JP2008221363A - Robot control system and operation pendant - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To effectively prevent various functions from being performed by operating an operation pendant by a worker who does not own the authority of performing the functions when the various functions are performed by operating the operation pendant by the worker. <P>SOLUTION: The worker holds a RFID tag in which ID data such as names and working permission levels 1-3 is stored. An RFID tag reader performing a close communication with the RFID tag is formed in a teaching pendant. The RFID tag is attached to an arm ring fitted to the wrist of the worker. The antenna of the RFID tag reader is attached to the strap part of the teaching pendant. The ID data read by the RFID tag reader is transmitted to a robot controller body. Based on the read data on working permission levels, the robot controller body limits the functions practicable by the worker with the teaching pendant. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention is configured by connecting an operation pendant to a robot controller main body that controls a robot, and allows an operator to perform various functions such as operation and setting of the robot by operating the operation pendant. The present invention relates to a control system and an operation pendant used for the robot control system.

  For example, in an industrial robot control system, an operation pendant called a teaching pendant is connected to a robot controller body that controls the robot. The teaching pendant includes a display unit for displaying a teaching screen, a screen showing the operation state of the robot, and the like, and a key operation unit for performing various key operations. An operator can select and start a robot work program by holding the teaching pendant in his hand, or operate the robot manually (remote operation) to perform teaching (direct teaching) work. can do.

  In such an industrial robot work site, it is important to ensure the safety of the worker. From such a point of view, when performing various functions using the teaching pendant, it is permitted to perform the operation in advance, especially when the operator needs to enter the operation area of the robot. It must be configured so that only authorized (approved) workers can do it.

As a configuration for this purpose, password management has been conventionally performed in which an operator operates a teaching pendant and inputs a specific password so that the function can be executed by the teaching pendant. As another example, Patent Document 1 considers a system that can activate an industrial device or the like only by causing an ID identification device to recognize a card or the like that can recognize a personal ID.
JP 2002-370139 A

  By the way, the functions that can be executed by the teaching pendant as described above are diverse, such as selection and activation of a robot work program, robot teaching work, setting and changing various parameters, and the like. Among them, any worker can select and start a robot work program. However, safety can be ensured if a person who does not have knowledge about the teaching work and various parameter settings and changes are operated poorly. There is a risk that it will disappear, and the worker is required to have appropriate knowledge and skill.

  On the other hand, for workers, the level of general workers, the level equivalent to programmers, the level equivalent to service personnel, in order from the lowest, depending on the knowledge and abilities (skills, experience, job type) etc. possessed by robots There are various levels of people. For this reason, from the viewpoint of ensuring safety, functions that can be executed by teaching pendant operation are permitted or prohibited according to the level of the worker. Need to be added. In the above-described password management, it is possible to add such a function restriction by changing the password for each level or for each individual.

  However, in the case of performing password management, there is a possibility that appropriate management cannot be performed once the password is known to others. Also, once the password is entered and the function is set to be enabled or disabled, the setting is valid until the power is turned off. Therefore, the operator changes halfway with the teaching pendant turned on. In such a case, there arises a problem that safety cannot be ensured. When using a personal ID card, there are the same problems as in the case of password management.

  The present invention has been made in view of the above circumstances, and its purpose is to execute various functions by operating the operation pendant of an operator, and an operator who does not have the authority to execute the function can operate the operation pendant. It is an object of the present invention to provide a robot control system and an operation pendant that can effectively prevent the function from being executed by an operation and can improve safety.

  In order to achieve the above object, a robot control system according to the present invention executes various functions by operating an operator's operation pendant, and the operator possesses the worker information for each individual worker. Based on the stored RFID tag, the RFID tag reader provided on the operation pendant to read the worker information by communication with the RFID tag, and the worker can be executed by the operation pendant based on the worker information read by the RFID tag reader And an operation restriction means for restricting various functions (invention of claim 1).

  According to this, when the operator uses the operation pendant, the RFID tag reader provided on the operation pendant reads the worker information of the RFID tag possessed by the worker. Based on the worker information of the individual worker, the function that can be executed by the operation pendant by the operator is restricted by the operation restricting means. Therefore, based on identifying whether the operator has the authority to execute each function based on the worker information, the operator who does not have the authority to execute the function executes the function by operating the operation pendant. This can be prevented beforehand.

  In this case, since the RFID tag is present in the vicinity of the operation pendant, communication with the RFID tag reader becomes possible. Therefore, when the worker leaves the operation pendant, or when the operator who operates the operation pendant changes. It is possible to easily determine the operator who is operating the operation pendant. Further, the worker only needs to have an RFID tag, and it is not necessary to perform operations such as password input operations and ID card reading operations.

  More specifically, data of work permission levels divided into a plurality of stages is stored in the RFID tag as worker information for each worker, and the operation restricting means has the read work permission level. The function can be limited according to the data (invention of claim 2). As a result, each worker can execute only a function of a level corresponding to the knowledge and skill of each worker.

  In the robot control system of the present invention, the RFID tag can be provided on the accessory that can be worn by the operator, and the antenna of the RFID tag reader can be built in the grip portion of the operation pendant. Alternatively, the RFID tag is provided on the accessory that can be worn by the operator, and the RFID tag reader antenna is built in the strap provided on the operation pendant, and the operator puts the hand wearing the accessory through the strap. By holding the operation pendant in the state, the RFID tag and the RFID tag reader can be configured to communicate with each other (invention of claim 4).

