JP2002236668A - Robot control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve maintenability and security control function of a robot. SOLUTION: A recording medium 50a for authentication which stores category information 51a and authentication information 52a of a user is made connetable with a computing part 10. The computing part 10 collates category judging information 24 of the recording medium 50a for authentication previously stored in a storage part 20 against the category information 51a of the currently connected recording medium 50a for authentication. When the category information 51a recorded in the recording medium 50a for authentication is effective, authentication information 31 inputted by a user from an input part 30 is collated against the authentication information 52a of a user stored in the recording medium 50a for authentication, and at least, any of an operation program 21, system data 22, and a basic program 23 is made modifiable corresponding to the category information 51a if the authentication information 31 and the authentication information 52a meet each other. It is thus possible to prevent information with high confidentiality stored in a robot control device from being modified.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control system for controlling teaching and operation of an industrial robot and the like.
In particular, the present invention relates to a robot controller having excellent maintainability and security management functions.

[0002]

2. Description of the Related Art FIG. 4 shows a schematic configuration diagram of a conventional robot controller. The storage unit 320 of the robot controller 300 stores a robot operation program 321 and system data 322, and a basic program 323 for operating the robot using both of them. The operation is performed at 310, and the robot is operated by controlling the motor of the manipulator (not shown) from the arithmetic processing unit 310 via the motor control unit 370.

[0003] An input unit 330 and a display unit 340 are connected to the arithmetic processing unit 310. The input unit 330 allows the user of the robot to input and edit the operation program 321 and to input necessary information. Do. The display unit 3
40 allows the user to check the contents of the operation program 321 and to check the state of the control device.

In such a conventional robot control device,
In order to protect data with high confidentiality and importance such as the operation program 321, the system data 322, and the basic program 323 stored in the storage unit 320, a user who can modify these data is identified. For this purpose, the operation processing unit 310 performs user authentication and collation.

FIG. 5 shows a flowchart of user authentication performed by the arithmetic processing unit 310. The arithmetic processing unit 310 reads the authentication information 331 input from the input unit 330 in step S301, and in the next step S302, the storage unit 3
The authentication information 324 stored in 20 is read. In a succeeding step S303, the arithmetic processing unit 310 is compared with the two. If they match, the procedure proceeds to step S305, and if they do not match, the procedure proceeds to step S304. In step S305, the user is permitted to correct the data stored in the storage unit 320. In step S304, the user is prohibited from correcting the data, thereby performing security management of the robot controller. Had gone.

[0006]

In such a conventional robot controller, the security is released by a malicious third party brute-forcely inputting authentication information from an input unit, and the robot controller is released. Operating programs, basic programs, system data, etc.
There is a risk of being erased. In recent years, the robot control device is often used by being connected to a communication line, and maintenance work is increasingly performed via a communication line connected to the outside such as an Internet line. In such a system configuration, security is released in a short time by using a computer connected via a communication line as a means for releasing the security of the robot control device, and the settlement system using the robot is catastrophically damaged. The likelihood of receiving is increasing.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a robot control device having excellent maintainability and security management functions.

[0008]

According to a first aspect of the present invention, there is provided a robot control apparatus, comprising: an operation program for a robot; system data for controlling the robot; A storage unit that stores a basic program that controls the robot by executing the operation program by using the input unit that inputs and edits the operation program and system data and inputs user authentication information; A display unit for displaying the contents of the operation program, displaying information to be input or a message prompting the same, and displaying the state of the robot, and an arithmetic process for controlling the robot based on the operation program, system data and basic program of the storage unit An authentication recording medium storing type information and user authentication information. And connectable, the calculation processing unit,
When the type determination information of the authentication recording medium stored in the storage unit in advance is compared with the type information of the currently connected authentication recording medium, and the type information recorded on the authentication recording medium is valid. The authentication program input by the user from the input unit is compared with the authentication information of the user stored in the authentication recording medium, and when they match, the operation program and the system correspond to the type information. At least one of the data and the basic program can be modified.

