JP4600307B2

JP4600307B2 - Automatic machine system

Info

Publication number: JP4600307B2
Application number: JP2006029207A
Authority: JP
Inventors: 慎悟安藤; 道春田中
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2005-07-07
Filing date: 2006-02-07
Publication date: 2010-12-15
Anticipated expiration: 2026-02-07
Also published as: JP2007042061A

Description

本発明は、自動機械のコントローラと教示装置が無線通信を介して接続する自動機械システムの無線通信確立に関する。 The present invention relates to establishment of wireless communication in an automatic machine system in which an automatic machine controller and a teaching device are connected via wireless communication.

自動機械、例えば複数の駆動軸モータを備える産業用ロボットを制御するシステムにおいては、当該ロボットの作動を制御するためのロボットコントローラ（制御部）を有するほか、教示作業時等に作業者が携帯する可搬式の教示操作装置（教示操作部、ペンダントとも称される）を有している。従来、教示操作装置とロボットコントローラとの情報伝送には、ツイストペア線や光ファイバ等を信号伝送路として使用し、教示操作装置への電源供給線を含む複合ケーブル（単にケーブルという）が用いられていた。
一例として、従来のロボットシステムの構成図を図７に示す。図において、１０１は複数のモータ（駆動機構、図示せず）を備えるロボット、１０２はロボット１０１の作動を制御するロボットコントローラ、１０３は教示操作装置、１０４はロボットコントローラ１０２と教示操作装置１０３との間で操作ボタンや非常停止等の情報や、教示操作装置１０３に備わる表示器への表示情報の伝送と教示操作装置１０３への電源を供給するケーブルである。教示操作装置１０３の詳細図を図８に示す。図において、１０３ａは略Ｔ字型をなす筐体、１０３ｂは作業者が把持するハンド部である。筐体１０３ａの操作面には、教示作業時に操作されるキーボード（ないしはキーシート）１０３ｃと、教示データやロボット位置等の種々の情報を表示するＬＣＤディスプレイ１０３ｄと、非常停止スイッチ１０３ｅとが設けられている。また、筐体１０３ａにはケーブル１０４の一端が接続されている。尚、ハンド部には教示操作のときにロボットの動作を許可するイネーブル装置（デッドマンスイッチともいう）が備わるものもある。以後、教示作業でモータ及びロボットの動作では、イネーブル装置により動作が許可されているものとする。 In a system for controlling an automatic machine, for example, an industrial robot having a plurality of drive shaft motors, the system has a robot controller (control unit) for controlling the operation of the robot and is carried by an operator during teaching work or the like. A portable teaching operation device (also referred to as a teaching operation unit or a pendant) is included. Conventionally, for transmission of information between the teaching operation device and the robot controller, a twisted pair wire, an optical fiber, or the like is used as a signal transmission path, and a composite cable (simply called a cable) including a power supply line to the teaching operation device is used. It was.
As an example, FIG. 7 shows a configuration diagram of a conventional robot system. In the figure, 101 is a robot having a plurality of motors (drive mechanism, not shown), 102 is a robot controller for controlling the operation of the robot 101, 103 is a teaching operation device, and 104 is a robot controller 102 and a teaching operation device 103. This is a cable for transmitting information such as operation buttons and emergency stop, and display information to a display provided in the teaching operation device 103 and supplying power to the teaching operation device 103. A detailed view of the teaching operation device 103 is shown in FIG. In the figure, reference numeral 103a denotes a substantially T-shaped casing, and 103b denotes a hand portion held by an operator. The operation surface of the housing 103a is provided with a keyboard (or key sheet) 103c operated during teaching work, an LCD display 103d for displaying various information such as teaching data and a robot position, and an emergency stop switch 103e. ing. One end of the cable 104 is connected to the housing 103a. Note that some hand units are equipped with an enabling device (also referred to as a deadman switch) that permits robot operation during teaching operations. Hereinafter, in the teaching operation, it is assumed that the operation of the motor and the robot is permitted by the enable device.

作業者がキーボード１０３ｃのロボット各軸の方向キーを押下すると、ケーブル１０４を介して軸動作情報がロボットコントローラ１０２に伝送され、ロボットコントローラ１０２はロボット１０１の図示しない駆動軸モータへ指令電流を出力することでロボット１０１を動作させる。ここで、方向キーとは、教示作業時にモータの動作方向を指示するためのキーである。
同様に、作業者が非常停止スイッチ１０３ｅを押下すると、ケーブル１０４を介して非常停止情報がロボットコントローラ１０２に伝送され、ロボットコントローラ１０２はロボット１０１の駆動モータへの電力供給を遮断し各駆動軸モータに図示しないブレーキをかけてロボット１０１の動作を強制的に停止させ姿勢を保持する。これにより、万一の意図しない動作に対して確実にロボットを非常停止させることができる。 When the operator presses the direction key for each axis of the robot on the keyboard 103c, the axis operation information is transmitted to the robot controller 102 via the cable 104, and the robot controller 102 outputs a command current to a drive axis motor (not shown) of the robot 101. Thus, the robot 101 is operated. Here, the direction key is a key for instructing the operation direction of the motor during teaching work.
Similarly, when the operator depresses the emergency stop switch 103e, emergency stop information is transmitted to the robot controller 102 via the cable 104, and the robot controller 102 cuts off the power supply to the drive motor of the robot 101 and each drive shaft motor. A brake (not shown) is applied to forcibly stop the operation of the robot 101 and maintain the posture. As a result, the robot can be reliably brought to an emergency stop with respect to an unexpected operation.

