JP2003340756A - Robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot system for performing teaching works by a plurality of persons in parallel, shortening the time required for teaching, and realizing early start of a working step to apply a robot. <P>SOLUTION: In the robot system comprising a plurality of robots 1 and 2, one robot control device 10 to control these robots, and a portable operation panel 21 to perform the teaching work of the robots, the portable operation panels 21 and 22 of the number not larger than that of the robots are connected to the robot control device 10, and a plurality of teaching persons operate the robots by using the portable operation panels 21 and 22. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller for efficiently teaching a plurality of robots by a plurality of people.

[0002]

2. Description of the Related Art In a conventional robot control device, even if a plurality of robots are connected to the robot control device, only one portable operation panel is provided, so that teaching is performed by one instructor. It was Details of the conventional technique will be described below with reference to FIG. 7. In the portable operation panel 21, a jog key (or a joystick) for moving the robot to a position to be taught, a work key for setting work, numeric keys for inputting various parameters necessary for work, position and work contents are registered. It is equipped with registration keys, function keys for expanding the functions of these keys, an emergency stop button operated in an emergency, an enable switch for ensuring the safety of the teacher during robot operation, and the like. When one instructor teaches a plurality of robots, the target robot to be taught is selected using the function keys of the portable operation panel. Information on the operation of pressing the function key is transmitted from the portable operation panel to the robot controller, and the PP communication unit 40 of the robot controller 10 is transmitted.
Will be received at. This information is interpreted by the PP control unit 50 as a command for selecting the target robot and set in the amplifier selecting unit 60. Here, it is assumed that the robot 1 is selected. When the jog operation is performed on the portable operation panel, the jog key press information is transmitted to the robot controller 10,
It is received by the PP communication unit 40 and sent to the PP control unit 50. The PP control unit 50 outputs a jog signal for the designated axis to the operation command unit 70, the operation command unit 70 transmits a command for the designated axis, and the servo control unit set in the amplifier selection unit 60 described above. Output to 30. In the servo control unit 30, based on the command from the operation command unit 70,
The robot 1 operates by amplifying the current and driving the designated axis of the target robot.

When switching the target robot, the robot switching information is transmitted to the robot controller 10 by pressing the target robot switching function key on the portable operation panel and received by the PP communication section 40 of the robot controller. This information is interpreted by the PP control unit 50 as a command for selecting the target robot and set in the amplifier selecting unit 60. In this way, when performing the teaching operation, the target robot is switched and the robot is moved to the predetermined position by the jog operation, and when the target robot is switched, the target robot to be taught by the function key is also switched. It was

[0004]

However, in the conventional teaching for performing independent operation teaching of a plurality of robots, proper teaching must be given to each robot with only one portable operation panel, and the teaching is not performed. There was a problem with such inefficiency. Therefore, the present invention has been made in view of such problems, and by performing teaching work by one teacher in parallel by a plurality of people, the time required for teaching is shortened and the robot is applied. It is an object of the present invention to provide a robot system capable of quickly starting a working process to be performed.

[0005]

