# US 10,500,729 B2 · Fenceless industrial robot system

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- Number: US 10,500,729 B2
- Document ID: US10500729B2
- Status: Granted
- Kind: B2
- Application number: 15/586,339
- Filed: 2017-05-04
- Published: 2017-11-09
- Granted: 2019-12-10
- Earliest claimed: 2016-05-09
- Assignees: Opiflex Automation AB
- Applicants: OpiFlex Automation AB
- Inventors: Johan Frisk; Robin Löfgren
- Web page: https://patentgrep.com/patent/US10500729B2

## CPC

- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00)
- B25J 19/02: Sensing devices
- B25J 19/06: Safety devices
- F16P 3/14: the means being photocells or other devices sensitive without mechanical contact
- F16P 3/142: {using image capturing devices}
- F16P 3/144: {using light grids}
- G05B 19/4061: Avoiding collision or forbidden zones
- G05B 2219/40201: Detect contact, collision with human
- G05B 2219/40219: Detect contact, proximity of other manipulators
- G05B 2219/49141: Detect near collision and slow, stop, inhibit movement tool
- Y10S 901/49: Protective device
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- F16P: SAFETY DEVICES IN GENERAL; {SAFETY DEVICES FOR PRESSES}
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

The present invention relates to an industrial robot system comprising a platform (1) positioned in a robot cell, an industrial robot (2) positioned on the platform and including an articulated robot arm (6), a sensor system comprising 5 two sensors (4, 5), wherein each of the sensors is configured to detect motions within an angle of at least 90o in a horizontal plane, two arms (10, 12) attached to the platform (1) and arranged to move the sensors (4, 5) in relation to the platform independent of the articulated robot arm between an extended position located a distance of a least 0.5 m from the platform and a 10 retracted position. The sensors are arranged to detect motions of an object within a safety zone and the robot system is configured to adjust the speed of the robot if a moving object is detected in the safety zone.

## Claims

### Claim 1

An industrial robot system comprising:
a platform adapted to be positioned on a floor in a robot cell,
an industrial robot positioned on the platform and including an articulated robot arm,
a sensor system comprising two sensors, wherein each of the sensors is configured to detect motions within an angle of at least 90° in a horizontal plane, and
two arms attached to the platform and arranged to move the sensors in relation to the platform independent of the articulated robot arm between a retracted position and an extended position and the sensors are located a distance of a least 0.5 m from the platform in the extended position,
wherein the sensors are arranged to detect motions of an object within at least one safety zone defined in relation to the sensors when the sensors are located in the extended position, and the robot system comprises a safety control unit configured to adjust the speed of the robot if a moving object is detected in the at least one safety zone.

### Claim 2 (depends on 1)

The robot system according to claim 1, wherein the sensors in the extended position are located at a distance less than 0.5 m from the floor in a vertical direction.

### Claim 3 (depends on 1)

The robot system according to claim 1, wherein the sensors in the extended position are located at a distance less than 0.3 m from the floor in a vertical direction.

### Claim 4 (depends on 1)

The robot system according to claim 1, wherein the robot has a defined working area and the sensors are located outside the working area of the robot in the extended position.

### Claim 5 (depends on 1)

The robot system according to claim 1, wherein the sensors are arranged so that the two sensors in the extended position together cover an angle of 360° in a horizontal plane around the platform.

### Claim 6 (depends on 1)

The robot system according to claim 1, wherein each of the sensors is configured to detect motions within an angle of at least 250° in a horizontal plane, and preferably each of the sensors is configured to detect motions within an angle of at least 270° in a horizontal plane.

### Claim 7 (depends on 1)

The robot system according to claim 1, wherein the two sensors are arranged on diametrically opposite sides of the platform when the two sensors are in the extended position so that they together cover an angle of 360° in a horizontal plane around the platform.

### Claim 8 (depends on 1)

The robot system according to claim 1, wherein the extended position is located at a distance of at least 0.8 m from the platform in a horizontal direction.

### Claim 9 (depends on 8)

The robot system according to claim 8, wherein the sensors are located less than 1 m outside the working area of the robot in the extended position, preferably the sensors are located less than 0.5 m outside the working area of the robot in the extended position, and most preferably the sensors are located less than 0.2 m outside the working area of the robot in the extended position.

### Claim 10 (depends on 1)

The robot system according to claim 1, wherein the sensors are located on or in close vicinity of the platform in the retracted position.

### Claim 11 (depends on 1)

The robot system according to claim 1, wherein the platform is rectangular and has first and second corners located diametrically opposite each other, and one of the arms attached to the platform is arranged to extend between the first corner and one of the sensors, when the sensor is in the extended position, and the other arm attached to the platform is arranged to extend between the second corner and the other sensor, when the sensor is in the extended position.

### Claim 12 (depends on 1)

The robot system according to claim 1, wherein said platform is a movable platform.

### Claim 13 (depends on 12)

The robot system according to claim 12, wherein the robot system further comprises a plurality of robot cells and the movable platform is adapted to be moved between the robot cells and to perform work in the robot cells, and the safety control unit is configured to adjusts the size and shape of the at least one safety zone based on which one of the robot cells the robot is located in.