以上述べた従来のロボットシステムでは、作業者は教示操作装置１０３を持ち運ぶ際に、ケーブルを引きずりながら教示作業を行う必要があり作業者にとって負担が大きく、また作業者の行動の自由度も制約されるという問題があった。そのため、ロボットコントローラ１０２と教示操作装置１０３との間のケーブル１０４を無線化することが強く望まれていた。
例えば、特許文献１には、ロボットコントローラと教示操作装置とが互いに無線通信するように構成されたロボットシステムについて、ロボットの駆動モータへの電力供給を遮断してロボットを非常停止状態とするための非常停止操作手段を備えた教示操作装置の実現手段が開示されている。
一方、工作機械システムにおいても、その数値制御装置と手動操作盤との情報伝送（通信）を無線化することが望まれており、例えば特許文献２には、数値制御装置と無線手動操作盤との無線通信の確立方法が開示されている。
特開２００４−１４８４８８号公報特開平５−２５７５１５号公報 In the conventional robot system described above, when the operator carries the teaching operation device 103, it is necessary to perform the teaching operation while dragging the cable, which is burdensome for the operator, and the degree of freedom of action of the operator is also limited. There was a problem that. For this reason, it has been strongly desired that the cable 104 between the robot controller 102 and the teaching operation device 103 be wireless.
For example, in Patent Document 1, for a robot system configured such that a robot controller and a teaching operation device communicate with each other wirelessly, the power supply to the drive motor of the robot is cut off to place the robot in an emergency stop state. Means for realizing a teaching operation device having an emergency stop operation means is disclosed.
On the other hand, in a machine tool system, it is desired to wirelessly transmit information (communication) between the numerical control device and the manual operation panel. For example, Patent Document 2 discloses a numerical control device, a wireless manual operation panel, A method for establishing wireless communication is disclosed.
JP 2004-148488 A JP-A-5-257515

しかしながら、特許文献１では、ロボットコントローラと教示操作装置間の無線通信を確立した後の非常停止実現手段しか開示されておらず、商用電源を投入してからの無線通信確立や複数あるロボットの中から、所望するロボットを特定し、該ロボットを制御するロボットコントローラを間違いなく選んで教示操作装置との無線通信を確立することができないという問題がある。
特許文献２では、数値制御装置と無線手動操作盤との無線通信を確立する際に、所望する数値制御装置と無線手動操作盤を有線で接続して必要な情報を交換し、無線通信確立後に有線接続を解除しているが、自動機械（ロボットや工作機械）とその制御部（ロボットコントローラや数値制御装置）が物理的に大きく離れている場合には特許文献２の方法の適用には大きな課題がある。なぜなら、作業者は教示操作部（教示操作部や無線手動操作盤）を持って、自動機械に近づいて操作するからであり、無線通信確立の度に制御部に近づき無線通信の確立を行なわねばならない。例えば、産業用ロボットのシステムでは、ロボット本体が工場の１階に、ロボットコントローラが中２階に設置される例はよく見られ、無線通信の確立の度の作業者の負担は大きい。また、制御部から無線通信を確立するためのケーブルを自動機械の側まで引き回し、無線通信確立時に教示操作部とそのケーブルを接続することも可能であるが、複数あるケーブルの中から所望する自動機械に接続されたケーブルを間違いなく選び出すことは難しく、意図しない自動機械と誤接続する可能性があるという問題もある。
本発明はこのような問題に鑑みてなされたものであり、複数ある自動機械の中から、所望の自動機械を間違いなく選んで、そのロボットコントローラと教示操作部との無線通信接続を確立する自動機械システムを提供することを目的とする。 However, Patent Document 1 discloses only an emergency stop realizing means after establishing wireless communication between the robot controller and the teaching operation device, and establishing wireless communication after turning on the commercial power supply or among a plurality of robots. Therefore, there is a problem that a desired robot is specified, and a robot controller that controls the robot cannot be selected without fail to establish wireless communication with the teaching operation device.
In Patent Document 2, when establishing wireless communication between a numerical control device and a wireless manual operation panel, a desired numerical control device and the wireless manual operation panel are connected by wire to exchange necessary information. Although the wired connection is released, when the automatic machine (robot or machine tool) and its control unit (robot controller or numerical control device) are physically separated from each other, the method of Patent Document 2 is significant. There are challenges. This is because the operator has a teaching operation unit (teaching operation unit or wireless manual operation panel) and operates it close to the automatic machine, and must establish wireless communication by approaching the control unit every time wireless communication is established. Don't be. For example, in an industrial robot system, an example in which the robot body is installed on the first floor of the factory and the robot controller is installed on the second floor of the factory is often seen, and the burden on the operator every time wireless communication is established is great. It is also possible to route a cable for establishing wireless communication from the control unit to the automatic machine side, and connect the teaching operation unit to the cable when establishing wireless communication. It is difficult to select the cable connected to the machine without fail, and there is a problem that it may be erroneously connected to an unintended automatic machine.
The present invention has been made in view of such a problem, and it is an automatic that establishes a wireless communication connection between a robot controller and a teaching operation unit by definitely selecting a desired automatic machine from a plurality of automatic machines. The object is to provide a mechanical system.