According to a first aspect of the present invention, there is provided a robot system comprising: a plurality of robots; a robot controller for controlling the robots; In a robot system including a portable operation panel for performing the above, the number of the portable operation panels less than or equal to the number of robots is connected to the robot control device, and a plurality of teachers use the portable operation panels to operate the plurality of portable operation panels. It is characterized by operating the robot.
A robot system according to a second aspect of the present invention includes a group of cooperative robots that synchronously drive the plurality of robots and a group of independent robots that asynchronously and independently operate the robots before teaching the plurality of robots. The robot of the cooperative robot group has a robot group selection unit for selecting
It is characterized in that the robot is operated by using one of the portable operation panels. According to a third aspect of the present invention, there is provided a robot system including an operation panel selection unit that corresponds to the portable operation panel that operates the robots of the independent robot group.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIG. 1 is a block diagram of a robot controller according to the present invention. In the figure, the robot 1 and the robot 2 are connected to a servo controller 30 and a servo controller 31 built in the robot controller 10, and the portable operation panel 21 and the portable operation panel 22 are connected to the robot controller 10. ing. Here, the first teacher (not shown) holds the first portable operation panel 21 and teaches the robot 1 near the robot 1, and the second teacher (not shown) operates the portable operation panel 2
2 is gripped and the second robot 2 is taught near the robot 2. The first instructor who teaches the robot 1 is gazing at the robot 1 and the area in which the robot 1 is working, and because the robot 2 does not become a dangerous state depending on the operating condition
The first teacher does not enter the operable area of the robot 2.
Similarly, the second teacher is equipped with a safety protection device 11 for preventing the robot 2 from entering the operable area of the robot 1. In this way, the first and second teachers can teach the robot 1 and the robot 2 in parallel. The detailed control is described below. A schematic diagram of the portable operation panel is shown in FIG. On the portable operation panels 21 and 22, a jog key 201 (or a joystick) for moving the robot to a position to be taught, a work key 202 for setting a work, a numeric key 203 for inputting various parameters necessary for the work, a position and a position. A registration key 204 for registering work contents, a function key 205 for expanding the functions of these keys, an emergency stop button 206 operated in an emergency, an enable switch 207 for ensuring the safety of a teacher during robot operation, etc. Is installed. In FIG. 1, when teaching two or more robots by two teachers, first, the target robot (here, 21) to be taught by the function key group 205 of one portable operation panel (here, 21) Select 1).
Pressing operation information of the function key group 205 is transmitted from the portable operation panel 21 to the robot controller 10, and is received by the PP communication unit 40 of the robot controller. This information is transmitted to the PP control unit 50 and is interpreted as a command for selecting the target robot,
It is set in the amplifier selection unit 60. The other portable operation panel 2
In the selection of the target robot in 2, information is transmitted through the same route and the setting is made in the amplifier selection unit 60.

The setting format of the amplifier selection unit 60 is a robot operated by a jog operation on the portable operation panel 21, and
The robot that operates by the jog operation on the portable operation panel 22 is set. An explanatory diagram of this setting is shown in FIG. Figure 3
In (a), a target robot that can be operated on the portable operation panels 21 and 22 is designated. In this case, the robot 1 is operated by the portable operation panel 21 and the robot 2 is operated by the portable operation panel 22. In FIG. 3B, the robot 2 is operated by the portable operation panel 21 and the robot 1 is operated by the portable operation panel 22. In FIG. 3C, the mobile operation panel 21 does not operate the robot 1, and the mobile operation panel 22 does not operate the robot. With this setting, it is possible to define that there is no robot that operates by the jog operation on the portable control panel. Similarly, the portable operation panel 21 does not operate the robot 2, and the portable operation panel 22 does not operate the robot. Alternatively, it is possible to select the robot 1 or the robot 2 with the portable operation panel 22 without operating the robot with the portable operation panel 21. An example of control for operating the robot 1 by performing a jog operation on the portable operation panel 21 will be described with reference to FIG. The press information of the jog key 201 is transmitted to the robot controller 10, received by the PP communication unit 40, and sent to the PP control unit 50. The PP control unit 50 outputs a jog signal for the designated axis to the operation command unit 70. The operation command unit 70 transmits a command for the designated axis, and the servo control unit 3 set in the amplifier selection unit 60
Output to 0. In the servo control unit 30, the robot 1 operates by amplifying the current and driving the designated axis of the target robot based on the instruction from the operation instruction unit 70.