In this way, the authentication recording medium storing the type information and the user authentication information can be connected to the arithmetic processing unit, and the arithmetic processing unit stores the type of the authentication recording medium stored in the storage unit in advance. The determination information is compared with the type information of the currently connected authentication recording medium, and when the type information recorded on the authentication recording medium is valid, the authentication information input by the user from the input unit and the authentication information are output. The user authentication information stored in the storage medium for authentication, and when they match, at least one of the operation program, the system data, and the basic program can be modified in accordance with the type information. A security check can be performed by comparing the type information and authentication information recorded on the medium with the type determination information stored in the storage unit of the robot control device and the authentication information input to the input unit. That. Therefore, it is possible to prevent a third party who does not have the authentication recording medium from unlocking the security of the robot control device and modifying the highly confidential information stored in the robot control device.

According to a second aspect of the present invention, in the first aspect, the input unit and the display unit are provided in the robot teaching device. Thus, in the configuration in which the input unit and the display unit are provided in the teaching device of the robot, the operation and effect of claim 1 can be obtained.

According to a third aspect of the present invention, there is provided a robot control device according to the first or second aspect, further comprising a communication interface unit for communicating between an external device connected to a communication line and an arithmetic processing unit. A display unit and a recording medium for authentication were provided.

As described above, in a configuration in which the communication interface unit for communicating between the external device connected to the communication line and the arithmetic processing unit is provided, and the input unit, the display unit, and the authentication recording medium are provided in the external device, The operation and effect of the first aspect are obtained.

According to a fourth aspect of the present invention, in the robot control apparatus according to the first, second or third aspect, at least one of the user's authentication information, date and time, and work content input to the input unit is stored as progress information in the storage unit. .

As described above, since the user's authentication information, date and time, and / or work content input to the input unit are stored in the storage unit as the progress information, the progress information can be confirmed.

According to a fifth aspect of the present invention, in the robot controller according to the fourth aspect, the progress information stored in the storage unit can be displayed on the display unit via the arithmetic processing unit. As described above, the progress information stored in the storage unit can be displayed on the display unit via the arithmetic processing unit, so that the user can check the progress information on the display unit as necessary.

According to a sixth aspect of the present invention, there is provided a robot control device according to the fourth or fifth aspect, wherein progress information obtained by connecting an authentication recording medium is stored in a storage unit separately from other progress information.

As described above, the progress information worked by connecting the authentication recording medium is stored in the storage unit separately from the other progress information, so that the information management function can be strengthened.

According to a seventh aspect of the present invention, the robot control device according to the fourth, fifth or sixth aspect compresses when the storage capacity of the progress information exceeds a certain value. As described above, compression is performed when the storage capacity of the progress information exceeds a certain value, so that it is possible to avoid squeezing the storage capacity of the storage unit.

According to an eighth aspect of the present invention, in the robot controller according to the fourth, fifth or sixth aspect, when the storage capacity of the history information exceeds a predetermined value, the history information is removed from the stored history information in chronological order. As described above, when the accumulated capacity of the progress information exceeds a certain value, the accumulated progress information is removed in chronological order, so that it is possible to avoid squeezing the storage capacity of the storage unit.

According to a ninth aspect of the present invention, in the robot control apparatus according to the first, second, third, fourth, fifth, sixth, and seventh aspects, a security level corresponding to the type information of the authentication recording medium is provided. The level is stored in the storage unit.

As described above, the security level corresponding to the type information of the authentication recording medium is assigned and the security level is stored in the storage unit. Therefore, the security level is determined by the type information recorded on the authentication recording medium. Thus, the workable range can be limited. For this reason, it is possible to prevent an unskilled user from accidentally rewriting or erasing important information and causing the operation of the robot to become unstable.

According to a tenth aspect of the present invention, there is provided the robot control device according to the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth aspect of the present invention, wherein the connection unit for detachably connecting the authentication recording medium to the input unit. Provided. As described above, the above-described operation and effect can be obtained in the configuration in which the connection unit that detachably connects the authentication recording medium to the input unit is provided.

The robot control device according to the eleventh aspect of the present invention is the robot control device according to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth or tenth aspects, wherein the type information of the recording medium for authentication and the authentication information of the user are compared. At least one is encrypted and stored, and the encrypted information is decrypted by the arithmetic processing unit.