上記問題を解決するため、本発明は、次のようにしたのである。
請求項１に記載の発明は、１つ以上の駆動機構を備えた機構部と、前記機構部を動作制御するコントローラと、前記機構部の動作で行なう作業を教示操作する教示操作部を備え、前記コントローラと前記教示操作部が無線通信する自動機械システムにおいて、前記機構部は光通信をおこなう第１の指向性通信部を備え、前記コントローラは第１の無線通信部を備え、前記教示操作部は、光通信をおこなう第２の指向性通信部と、第２の無線通信部と、通信接続入力手段を備え、前記第２の指向性通信部を前記第１の指向性通信部に向け前記通信接続入力手段への入力操作により前記第１の指向性通信部と前記第２の指向性通信部との間で前記第１の無線通信部と前記第２の無線通信部との間を無線通信で接続するために必要な接続データを授受し、前記第２の無線通信部と前記第１の無線通信部との間は前記接続データに基づいて無線通信での接続をすることを特徴とするものである。
また、請求項２に記載の発明は、１つ以上の駆動機構を備えた複数の機構部と、前記複数の機構部を動作制御するコントローラと、前記機構部の動作で行なう作業を教示操作する教示操作部を備え、前記コントローラと前記教示操作部が無線通信する自動機械システムにおいて、前記複数の機構部はそれぞれ光通信をおこなう第１の指向性通信部を備え、前記コントローラは第１の無線通信部を備え、前記教示操作部は、光通信をおこなう第２の指向性通信部と、第２の無線通信部と、通信接続入力手段を備え、前記第２の指向性通信部を前記第１の指向性通信部に向け前記通信接続入力手段への入力操作により前記第１の指向性通信部と前記第２の指向性通信部との間で前記第１の無線通信部と前記第２の無線通信部との間を無線通信で接続するために必要な接続データを授受し、前記第２の無線通信部と前記第１の無線通信部との間は前記接続データに基づいて無線通信での接続をすることを特徴とするものである。
また、請求項３に記載の発明は、前記無線通信での接続は、前記コントローラは前記接続データの所定の情報を前記第１の無線通信部に設定し、前記教示操作部は前記接続データの所定の情報を前記第２の無線通信部に設定し、前記第２の無線通信部と前記第１の無線通信部との間で無線通信の確立の後、相互の無線通信をおこなうことを特徴とするものである。
また、請求項４に記載の発明は、前記無線通信での接続は、前記コントローラは、前記第１の指向性通信部で受信された前記接続データに含まれる前記教示操作部のＩＤを宛先として、第１の無線通信部を介して前記コントローラのＩＤを無線データとして送信し、前記教示操作部は第２の無線通信部を介して受信した前記無線データの前記コントローラのＩＤを宛先として、受信確認信号を送信し、前記教示操作部と前記コントローラ間の無線通信の確立の後、相互の無線通信をおこなうことを特徴とするものである。
また、請求項５に記載の発明は、前記無線通信による相互接続に必要な前記接続データは、無線チャンネルおよび通信周期並びに前記コントローラと前記教示操作部の各々のＩＤおよび各々の通信ポートの一部を含むことを特徴とするものである。
また、請求項６に記載の発明は、前記コントローラは、前記複数の機構部より特定の機構部を選択して動作制御をおこなう選択駆動部と、前記接続データ授受のときに前記第２の指向性通信部と対向する前記第１の指向性通信部が備わる特定の機構部を選択する制御手段とを備え、前記無線通信での接続を介して前記教示操作部の操作で、前記特定の機構部を前記選択駆動部が動作制御をおこなうことを特徴とするものである。
また、請求項７に記載の発明は、前記コントローラと前記教示操作部との間の無線通信が確立した後に、前記第２の指向性通信部を特定の前記機構部に備わる前記第１の指向性通信部に向け前記通信接続入力手段への入力操作により前記第１の指向性通信部と前記第２の指向性通信部との間を前記接続データの授受をすると、前記コントローラと前記教示操作部との間の無線通信を維持した状態で、前記教示操作部から操作可能な機構部が前記特定の機構部に切り替わることを特徴とするものである。
また、請求項８に記載の発明は、前記機構部はロボットであり、前記コントローラはロボットコントローラであり、前記教示操作部は教示操作装置であることを特徴とするものである。 In order to solve the above problem, the present invention is as follows.
The invention according to claim 1 includes a mechanism unit including one or more drive mechanisms, a controller that controls the operation of the mechanism unit, and a teaching operation unit that teaches operations performed by the operation of the mechanism unit, In the automatic machine system in which the controller and the teaching operation unit communicate wirelessly, the mechanism unit includes a first directional communication unit that performs optical communication, the controller includes a first wireless communication unit, and the teaching operation unit. Includes a second directional communication unit that performs optical communication, a second wireless communication unit, and a communication connection input unit, and directs the second directional communication unit toward the first directional communication unit. between said second wireless communication unit and the first radio communication unit among the more the first directional communication unit to the input operation to the communication connection input means and said second directional communication unit Provides connection data necessary for wireless connection. And, between the second wireless communication unit and the first radio communication unit is characterized in that the connection in the wireless communication based on the connection data.
According to a second aspect of the present invention, a plurality of mechanism units having one or more drive mechanisms, a controller for controlling the operations of the plurality of mechanism units, and a work performed by the operation of the mechanism units are taught and operated. In an automatic machine system including a teaching operation unit, wherein the controller and the teaching operation unit communicate wirelessly, the plurality of mechanism units each include a first directional communication unit that performs optical communication, and the controller includes a first wireless communication unit. The teaching operation unit includes a second directional communication unit that performs optical communication, a second wireless communication unit, and a communication connection input unit; and the second directional communication unit is connected to the second directional communication unit. wherein said first wireless communication unit with the more the first directional communication section and the second directional communication unit to the input operation to the communication connection input means towards the first directional communication unit first Wireless communication between two wireless communication units To exchange the connection data required to, between the said second wireless communication unit the first wireless communication unit characterized in that the connection in the wireless communication based on the connection data is there.
According to a third aspect of the present invention, in connection with the wireless communication, the controller sets predetermined information of the connection data in the first wireless communication unit, and the teaching operation unit transmits the connection data. Predetermined information is set in the second wireless communication unit, and after establishing wireless communication between the second wireless communication unit and the first wireless communication unit, mutual wireless communication is performed. It is what.
According to a fourth aspect of the present invention, in the connection by wireless communication, the controller uses the ID of the teaching operation unit included in the connection data received by the first directional communication unit as a destination. The controller ID is transmitted as wireless data via the first wireless communication unit, and the teaching operation unit receives the controller ID of the wireless data received via the second wireless communication unit as a destination. After the confirmation signal is transmitted and wireless communication is established between the teaching operation unit and the controller, mutual wireless communication is performed.
According to a fifth aspect of the present invention, the connection data necessary for the interconnection by the wireless communication includes a wireless channel and a communication cycle, each ID of the controller and the teaching operation unit, and a part of each communication port. It is characterized by including.
According to a sixth aspect of the present invention, the controller includes a selection drive unit that performs operation control by selecting a specific mechanism unit from the plurality of mechanism units, and the second directivity when the connection data is exchanged. Control means for selecting a specific mechanism section provided with the first directional communication section facing the sexual communication section, and the specific mechanism is operated by operation of the teaching operation section via the wireless communication connection. The selection drive unit controls the operation of the unit.
According to a seventh aspect of the present invention, the first directivity provided in the specific mechanism unit with the second directional communication unit after wireless communication between the controller and the teaching operation unit is established. If between more first directional communication unit to the input operation to the communication connection input means for sexual communication unit and the second directional communication unit for transmission and reception of the connection data, the said controller teachings while maintaining the radio communication between the operating unit, the teaching operation mechanism operable from the unit is characterized in that the switching to the particular mechanism.
According to an eighth aspect of the present invention, the mechanism unit is a robot, the controller is a robot controller, and the teaching operation unit is a teaching operation device.