(Second Embodiment) As a second embodiment, regarding the setting and operation in the case of four robots, the robot 1 and the robot 2 cooperate, and the robot 3, the robot 4 and the robot 5 operate independently, as shown in FIG. 4 and FIG. This will be described with reference to FIGS.
The system of this example has three portable operation panels. A robot selected based on FIG. 4 so that the robots 1 and 2 are a group of collaborative robots for synchronous coordinated driving, and the robots 3, 4, and 5 are groups of independent robots that asynchronously operate independently for each robot. The group selection unit 90 will be described. The robot group selection unit 90 shown in FIG. 4 is displayed on the screen of the portable operation panel 21. This robot county selection unit 9
0 is displayed when the power of the robot control device 10 is turned on and in the teach mode (mode in which teaching operation from the portable operation panel to the robot is enabled). Here, the robot to be the collaborative robot group is selected by the cursor 93 or a numerical value (a robot identification number or the like). When the cursor 93 is moved to the robot 2 and the cooperation key 91 displayed on the screen of the portable operation panel 21 is pressed in the state as shown in FIG. 4, the robot 2 is selected as a cooperative robot group. When the cooperative robot group is selected, the remaining robot groups all become asynchronous independent robot groups. As described above, the operator sets the robot group selection unit 90. The portable operation panel 21 is automatically assigned to this collaborative robot group. That is, one portable operation panel is assigned to the cooperative robot group.

Next, based on FIG. 5, an operation panel selecting section 92 for designating a portable operation panel for operating the asynchronous independent robot group.
Will be explained. The independently operating robot 3, robot 4, and robot 5 are operated by the portable operation panels 23 and 24. In this case, the robot 3 and the robot 4 are operated by the portable operation panel 22, and the robot 5 is operated by the portable operation panel 23. In this operation panel selection unit 92, a robot is selected,
Designate the portable operation panel to be supported. A robot 3 or a robot 4 is operated on the portable operation panel 22.
The method described in the related art may be used as the method for switching to. Next, control for operating the robot 4 on the portable operation panel 22 will be described with reference to FIG. On the screen of the portable operation panel 22, the name of the robot currently operable (in this case,
Robot 4) is displayed. Information of pressing the jog key 201 on the portable operation panel 22 is transmitted to the robot control device 10, received by the PP communication unit 41, and sent to the PP control unit 51. The PP control unit 51 outputs a jog signal for the specified axis to the operation command unit 70, and the operation command unit 70 transmits a command for the specified axis to the servo control unit 33 set in the amplifier selection unit 60. Output to In the servo control unit 33, the robot 4 operates by amplifying the current and driving the designated axis of the target robot based on the instruction from the operation instruction unit 70.

(Other Embodiments) As an embodiment other than the above embodiment, selecting the robot group selecting section or the operation panel selecting section by an input signal from the outside has the same effect.

[0011]

As described above, according to the robot controller of the present invention, teaching time can be shortened by teaching a plurality of robots in parallel by a plurality of people, and the teaching efficiency can be improved. There is an effect that it can be improved. Further, since the robot can be controlled by a plurality of portable operation panels, even if the portable operation panel cannot be operated due to a failure or the like, by switching the controllable robots, the robot can be operated immediately, This has the remarkable effect of not stopping the line work.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a first embodiment of the present invention.

[Figure 2] Illustration of a portable operation panel

FIG. 3 is a diagram of an operation panel selection unit according to the first embodiment of the present invention.

FIG. 4 is a diagram of a robot group selection unit of the present invention.

FIG. 5 is a diagram of a control panel selection unit of the present invention.

FIG. 6 is an explanatory diagram of a second embodiment of the present invention.

FIG. 7 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

1, 2, 3, 4, 5: Robot 1 10: Robot controller 21, 22, 23: Portable operation panel 30, 31, 32, 33, 34: Servo control unit 40, 41, 41: PP communication unit 50, 51, 52: PP control unit 60: Amplifier selection section 70: Operation command section 90: Robot group selection unit 92: Operation panel selection section 93: Cursor

Claims (3)

[Claims] 1. A plurality of robots, and 1 for controlling them.
In a robot system including one robot control device and a portable operation panel that is connected to the control device and performs a robot teaching operation, the number of the portable operation panels equal to or less than the number of robots is connected to the robot control device. A plurality of teachers operate the plurality of robots by using the portable operation panels. 2. A robot group selection unit for selecting, before teaching the plurality of robots, a cooperative robot group for synchronously operating the plurality of robots and an independent robot group for asynchronously performing independent operation for each robot. The robot of the group of collaborative robots operates the robot using one of the portable operation panels.
The described robot system. 3. The robot system according to claim 2, further comprising an operation panel selection unit that corresponds to the portable operation panel that operates the robots of the independent robot group.