear side being opposite to the front side, wherein
the first and second switches are serially connected between the electric power supply and the drive power source via first and second lines so that the electric power from the electric power supply to the drive power source is blocked when at least one of the first and second switches is turned OFF,
the first switch is configured with:
an insertion conductor rod that is connected to the workbench;
an insertion opening that is provided on the front side of the robot, the insertion conductor rod is inserted through the insertion opening into the robot;
a first terminal that is provided at an end of the first line connected between the second switch and the first switch; and
a second terminal that is provided at an end of the second line connected between the first switch and the drive power source;

when the insertion conductor rod is inserted through the insertion opening so as to connect between the first and second terminals via the insertion conductor rod, the electric power from the electric power supply is supplied to the drive power source, and
when a distance between the workbench and the robot is longer than a predetermined distance, the insertion conductor rod is spaced apart from the first and second terminals so that the first switch is turned OFF.

2. The robot according to claim 1 , wherein
one end of the insertion conductor rod is connected to the workbench, and the other end of the insertion conductor rod is inserted through the insertion opening, and
the first switch blocks the electrical power from the electric power supply to the drive power source when the other end of the insertion conductor rod is pulled out from the insertion opening.

3. The robot according to claim 2 , wherein
the first switch includes
a wire having one end attached to the insertion conductor rod and the other end attached to the workbench, and

the first switch blocks the electrical power from the electric power supply to the drive power source when the insertion conductor rod is pulled out from the insertion opening.

4. The robot according to claim 2 , further comprising:
a base; and
a body section rotatably supported by the base,
wherein the insertion opening is disposed on a front side of the body section.

5. The robot according to claim 4 , further comprising:
at least one arm provided to the body section,
wherein the insertion conductor rod located outside a movable range of the arm in a state of being inserted in the insertion opening.

6. The robot according to claim 1 , further comprising:
a robot controller adapted to control the robot,
wherein the first switch blocks the electrical power from the electric power supply to the drive power source and the robot controller when the distance between the workbench and the robot is longer than the predetermined distance.

7. An emergency stop method of a robot that includes:
a drive power source of the robot that moves the robot;
an electric power supply that supplies electric power to the drive power source of the robot;
a first switch that is provided on a front side of the robot, the front side facing a workbench; and
a second switch that is provided on a rear side of the robot, the rear side being opposite to the front side, the emergency stop method comprising:
detecting whether a distance between the robot and the workbench is longer than a predetermined distance; and
blocking the electrical power from the electric power supply to the drive power source of the robot in accordance with a detection result in the detecting by turning the first switch OFF, wherein
the first and second switches are serially connected between the electric power supply and the drive power source via first and second lines so that the electric power from the electric power supply to the drive power source is blocked when at least one of the first and second switches is turned OFF,
the first switch is configured with:
an insertion conductor rod that is connected to the workbench;
an insertion opening that is provided on the front side of the robot, the insertion conductor rod is inserted through the insertion opening into the robot;
a first terminal that is provided at an end of the first line connected between the second switch and the first switch; and
a second terminal that is provided at an end of the second line connected between the first switch and the drive power source;

when the insertion conductor rod is inserted through the insertion opening so as to connect between the first and second terminals via the insertion conductor rod, the electric power from the electric power supply is supplied to the drive power source; and
when the distance between the workbench and the robot is longer than the predetermined distance, the insertion conductor rod is spaced apart from the first and second terminals so that the first switch is turned OFF.

8. A robot comprising:
a drive power source of the robot that moves the robot;
an electric power supply that supplies electric power to the drive power source of the robot;
a first switch that is provided on a front side of the robot, the front side facing a workbench; and
a second switch that is provided on a rear side of the robot, the rear side being opposite to the front side,
wherein the first and second switches are serially connected between the electric power supply and the drive power source via first and second lines so that the electric power from the electric power supply to the drive power source is blocked when at least one of the first and second switches is turned OFF,
the first switch is configured with:
an insertion key plate that is connected to the workbench;
an insertion slit opening that is provided on the front side of the robot, the insertion key plate is inserted through the insertion opening into the robot;
a first terminal that is provided at an end of the first line connected between the second switch and the first switch; and
a second terminal that is provided at an end of the second line connected between the first switch and the drive power source;

when the insertion key plate is inserted through the insertion opening so as to connect between the first and second terminals, the electric power from the electric power supply is supplied to the drive power source, and
when a distance between the workbench and the robot is longer than a predetermined distance, the insertion key plate is pulled out from the insertion slit opening so that the first switch is turned OFF.

9. The robot according to claim 8 ,
wherein one end of the insertion key plate is connected to the workbench, and the other end of the insertion key plate is inserted through the insertion slit opening, and
the first switch blocks the electrical power from the electric power supply to the drive power source when the other end of the insertion key plate is pulled out from the insertion slit opening.

10. The robot according to claim 9 ,
wherein the first switch includes a wire having one end attached to the insertion key plate and the other end attached to the workbench.

11. The robot according to claim 9 , further comprising:
a base; and
a body section rotatably supported by the base,
wherein the insertion slit opening is disposed on a front side of the body

Assignees

• Seiko Epson Corp

Inventors

• Takeuchi Kaoru
• Matsudo Tatsuya

Classifications

• H01H3/0226 Primary

  operated by a pull cord · CPC title

• H01H2300/028

  Application dead man switch, i.e. power being interrupted by panic reaction of operator, e.g. further pressing down push button · CPC title

• B25J19/06

  Safety devices · CPC title

• H01H3/022

  Emergency operating parts, e.g. for stop-switch in dangerous conditions · CPC title