本発明によると、教示操作部と機構部に指向性通信部をそれぞれ設け、その指向性のある通信を利用することによって、教示作業者が操作したい機構部の方向に教示操作部を向けてスイッチを押すという行為によって、教示操作部と該当する機構部を制御するコントローラとの無線通信接続を確立できるので、意図しないコントローラとの誤接続を防止できるという効果がある。そして、特に複数の機構部であるロボットで構成される製品生産工場におけるロボットコントローラと教示操作装置との間違いの無い無線接続は、作業者の作業効率の向上や安全性向上に大きく貢献する。
また、機構部の指向性通信部は、該当する機構部のＩＤを保持し、その機構部のＩＤを教示操作部とコントローラに送信し、教示操作部は受信した機構部ＩＤをコントローラに対して送信し、コントローラは指向性通信部から受信した機構部ＩＤと教示操作部から受信した機構部ＩＤを照合し、照合結果が正しいときのみ特定された機構部のみ選択的に駆動可能とするので、１台のコントローラに複数の機構部が接続された場合でも、意図しない機構部（ロボット）の誤動作を防止できるという効果がある。 According to the present invention, a directional communication unit is provided in each of the teaching operation unit and the mechanism unit, and the teaching operation unit is directed to the direction of the mechanism unit that the teaching operator wants to operate by using the directional communication. Since the wireless communication connection between the teaching operation unit and the controller that controls the corresponding mechanism unit can be established by the action of pressing, there is an effect that an erroneous connection with an unintended controller can be prevented. In particular, a wireless connection between a robot controller and a teaching operation device in a product production factory composed of robots that are a plurality of mechanism units without any error greatly contributes to improvement of worker's work efficiency and safety.
The directional communication unit of the mechanism unit holds the ID of the corresponding mechanism unit, transmits the ID of the mechanism unit to the teaching operation unit and the controller, and the teaching operation unit transmits the received mechanism unit ID to the controller. Since the controller collates the mechanism unit ID received from the directional communication unit and the mechanism unit ID received from the teaching operation unit, only the identified mechanism unit can be selectively driven only when the collation result is correct. Even when a plurality of mechanism units are connected to one controller, there is an effect that an unintended malfunction of the mechanism unit (robot) can be prevented.

以下、本発明の方法の具体的実施例について、図に基づいて説明する。 Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

図１は、本発明の第１の実施例における自動機械（ここではロボットとする）システムの構成図である。図において、１１はロボット、１２はロボット１１を駆動制御するロボットコントローラ１２、１３は教示操作装置である。
ロボット１１には第１の指向性通信部１５ａが設けられ、ロボットコントローラ１２には第１の無線通信部１６ａが設けられている。教示操作装置１３には、第２の指向性通信部１５ｂと、第２の無線通信部１６ｂと、通信接続スイッチ１７が設けられている。また、第１の指向性通信部１５ａは有線を介してロボットコントローラ１２と結合されている。
ここで、ロボット１１を教示操作装置１３を操作して動作するために、第１の無線通信部１６ａおよび第２の無線通信部１６ｂを介してロボットコントローラ１２と教示操作装置１３との間の無線通信接続を確立する場面では、作業者は教示操作装置１３をロボット１１に設けられた第１の指向性通信部１５ａの方に向けて通信接続スイッチ１７を押下する行為でもって、操作するロボットを特定し、該ロボットを制御するロボットコントローラを指定する。このロボットを特定することは、同一の作業空間に複数台のロボット共同して製品に対する作業を行なう生産設備などでは重要な要件であり、ここで誤接続が発生すると、作業者の操作で意図しないロボットが動作することで、作業者を危険に曝す、製品および治具へ損傷などの危険性がある。 FIG. 1 is a configuration diagram of an automatic machine (here, a robot) system in a first embodiment of the present invention. In the figure, 11 is a robot, 12 is a robot controller 12, 13 for driving and controlling the robot 11, and teaching operation devices.
The robot 11 is provided with a first directional communication unit 15a, and the robot controller 12 is provided with a first wireless communication unit 16a. The teaching operation device 13 is provided with a second directional communication unit 15b, a second wireless communication unit 16b, and a communication connection switch 17. The first directional communication unit 15a is coupled to the robot controller 12 via a wire.
Here, in order to operate the robot 11 by operating the teaching operation device 13, wireless communication between the robot controller 12 and the teaching operation device 13 is performed via the first wireless communication unit 16a and the second wireless communication unit 16b. In a situation where a communication connection is established, the operator moves the teaching operation device 13 toward the first directional communication unit 15 a provided in the robot 11 and depresses the communication connection switch 17 to operate the robot to be operated. Specify the robot controller that controls the robot. Specifying this robot is an important requirement in production facilities that work on products in collaboration with multiple robots in the same work space. If an incorrect connection occurs, it is not intended by the operator's operation. When the robot operates, there is a risk of damaging the product and jigs, putting the worker at risk.