As described above, at least one of the type information of the authentication recording medium and the user's authentication information is encrypted and stored, and the encrypted information encrypted by the arithmetic processing unit is decrypted. It is possible to prevent information from being easily read by a third party and misused. Further, the encrypted information is decrypted in the arithmetic processing unit, and the information is decrypted, so that the arithmetic processing unit can execute necessary processing.

According to a twelfth aspect of the present invention, in the robot control apparatus according to the eleventh aspect, the unique information given to the authentication recording medium is used as a key code for encryption and decryption. In this way, by using the unique information given to the recording medium for authentication as the key code for encryption and decryption, the operation and effect of claim 11 can be obtained.

According to a thirteenth aspect of the present invention, there is provided a robot control apparatus according to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, and eleventh aspects.
In or 12, the connection state of the authentication recording medium is detected by the arithmetic processing unit, and the processing via the arithmetic processing unit is restricted or stopped when the authentication recording medium is connected even after the work is completed.

As described above, the connection state of the authentication recording medium is detected by the arithmetic processing unit, and the processing via the arithmetic processing unit is restricted or stopped when the authentication recording medium is connected even after the work is completed. Further, it is possible to prevent a third party from being authenticated using the authentication recording medium and modifying the data stored in the storage unit.

According to a fourteenth aspect of the present invention, there is provided a robot control apparatus according to the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth and tenth aspects.
In 1, 12, or 13, at least one of the basic program, the system data, and the operation program was stored in the authentication recording medium, and authentication information for selecting a user who can be transferred to the storage unit was set.

As described above, at least one of the basic program, the system data, and the operation program is stored in the recording medium for authentication, and the authentication information for selecting a user who can be transferred to the storage unit is set. The user who has been permitted through the above can transfer the above data to the storage unit and update them according to the security level.

According to a fifteenth aspect of the present invention, in the robot control device according to the fifteenth aspect, the basic program, the system data, or the operation program stored in the authentication recording medium are encrypted and stored, and the encrypted information is encrypted by the arithmetic processing unit. Is decrypted.

As described above, the basic program, system data or operation program stored in the authentication recording medium are encrypted and stored, and the encrypted information is decrypted by the arithmetic processing unit. Alternatively, it is possible to prevent the operation program from being easily read by a third party and abused. Further, the encrypted information is decrypted in the arithmetic processing unit, and the information is decrypted, so that the arithmetic processing unit can execute necessary processing.

A robot controller according to claim 16 uses the unique information given to the recording medium for authentication as a key code for encryption and decryption. As described above, by using the unique information given to the authentication recording medium as the key code for encryption and decryption, the operation and effect of claim 15 can be obtained.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall configuration diagram of a robot control device according to an embodiment of the present invention.

The storage section 20 of the robot controller 100 stores a robot operation program 21, system data 22 for controlling the robot, and a basic program 23 for operating the robot using both of them. ing. Basic program 23 is system data 22
The operation program 21 is used to control the robot, and the basic program 23 is arithmetically executed by the arithmetic processing unit 10, and the motor of the manipulator (not shown) is controlled via the motor control unit 70 to control the robot. Make it work.

In this embodiment, although not shown in detail, the operation program 21 and the system data 22 are stored in a storage medium having a large storage capacity such as a flash memory.
The basic program 23 is stored in an EPROM, which is a storage medium having a high reading speed, and is stored separately in a plurality of storage media according to its functions. The storage unit 20 means a program including all of them. Is what you do.

An input unit 30 composed of a key input device and a display unit 40 composed of a monitor device are connected to the arithmetic processing unit 10, based on an operation program 21, system data 22 and a basic program 23 in a storage unit 20. Control the robot. The input unit 30 inputs and edits the operation program 21 and the system data 22, and inputs user authentication information. The display unit 40 confirms the contents of the operation program 21 and displays information to be input or a message prompting the input, and displays the state of the robot. The robot user inputs and edits the operation program 21 through the input unit 30, and further inputs information necessary for operating the robot, such as user authentication information, and the display unit 40 allows the user to display the contents of the operation program 21. It is possible to check the status of the control device. In this embodiment, the input unit 30 and the display unit 40 are provided in the robot control device 100. However, similar effects can be obtained by providing them in a teaching device (not shown).

