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1. (WO2017154303) EMERGENCY STOP PRESSURE SENSOR, SAFETY DEVICE, AND SAFETY SYSTEM

Pub. No.:    WO/2017/154303    International Application No.:    PCT/JP2016/087311
Publication Date: Fri Sep 15 01:59:59 CEST 2017 International Filing Date: Thu Dec 15 00:59:59 CET 2016
IPC: G01L 1/16
B25J 19/02
B25J 19/06
Applicants: RICOH COMPANY, LTD.
株式会社リコー
NATORI, Junichiro
名取 潤一郎
KONDOH, Tsuneaki
近藤 玄章
SUGAWARA, Tomoaki
菅原 智明
ARAUMI, Mayuka
荒海 麻由佳
IMAI, Takahiro
今井 崇尋
MIYAZAWA, Hideyuki
宮澤 秀之
OTAGIRI, Mizuki
小田切 瑞樹
Inventors: NATORI, Junichiro
名取 潤一郎
KONDOH, Tsuneaki
近藤 玄章
SUGAWARA, Tomoaki
菅原 智明
ARAUMI, Mayuka
荒海 麻由佳
IMAI, Takahiro
今井 崇尋
MIYAZAWA, Hideyuki
宮澤 秀之
OTAGIRI, Mizuki
小田切 瑞樹
Title: EMERGENCY STOP PRESSURE SENSOR, SAFETY DEVICE, AND SAFETY SYSTEM
Abstract:
Emergency stop pressure sensors 17 are provided to both side surfaces of a movable link 11 of a robot arm 14 of an assembly robot. When an operator S unintentionally approaches the turning range Ra of the robot arm 14 and contacts the emergency stop pressure sensor 17, a detection signal is sent to a control means 19, and the control means 19 blocks the supply of electricity to a drive source for causing the robot arm 14 to turn. The emergency stop pressure sensors 17 have a first electrode and a second electrode constituting a pair of electrodes, and an intermediate layer formed of rubber or a rubber composition and provided between the pair of electrodes, the intermediate layer generating power through being deformed by contact with a contacted body (the operator). One stacking-direction side of the intermediate layer is subjected to a surface-reforming process and/or an inactivation process so that the one side and the other side are deformed to different degrees by the same deformation-imparting force.