図２は通信接続のときの動作（情報伝達の方向と順番）を模式的に示した図である。図２にしたがって、無線通信接続の確立に至るまでの流れを説明する。なお、図１と同一の符号は同じまたは相当ものを表し説明を省く。
前述のように、まず作業者は、教示操作装置１３の第２の指向性通信部１５ｂを第１の指向性通信部１５ａの方に向けて通信接続スイッチ１７を押下する（S201）と、第２の指向性通信部１５ｂは、第１の指向性通信部１５ａに向かって教示操作装置１３のＩＤ、無線チャンネル、通信周期などのデータ（ＩＤと無線チャンネルは必須）を送信する（S202）。
第１の指向性通信部１５ａは上記データを受信すると、そのデータを有線通信でロボットコントローラ１２に送信する（S203）。ロボットコントローラ１２はそのデータを取得すると、第１の指向性通信部１５ａに対して通信部の通信手順に従った受信確認を返信する（S204）。
第１の指向性通信部１５ａはロボットコントローラ１２のＩＤを第２の指向性通信部１５ｂに対して送信し（S205）、教示操作装置１３は第２の指向性通信部１５ｂが受信したＩＤを取得する。
以上のステップでロボットコントローラ１２と教示操作装置１３は相手のＩＤを互いに取得できるので、第２の無線通信部１６ｂより第１の無線通信部１６ａへ無線通信を始める(S206)ことで無線通信の確立を行ない、以降継続して無線通信が行なわれる。 FIG. 2 is a diagram schematically showing the operation (direction and order of information transmission) at the time of communication connection. A flow up to establishment of a wireless communication connection will be described with reference to FIG. Note that the same reference numerals as those in FIG.
As described above, first, the operator depresses the communication connection switch 17 with the second directional communication unit 15b of the teaching operation device 13 directed toward the first directional communication unit 15a (S201). The second directional communication unit 15b transmits data (ID and wireless channel are essential) such as the ID, the wireless channel, and the communication cycle of the teaching operation device 13 toward the first directional communication unit 15a (S202).
When the first directional communication unit 15a receives the data, the first directional communication unit 15a transmits the data to the robot controller 12 by wired communication (S203). When the robot controller 12 acquires the data, the robot controller 12 returns a reception confirmation according to the communication procedure of the communication unit to the first directional communication unit 15a (S204).
The first directional communication unit 15a transmits the ID of the robot controller 12 to the second directional communication unit 15b (S205), and the teaching operation device 13 receives the ID received by the second directional communication unit 15b. get.
Since the robot controller 12 and the teaching operation device 13 can acquire each other's IDs through the above steps, wireless communication is started by starting wireless communication from the second wireless communication unit 16b to the first wireless communication unit 16a (S206). Then, the wireless communication is continuously performed.

指向性通信の方式としては既に家庭用電化製品に多用されている赤外線通信が利用しやすい。教示操作装置１３から操作したいロボット１１を簡単に指定して、無線通信の確立を容易にしかも確実にできる。また、指向性通信部および無線通信部に通信状態を表す発光や警鳴で受信確認を表示するデバイスを設けておけば、通信接続の過程が正しく進行したかを確認でき、作業者は誤接続の心配をなくし安心して操作を行なうことができる。
以上説明したように、本発明によれば、教示操作部とロボット本体に指向性通信部を付設することで、複数台のロボットの中から所望のロボットを正しく指定でき、該当するロボットコントローラと教示操作部間の無線通信での接続を簡単に確立できる。 As a directional communication method, infrared communication that is already widely used in household appliances is easy to use. The robot 11 that is desired to be operated from the teaching operation device 13 can be simply designated to easily and reliably establish wireless communication. In addition, if the directional communication unit and the wireless communication unit are equipped with a device that displays a reception confirmation with a light emission or a warning sound indicating the communication status, it is possible to check whether the communication connection process has progressed correctly, and the operator can You can safely operate without worrying.
As described above, according to the present invention, by adding a directional communication unit to the teaching operation unit and the robot body, a desired robot can be correctly specified from among a plurality of robots. A wireless communication connection between the operation units can be easily established.