Further, the robot controller 100 has an authentication recording medium 50a formed of a flash memory card.
An authentication recording medium connection unit 80 composed of a flash memory card reader is provided for connecting the computer and the arithmetic processing unit 10, and the type information 51a and the user authentication information recorded on the authentication recording medium 50a are provided. Information such as 52a is read, and this information is passed to the arithmetic processing unit 10.
In this embodiment, an example is described in which a flash memory card and a flash memory card reader are applied as the authentication recording medium 50a and the authentication recording medium connection unit 80, respectively. Similar effects can be obtained by using a recording medium such as a disk, an IC card, or a CD-R in combination with a reading device.

FIG. 2 is a flowchart showing a flow of the authentication judgment according to the embodiment of the present invention. Arithmetic processing unit 10
Is the type information 51a recorded on the authentication recording medium 50a via the authentication recording medium connection unit 80 in step S101.
Is read, and the type determination information 24 stored in the storage unit 20 is read in step S102. Arithmetic processing unit 1
In the next step S103, the type information 51a is compared with the type determination information 24, and if it is determined that the type information 51 is valid, the process proceeds to step S104, and the type information 5
The security level corresponding to 1a is determined, and the process proceeds to step S106 and subsequent steps.

On the other hand, if it is determined in step S103 that the type information 51a is invalid, the process proceeds to step S103.
Proceeding to 105, the arithmetic processing unit 10 prohibits the user from modifying the information of the operation program 21, the system data 22, and the basic program 23 stored in the storage unit 20.

In step S106 following step 104, the user authentication information 5 is again stored in the authentication recording medium 50a.
2a, and reads the authentication information 31 input from the input unit 30 in the next step S107. Subsequent step S
In step 108, the two are collated, and if they match, the flow advances to step S109 to proceed to step S104.
Storage unit 2 based on the security level determined in
0, operation data 21 and system data 2
2. Among the basic programs 23, the user determines a target that can be modified, and permits the modification work. On the other hand, if it is determined in step S108 that the authentication information 52a, 31 does not match, the process proceeds to step 110, where the user determines whether the operation program 21, the system data 22, and the basic program 23 are stored in the storage unit 20. Prohibit modification work.

As shown in FIG. 1, the robot controller 100 includes a communication interface unit 6 for communicating between an external device connected to the communication line 61 and the arithmetic processing unit 10.
0 can be provided, and the communication interface unit 60 can be connected to the computer 200 via the communication line 61. The computer 200 includes an input unit 210 including a keyboard for a user to input information, and a display unit 22 including a monitor device for displaying information of the computer 200.
0 and an authentication recording medium connection unit 230 composed of a flash memory card reader. The authentication recording medium connection unit 230 includes an authentication recording medium 50a.
An authentication recording medium 50b made of the same type of flash memory card is connected to the authentication recording medium 50b in the same format as the authentication recording medium 50a.
Type information 51b and authentication information 52b are recorded. The authentication recording medium connection unit 230 reads these pieces of information recorded on the authentication recording medium 50b, and delivers the read information to the computer 200. Further, this information is configured to be transmitted from the computer 200 to the arithmetic processing unit 10 of the robot control device 100 via the communication line 61.

FIG. 3 is a flowchart showing a flow for authenticating a user when the robot controller 100 according to the embodiment of the present invention is connected to a network device such as a computer 200 via a communication line 61. .

The arithmetic processing unit 10 reads the type information 51b recorded on the authentication recording medium 50b via the authentication recording medium connection unit 230 and the computer 200 in step S201, and stores it in the storage unit 20 in advance in step S202. The type determination information 24 is read. Arithmetic processing unit 10
In step S203, the type information 51b is compared with the type determination information 24, and if it is determined that the type information 51b is valid, the process proceeds to step S204, where the type information 5
The security level corresponding to 1b is determined, and the process proceeds to step S206 and subsequent steps.

On the other hand, if it is determined in step S203 that the type information 51b is invalid, the process proceeds to step S203.
Proceeding to 205, the arithmetic processing unit 10 prohibits the user from performing the work of correcting the information of the operation program 21, the system data 22, and the basic program 23 stored in the storage unit 20.