第２の実施例は、第１の実施例で示した無線通信の確立までの手順を変更したものである。図３は、第２の実施例における通信接続のときの動作（情報伝達の方向と順番）を模式的に示したものである。図３にしたがって、無線通信接続の確立に至るまでの流れを説明する。なお、図１と同一の符号は同じまたは相当ものを表し説明を省く。
まず作業者は教示操作装置１３の第２の指向性通信部１５ｂを第１の指向性通信部１５ａの方に向けて通信接続スイッチ１７を押下する（S301）と、第２の指向性通信部１５ｂは、第１の指向性通信部１５ａに向かって教示操作装置１３のＩＤ、無線チャンネル、通信周期などのデータ（ＩＤと無線チャンネルは必須）を送信する（S302）。
第１の指向性通信部１５ａは上記データを受信すると、そのデータを有線通信でロボットコントローラ１２に送信し（S303）、ロボットコントローラ１２は、受信したＩＤを宛先として指定された無線チャンネルを使用し、第１の無線通信部１６ａを介してロボットコントローラ１２自身のＩＤを送信する（S304）。
教示操作装置１３は、第２の無線通信部１６ｂを介してロボットコントローラ１２のＩＤを受信し、ロボットコントローラ１２に対して（そのＩＤを宛先として）受信完了通知を返信する（S305）。 In the second embodiment, the procedure up to the establishment of wireless communication shown in the first embodiment is changed. FIG. 3 schematically shows the operation (direction and order of information transmission) at the time of communication connection in the second embodiment. A flow up to establishment of a wireless communication connection will be described with reference to FIG. Note that the same reference numerals as those in FIG.
First, when the operator depresses the communication connection switch 17 with the second directional communication unit 15b of the teaching operation device 13 directed toward the first directional communication unit 15a (S301), the second directional communication unit 15b transmits data (ID and wireless channel are essential) of the teaching operation device 13 such as ID, wireless channel, and communication cycle toward the first directional communication unit 15a (S302).
When the first directional communication unit 15a receives the data, the first directional communication unit 15a transmits the data to the robot controller 12 by wired communication (S303), and the robot controller 12 uses a wireless channel designated with the received ID as a destination. The ID of the robot controller 12 itself is transmitted via the first wireless communication unit 16a (S304).
The teaching operation device 13 receives the ID of the robot controller 12 via the second wireless communication unit 16b, and returns a reception completion notification to the robot controller 12 (with the ID as a destination) (S305).

以上のステップでロボットコントローラ１２と教示操作装置１３は相手のＩＤを互いに取得でき通信の確立もできるので、以降継続して無線通信が行なわれる。
第１の実施例から第２の実施例のように無線通信の確立までの手順を変更することにより、第１の指向性通信部１５ａは受信部（受光部）だけを、第２の指向性通信部１５ｂは送信部（発光部）だけを備えればよく、部品点数を削減でき教示操作装置１３の小型化やコストダウンの効果をも奏することができる。 Through the above steps, the robot controller 12 and the teaching operation device 13 can acquire each other's ID and establish communication, so that wireless communication is continuously performed thereafter.
By changing the procedure from the first embodiment to the establishment of the wireless communication as in the second embodiment, the first directivity communication unit 15a can change only the reception unit (light receiving unit) to the second directivity. The communication unit 15b only needs to include a transmission unit (light emitting unit), so that the number of parts can be reduced and the teaching operation device 13 can be reduced in size and cost can be reduced.

図４は、本発明の第３実施例における自動機械（ここではロボットとする）システムの構成図である。図において、１１，１１−２はロボット、１２は複数台のロボットを駆動制御するロボットコントローラ、１３は教示操作装置である。１台のロボットコントローラに複数台のロボットが接続されているところが第１実施例および第２実施例とは異なる。
ロボット１１、１１−２にはそれぞれ第１の指向性通信部１５ａ、１５ａ−２が設けられ、ロボットコントローラ１２には第１の無線通信部１６ａが設けられている。教示操作装置１３には、第２の指向性通信部１５ｂと、第２の無線通信部１６ｂと、通信接続スイッチ１７が設けられている。第１の指向性通信部１５ａ，１５ａ−２は有線を介してロボットコントローラ１２内部の照合部１８と結合されている。また、ロボットコントローラ１２内部には照合部１８と第１の無線通信部１６ａの出力に応じて選択的にロボットを駆動する選択駆動部１９が設けられている。
図５は通信接続のときの動作（情報伝達の方向と順番）を模式的に示した図である。図４と同一の符号は同じまたは相当ものを表し説明を省く。
作業者が、教示操作装置１３の第２の指向性通信部１５ｂを操作したいロボット１１に備わる第１の指向性通信部１５ａの方に向けて通信接続スイッチ１７を押下してから、無線通信確立までのシーケンス（S201〜S206）は第１実施例と同じである。 FIG. 4 is a configuration diagram of an automatic machine (here, a robot) system in the third embodiment of the present invention. In the figure, 11 and 11-2 are robots, 12 is a robot controller for driving and controlling a plurality of robots, and 13 is a teaching operation device. The difference between the first and second embodiments is that a plurality of robots are connected to one robot controller.
The robots 11 and 11-2 are provided with first directional communication units 15a and 15a-2, respectively, and the robot controller 12 is provided with a first wireless communication unit 16a. The teaching operation device 13 is provided with a second directional communication unit 15b, a second wireless communication unit 16b, and a communication connection switch 17. The first directional communication units 15a and 15a-2 are coupled to the verification unit 18 inside the robot controller 12 via a wire. In addition, a selection drive unit 19 that selectively drives the robot according to the outputs of the collation unit 18 and the first wireless communication unit 16 a is provided in the robot controller 12.
FIG. 5 is a diagram schematically showing the operation (direction and order of information transmission) at the time of communication connection. The same reference numerals as those in FIG. 4 represent the same or equivalent elements and will not be described.
Wireless communication is established after the operator presses the communication connection switch 17 toward the first directional communication unit 15a of the robot 11 that wants to operate the second directional communication unit 15b of the teaching operation device 13. The sequence up to (S201 to S206) is the same as in the first embodiment.

本実施例では、第１の指向性通信部１５ａは、S203およびS205において該当するロボットのＩＤを送信する。ロボットコントローラ１２内の照合部１８は受信したロボットＩＤを記憶する。一方、教示操作装置１３は、第２の指向性通信部１５ｂで受信したロボットＩＤを、第２の無線通信部１６ｂを介してロボットコントローラ１２に送信する。照合部１８は、第１の無線通信部１６ａで受信したロボットＩＤと記憶しておいたロボットＩＤを照合し、照合結果が正しいときのみ選択駆動部１９に対して駆動許可信号を出力する。この駆動許可信号よって、第１の無線通信部１６ａが受信した教示操作装置１３からの操作指令に基づいて、選択駆動部１９は所望のロボット１１のみを駆動することができる。なお、第１の無線通信部１６ａから第２の無線通信部１６ｂへの返信データには、照合部１８の照合結果を添付する（S207）。これにより、作業者は無線通信確立だけでなく、所望のロボット１１が操作可能状態になったことを確認することができる。
なお、教示操作装置１３とロボットコントローラ１２との無線通信が確立した後、操作するロボットを１１から１１−２に切り替えたい場合には、教示操作装置１３の第２の指向性通信部１５ｂをロボット１１−２に備えられた第１の指向性通信部１５ａ−２の方に向けて、再度、通信接続スイッチ１７を押下すればよい。上述した流れに沿って再処理するが、無線通信を再接続することはせず、教示操作装置１３と照合部１８において、ロボットＩＤを１１から１１−２に変更することによって簡単に切り替え可能である。 In the present embodiment, the first directivity communication unit 15a transmits the ID of the corresponding robot in S203 and S205. The collation unit 18 in the robot controller 12 stores the received robot ID. On the other hand, the teaching operation device 13 transmits the robot ID received by the second directional communication unit 15b to the robot controller 12 via the second wireless communication unit 16b. The collation unit 18 collates the robot ID received by the first wireless communication unit 16a with the stored robot ID, and outputs a drive permission signal to the selection drive unit 19 only when the collation result is correct. By this drive permission signal, the selection drive unit 19 can drive only the desired robot 11 based on the operation command from the teaching operation device 13 received by the first wireless communication unit 16a. In addition, the collation result of the collation part 18 is attached to the reply data from the 1st radio | wireless communication part 16a to the 2nd radio | wireless communication part 16b (S207). As a result, the operator can confirm that the desired robot 11 has become operable, as well as establishing wireless communication.
In addition, after the wireless communication between the teaching operation device 13 and the robot controller 12 is established, when it is desired to switch the robot to be operated from 11 to 11-2, the second directional communication unit 15b of the teaching operation device 13 is set to the robot. What is necessary is just to press the communication connection switch 17 again toward the 1st directivity communication part 15a-2 with which 11-2 was equipped. Reprocessing is performed according to the above-described flow, but wireless communication is not reconnected, and the teaching operation device 13 and the collation unit 18 can be easily switched by changing the robot ID from 11 to 11-2. is there.

図６は、本発明の第４実施例における通信接続のときの動作（情報伝達の方向と順番）を模式的に示した図である。図４と同一の符号は同じまたは相当ものを表し説明を省く。
作業者が、教示操作装置１３の第２の指向性通信部１５ｂを操作したいロボット１１に備わる第１の指向性通信部１５ａの方に向けて通信接続スイッチ１７を押下してから、無線通信確立までのシーケンス（S301〜S305）は第２実施例と同じである。
本実施例では、第１の指向性通信部１５ａは、S303において該当するロボットのＩＤを送信する。ロボットコントローラ１２内の照合部１８は受信したロボットＩＤを記憶する。ロボットコントローラ１２内の無線通信部１６ａは、受信したロボットＩＤが変更される度にそのロボットＩＤを教示操作装置１２の第２の無線通信部１６ｂに送信する（S304）。第２の無線通信部１６ｂは第１の無線通信部１６ａ宛ての送信データに受信したロボットＩＤを添付する（S305）。
照合部１８は、第１の無線通信部１６ａで受信したロボットＩＤと記憶しておいたロボットＩＤを照合する。照合後の動作については、第３実施例と同様である。また、無線通信確立後の操作対象ロボットの切り替えも、第３実施例と同様にロボットＩＤの変更によって可能になる。 FIG. 6 is a diagram schematically showing an operation (direction and order of information transmission) at the time of communication connection in the fourth embodiment of the present invention. The same reference numerals as those in FIG. 4 represent the same or equivalent elements and will not be described.
Wireless communication is established after the operator presses the communication connection switch 17 toward the first directional communication unit 15a of the robot 11 that wants to operate the second directional communication unit 15b of the teaching operation device 13. The sequence up to (S301 to S305) is the same as in the second embodiment.
In the present embodiment, the first directional communication unit 15a transmits the ID of the corresponding robot in S303. The collation unit 18 in the robot controller 12 stores the received robot ID. Each time the received robot ID is changed, the wireless communication unit 16a in the robot controller 12 transmits the robot ID to the second wireless communication unit 16b of the teaching operation device 12 (S304). The second wireless communication unit 16b attaches the received robot ID to the transmission data addressed to the first wireless communication unit 16a (S305).
The collation unit 18 collates the robot ID received by the first wireless communication unit 16a with the stored robot ID. About the operation | movement after collation, it is the same as that of 3rd Example. In addition, switching of the operation target robot after the establishment of wireless communication is enabled by changing the robot ID as in the third embodiment.

本発明は、溶接・塗装・組立等を用途とする産業用ロボットの無線化された教示操作部において、複数あるロボットの中から作業者が操作したいロボットを間違いなく選んで無線通信を接続することで、誤接続による事故を防止できる。また、特許文献２のような工作機械システムにも適用することができる。 The present invention provides a wireless teaching operation unit for industrial robots for use in welding, painting, assembling, etc., and selecting a robot that an operator wants to operate from a plurality of robots and connecting wireless communication without fail. This can prevent accidents due to incorrect connections. Further, the present invention can also be applied to a machine tool system as in Patent Document 2.