In step S206 following step 204, the user authentication information 5 is stored in the authentication recording medium 50b again.
2b is read, and the input unit 210 is read in the next step S207.
The authentication information 211 input from is read. In a succeeding step S208, the two are collated, and if they match, the process proceeds to a step S209, and the process proceeds to a step S209.
Based on the security level determined in 204, the user determines a target that can be modified from among the operation program 21, the system data 22, and the basic program 23 stored in the storage unit 20, and permits the modification work. On the other hand, if it is determined in step S208 that the authentication information 52b and 211 do not match, the process proceeds to step 210, and the user operates the operation program 21, the system data 22, and the information of the basic program 23 stored in the storage unit 20. Prohibit modification work.

The robot controller 100 is configured to store at least any one of the user's authentication information, date and time, and work content in the storage unit 20 as the progress information 25 every time the user inputs the authentication information. The progress information 25 can be confirmed by the user on the display unit 40 as necessary. Further, the progress information 25 stores the progress information when the operation is performed with permission using the authentication recording medium 50a or 50b and the other progress information separately, and stores the information management function. It is structured so that it can be strengthened.

Since the capacity of the progress information 25 increases each time the work is performed, and the storage capacity of the storage unit 20 is squeezed, the arithmetic processing unit 10 checks the capacity of the progress information 25 and determines it in advance. When the capacity exceeds the capacity, the function is provided with a function of compressing the progress information 25 to reduce the capacity or removing the accumulated data of the progress information 25 in order from the oldest data.

The recording medium for authentication 50a is connected to the robot controller 100, and the recording medium for authentication 50b is connected to the computer 200.
And 230 are detachably configured. With such a configuration, the authentication recording medium is carried by only a special user who is permitted to hold the authentication recording medium in advance, and when the information stored in the storage unit 20 of the robot control device 100 needs to be corrected. Only the authentication recording medium 50a or 50b is attached to the authentication recording medium connection unit 80 or 230, and the operation for receiving authentication is performed. This can prevent a general robot user or a third party from modifying highly confidential information stored inside the robot, and can enhance security management.

However, the authentication recording media 50a, 50
If the user forgets to remove the b while attaching it to the authentication recording medium connection units 80 and 230, a third party will be authenticated using the authentication recording media 50a and 50b and stored in the storage unit 20. Since the stored data can be modified,
The security level may be significantly reduced. In order to prevent this, when the user performs an operation of reflecting the work content in the storage unit 20 at the end of the work, whether the authentication recording medium 50a or 50b is attached to the authentication recording medium connection unit 80 or 230 is determined. The arithmetic processing unit 10 checks whether or not the authentication recording medium 50a or 50b is mounted, and prohibits the arithmetic processing unit 10 from updating the information in the storage unit 20 with the corrected data. And a function of displaying on the display unit 40 a message prompting removal of the authentication recording medium.

The authentication recording media 50a and 50b can also record operation programs 53a and 53b, system data 54a and 54b, and basic programs 55a and 55b, respectively.
Using b, a user who has been authorized through the above authentication procedure can transfer these data to the storage unit 20 and update them according to the security level.

Further, the recording media for authentication 50a and 50b are provided with unique media specific information 56a and 56b, respectively. The unique information 56a or 56b is directly or indirectly encrypted with a key for encryption. The type information 51a, 51b recorded on the recording media for authentication 50a, 50b, the user authentication information 52a, 52b,
Operation programs 53a and 53b, system data 54
By encrypting and recording each of the information a and 54b and the basic programs 55a and 55b, it is possible to prevent the information from being easily read by a third party and misused. The encrypted information is decrypted in the arithmetic processing unit 10 using the key code, and the information is decrypted so that the arithmetic processing unit 10 can execute necessary processing. I am taking.

The authentication recording medium connection units 80 and 230
May be provided in the input units 30 and 210.

[0053]

According to the robot controller of the first aspect of the present invention, the authentication recording medium storing the type information and the user authentication information can be connected to the arithmetic processing unit. The type determination information of the authentication recording medium stored in advance in the storage unit is compared with the type information of the currently connected authentication recording medium, and when the type information recorded on the authentication recording medium is valid, The authentication information input by the user from the input unit is compared with the authentication information of the user stored in the authentication recording medium, and when the authentication information matches, the operation program, the system data, and the basic program are corresponded to the type information. Since at least one of them can be modified, the collation between the type information and the authentication information recorded on the recording medium for authentication, the type determination information stored in the storage unit of the robot control device, and the authentication information input to the input unit is performed. Conduct security checks can be carried out. Therefore, it is possible to prevent a third party who does not have the authentication recording medium from unlocking the security of the robot control device and modifying the highly confidential information stored in the robot control device.

According to the second aspect, in the configuration in which the input unit and the display unit are provided in the teaching device of the robot, the operation and effect of the first aspect can be obtained.

According to a third aspect of the present invention, a communication interface unit for communicating between an external device connected to a communication line and an arithmetic processing unit is provided, and the external device is provided with an input unit, a display unit, and an authentication recording medium. Thus, the function and effect of claim 1 can be obtained.

According to the fourth aspect, since at least one of the user's authentication information, date and time, and work content input to the input unit is stored in the storage unit as progress information, the progress information can be confirmed.

According to claim 5, the progress information stored in the storage unit can be displayed on the display unit via the arithmetic processing unit.
The user can confirm the progress information on the display unit as needed.

According to the sixth aspect, the progress information worked by connecting the authentication recording medium is stored in the storage unit separately from the other progress information, so that the information management function can be strengthened.

According to the seventh aspect, compression is performed when the storage capacity of the progress information exceeds a certain value, so that it is possible to prevent the storage capacity of the storage unit from being reduced.

According to the eighth aspect, when the storage capacity of the progress information exceeds a certain value, the stored progress information is removed in the order of the oldest, so that the storage capacity of the storage unit can be prevented from being reduced.

According to the ninth aspect, a security level corresponding to the type information of the authentication recording medium is assigned and the security level is stored in the storage unit. Therefore, the security level is set based on the type information recorded on the authentication recording medium. It is possible to limit the workable range. For this reason, it is possible to prevent an unskilled user from accidentally rewriting or erasing important information and causing the operation of the robot to become unstable.

According to the tenth aspect, the above-described operation and effect can be obtained in a configuration in which the connection portion for detachably connecting the authentication recording medium is provided in the input portion.

In claim 11, at least one of the type information of the authentication recording medium and the user's authentication information is encrypted and stored, and the encrypted information encrypted by the arithmetic processing unit is decrypted. It is possible to prevent the authentication information from being easily read by a third party and being misused.
Further, the encrypted information is decrypted in the arithmetic processing unit, and the information is decrypted, so that the arithmetic processing unit can execute necessary processing.

In the twelfth aspect, the operation and effect of the eleventh aspect can be obtained by using the unique information given to the recording medium for authentication as a key code for encryption and decryption.

According to the thirteenth aspect, the connection state of the authentication recording medium is detected by the arithmetic processing unit, and the processing via the arithmetic processing unit is restricted or stopped when the authentication recording medium is connected even after the work is completed. Therefore, it is possible to prevent a third party from being authenticated using the authentication recording medium and modifying the data stored in the storage unit.

According to the fourteenth aspect, at least one of the basic program, the system data, and the operation program is stored in the authentication recording medium, and the storage unit is set with the authentication information for selecting a transferable user. The user who has been authorized through the procedure can transfer the above data to the storage unit and update them according to the security level.

According to the fifteenth aspect, the basic program, system data or operation program stored in the authentication recording medium are encrypted and stored, and the encrypted information encrypted by the arithmetic processing unit is decrypted. It is possible to prevent the data or the operation program from being easily read by a third party and abused.
Further, the encrypted information is decrypted in the arithmetic processing unit, and the information is decrypted, so that the arithmetic processing unit can execute necessary processing.

In the sixteenth aspect, the operation and effect of the fifteenth aspect can be obtained by using the unique information given to the recording medium for authentication as a key code for encryption and decryption.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a robot control device according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a flow of authentication determination of the robot control device according to the embodiment of the present invention.

FIG. 3 is a flowchart illustrating another flow of authentication determination of the robot control device according to the embodiment of the present invention.

FIG. 4 is an overall configuration diagram of a conventional robot control device.