本発明の第１実施例におけるロボットシステムの構成図The block diagram of the robot system in 1st Example of this invention 本発明の第１実施例における通信接続の動作図Operation diagram of communication connection in the first embodiment of the present invention 本発明の第２実施例における通信接続の動作図Operational diagram of communication connection in the second embodiment of the present invention 本発明の第３実施例におけるロボットシステムの構成図The block diagram of the robot system in 3rd Example of this invention 本発明の第３実施例における通信接続の動作図Operational diagram of communication connection in the third embodiment of the present invention 本発明の第４実施例における通信接続の動作図Operation diagram of communication connection in the fourth embodiment of the present invention 従来のロボットシステムの構成図Configuration diagram of a conventional robot system 従来の教示操作部の詳細図Detailed view of conventional teaching operation unit

Explanation of symbols

１１、１０１ロボット
１２、１０２ロボットコントローラ
１３、１０３教示操作装置
１５ａ第１の指向性通信部
１５ｂ第２の指向性通信部
１６ａ第１の無線通信部
１６ｂ第２の無線通信部
１７通信接続スイッチ
１８照合部
１９選択駆動部
１０３ａ筐体
１０３ｂハンド部
１０３ｃキーボード
１０３ｄＬＣＤディスプレイ
１０３ｅ非常停止スイッチ
１０４ケーブル 11, 101 Robot 12, 102 Robot controller 13, 103 Teaching operation device 15a First directional communication unit 15b Second directional communication unit 16a First wireless communication unit 16b Second wireless communication unit 17 Communication connection switch 18 Verification unit 19 Selection drive unit 103a Case 103b Hand unit 103c Keyboard 103d LCD display 103e Emergency stop switch 104 Cable

Claims

A mechanism unit including one or more drive mechanisms, a controller for controlling the operation of the mechanism unit, and a teaching operation unit for teaching operation performed by the operation of the mechanism unit, the controller and the teaching operation unit being wireless In automatic mechanical systems that communicate,
The mechanism unit includes a first directional communication unit that performs optical communication.
The controller includes a first wireless communication unit,
The teaching operation unit includes a second directional communication unit that performs optical communication, a second wireless communication unit, and a communication connection input unit.
Between the second and more the first directional communication section and the second directional communication unit to an input operation of the directional communication unit to the communication connection input unit toward the first directional communication unit And exchanges connection data necessary for connecting the first wireless communication unit and the second wireless communication unit by wireless communication,
An automatic machine system, wherein the second wireless communication unit and the first wireless communication unit are connected by wireless communication based on the connection data .

A plurality of mechanism units having one or more drive mechanisms; a controller for controlling the operations of the plurality of mechanism units; and a teaching operation unit for teaching operations performed by the operations of the mechanism units. In an automatic machine system where the operation unit communicates wirelessly
Each of the plurality of mechanism units includes a first directional communication unit that performs optical communication.
The controller includes a first wireless communication unit,
The teaching operation unit includes a second directional communication unit that performs optical communication, a second wireless communication unit, and a communication connection input unit.
Between the second and more the first directional communication section and the second directional communication unit to an input operation of the directional communication unit to the communication connection input unit toward the first directional communication unit And exchanges connection data necessary for connecting the first wireless communication unit and the second wireless communication unit by wireless communication,
An automatic machine system, wherein the second wireless communication unit and the first wireless communication unit are connected by wireless communication based on the connection data .

The wireless communication connection is as follows:
The controller sets predetermined information of the connection data in the first wireless communication unit,
The teaching operation unit sets predetermined information of the connection data in the second wireless communication unit,
3. The automatic machine system according to claim 1, wherein after the establishment of wireless communication between the second wireless communication unit and the first wireless communication unit, mutual wireless communication is performed. 4. .

The wireless communication connection is as follows:
The controller transmits the ID of the controller as wireless data via the first wireless communication unit with the ID of the teaching operation unit included in the connection data received by the first directional communication unit as a destination. And
The teaching operation unit transmits a reception confirmation signal with the controller ID of the wireless data received via the second wireless communication unit as a destination,
The automatic machine system according to claim 1, wherein after the establishment of wireless communication between the teaching operation unit and the controller, mutual wireless communication is performed.

The connection data required for the interconnection by the wireless communication is
The automatic machine system according to any one of claims 1 to 4, comprising a wireless channel and a communication cycle, an ID of each of the controller and the teaching operation unit, and a part of each communication port.

The controller is
A selection drive unit that performs operation control by selecting a specific mechanism unit from the plurality of mechanism units;
Control means for selecting a specific mechanism unit provided with the first directional communication unit facing the second directional communication unit when the connection data is exchanged;
The automatic machine system according to claim 2, wherein the selection drive unit controls the operation of the specific mechanism unit by operation of the teaching operation unit via the wireless communication connection.

After establishing wireless communication between the controller and the teaching operation unit,
It said second directional communication section identification of the mechanism portion provided the first input operation more said first and directional communication unit the second to the communication connection input means toward a directional communication unit When exchanging the connection data with the directional communication unit,
While maintaining wireless communication between the controller and the teaching operation unit,
The automatic machine system according to claim 2 or 6 , wherein a mechanism unit operable from the teaching operation unit is switched to the specific mechanism unit.

The automatic machine system according to claim 1, wherein the mechanism unit is a robot, the controller is a robot controller, and the teaching operation unit is a teaching operation device.