FIG. 5 is a flowchart illustrating a flow of an authentication determination of a conventional robot control device.

[Explanation of symbols]

 Reference Signs List 10 arithmetic processing unit 20 storage unit 30, 210 input unit 31, 211 authentication information 40, 220 display unit 50a, 50b authentication recording medium 51a, 51b type information 52a, 52b authentication information 53a, 53b operation program 54a, 54b system data 55a , 55b Basic program 56a, 56b Medium-specific information 60 Communication interface unit 61 Communication line 70 Motor control unit 80, 230 Recording medium connection unit for authentication 200 Computer

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C007 LS14 MS00 MS29 5B085 AE11 AE23 5H219 AA08 CC11 EE08 HH25 HH28 5H269 AB33 BB17 NN14 PP09 QC06

Claims (16)

[Claims] A storage unit for storing a robot operation program, system data for controlling the robot, and a basic program for controlling the robot by executing the operation program using the system data; The input section for inputting and editing the operation program and system data, inputting user authentication information, confirming the contents of the operation program, displaying the input information or a message prompting the input, and displaying the state of the robot And an arithmetic processing unit that controls the robot based on the operation program, system data, and basic program of the storage unit, and calculates the authentication recording medium storing the type information and the user authentication information. Connectable to the processing unit,
The arithmetic processing unit compares the type determination information of the authentication recording medium stored in the storage unit in advance with the type information of the currently connected authentication recording medium, and stores the type recorded in the authentication recording medium. When the information is valid, the authentication information input by the user from the input unit is compared with the authentication information of the user stored in the authentication recording medium. A robot control device capable of modifying at least one of the operation program, system data, and basic program. 2. The robot controller according to claim 1, wherein an input unit and a display unit are provided in the robot teaching device. 3. A communication interface unit for communicating between an external device connected to a communication line and an arithmetic processing unit, wherein the external device is provided with an input unit, a display unit, and an authentication recording medium. 3. The robot control device according to 2. 4. The robot control device according to claim 1, wherein at least one of the user's authentication information, date and time, and work content input to the input unit is stored in the storage unit as progress information. 5. The robot control device according to claim 4, wherein the progress information stored in the storage unit can be displayed on a display unit via an arithmetic processing unit. 6. The robot control device according to claim 4, wherein progress information worked by connecting the authentication recording medium is stored in the storage unit separately from other progress information. 7. The robot control device according to claim 4, wherein the compression is performed when the storage capacity of the progress information exceeds a certain value. 8. The robot control device according to claim 4, wherein when the storage capacity of the progress information exceeds a predetermined value, the stored progress information is removed in an oldest order. 9. The robot according to claim 1, wherein a security level corresponding to the type information of the authentication recording medium is assigned, and the security level is stored in the storage unit. Control device. 10. A connection unit for detachably connecting a recording medium for authentication to an input unit.
10. The robot controller according to 6, 7, 8 or 9. 11. The method according to claim 1, wherein at least one of the type information of the authentication recording medium and the user authentication information is encrypted and stored, and the encrypted information is decrypted by the arithmetic processing unit.
The robot controller according to 2, 3, 4, 5, 6, 7, 8, 9 or 10. 12. The method according to claim 1, wherein unique information given to the recording medium for authentication is used as a key code for encryption and decryption.
2. The robot control device according to 1. 13. The operation processing unit detects the connection state of the authentication recording medium, and limits or stops the processing via the operation processing unit when the authentication recording medium is connected even after the work is completed. , 2,3,4,5,6,7,8,9,1
13. The robot control device according to 0, 11 or 12. 14. A method according to claim 1, wherein at least one of the basic program, the system data and the operation program is stored in an authentication recording medium, and authentication information for selecting a transferable user is set in the storage unit. 3,4,5,6
The robot controller according to 7, 8, 9, 10, 11, 12 or 13. 15. The robot control device according to claim 14, wherein the basic program, the system data, or the operation program stored in the authentication recording medium is encrypted and stored, and the encrypted information is decrypted by the arithmetic processing unit. 16. The robot control device according to claim 15, wherein the unique information given to the authentication recording medium is used for encryption and decryption key codes.