  In either case, the operator can place the RFID tag in the vicinity of the antenna of the RFID tag reader by grasping the operation pendant while wearing an accessory with a built-in RFID tag in his / her hand, even if the operator is not particularly conscious. Thus, communication between the RFID tag and the RFID tag reader can be reliably performed. In this case, a bracelet attached to the wrist of the operator can be adopted as the accessory provided with the RFID tag (invention of claim 5).

  In the robot control system of the present invention, the robot controller body stores history data including worker information read by the RFID tag reader and work contents executed by operating the operation pendant of the worker. (Invention of claim 6). According to this, it is possible to automatically store and accumulate history data indicating which operator performed what operation and when, which is effective when trouble occurs.

  The operation pendant of the present invention is based on an RFID tag reader that reads worker information for each worker stored in the RFID tag by communication with an RFID tag possessed by the worker, and worker information read by the RFID tag reader. And an operation restricting means for restricting a function executable by the operation of the operator (invention of claim 7). According to this, it is possible to prevent an operator who has no authority to execute a function from executing the function by operating the operation pendant. Further, by providing the operation restricting means on the operation pendant itself, it is not necessary to perform the process of determining the authority of the operator or the process of restricting the operation on the robot controller main body side.

  Hereinafter, an embodiment embodying the present invention will be described with reference to the drawings. FIG. 1 schematically shows an external configuration of a robot control system 1 according to the present embodiment. The system 1 includes, for example, an assembly robot 2, a robot controller body 3 that controls the robot 2, and a teaching pendant 4 that is an operation pendant connected to the robot controller body 3.

  The robot 2 is configured as, for example, a 6-axis small vertical articulated robot. Although not described in detail, the robot 2 has a 6-axis arm 5 driven by a servo motor, and grips a workpiece W accommodated in, for example, a pallet P at the tip of the arm 5. And a CCD camera 7 for photographing the workpiece W, for example, is attached to the tip of the arm 5.

  The robot 2 is connected to the robot controller main body 3 via a connection cable 8 so that the servo motors of the respective axes are controlled by the robot controller main body 3 and input video signals of the CCD camera 7. Is input to the robot controller main body 1.

  The robot controller body 3 is configured by incorporating a control circuit, a servo control unit, an image processing unit, a power supply device, and the like in a frame 9 having a rectangular box shape. The control circuit is composed mainly of a microcomputer, and controls each axis servo of the robot 2 via a servo control unit in accordance with an operation program stored in advance, teaching data set by a teaching pendant 4 described later, various parameters, and the like. The motor is controlled so that the work of assembling the workpiece W by the robot 2 is automatically executed.

  The teaching pendant 4 is detachably connected to the robot controller main body 3 via a connection cable 10. In this connected state, the robot 2 can be actually operated (manual operation) and various settings can be performed based on the operation of the teaching pendant 4 by the operator. At this time, in addition to the teaching pendant 4, other peripheral devices (such as a personal computer and a monitor device) (not shown) can be connected to the robot controller body 3, and high-speed data transfer between the peripheral devices is possible. An interface unit for performing the above is provided.

  As shown in FIG. 2, the teaching pendant 4 is formed in a thin, substantially rectangular box shape that is compact enough to be carried (operated by hand) by an operator. At the center of the surface of the teaching pendant 4, a display unit 11 made of, for example, a relatively large color liquid crystal display is provided, and various screens are displayed. A touch panel is provided on the surface of the display unit 11. In addition, the teaching pendant 4 is provided with various operation keys (mechanical switches) located around the display unit 11, and a key operation unit 12 is provided along with the touch panel.

  The left and right side walls of the teaching pendant 4 are provided with strap portions (handle portions) 13 for the operator to pass the hand H, respectively, and the left and right portions of the back portion are hand-operated by the operator. A hand recess (not shown) is provided for hanging H fingertips (excluding the thumb). As shown in FIG. 2, for example, the operator passes the left hand H from the surface side to the strap portion 13 on the left side of the teaching pendant 4, hangs the thumb on the surface portion of the teaching pendant 4, and holds the remaining fingers on the concave portion for handling. The key operation unit 12 is operated using the right hand in this state.

  Although not shown, the teaching pendant 4 is provided with a control circuit mainly composed of a microcomputer, an interface for performing high-speed data transfer with the robot controller main body 3, and the like. An input operation signal or the like from the key operation unit 12 is sent from the teaching pendant 4 to the robot controller main body 3. In addition, a control signal, a display signal, and the like are sent from the robot controller main body 3 to the teaching pendant 4, and driving power is supplied to the teaching pendant 4.

  Thus, the operator can execute various functions such as operation and setting of the robot 2 using the teaching pendant 4. At this time, the display unit 11 displays various screens for displaying necessary information such as a menu screen, a setting input screen, and a status display screen. Further, it is possible to display the monitor image captured by the CCD camera 7 on the display unit 11.

  Examples of functions that can be executed by the teaching pendant 4 (operation of the key operation unit 12) include the following. That is, the robot 2 can be activated by calling and selecting a list of work programs of the robot 2 that has already been stored (set). Further, teaching work for teaching the target position (movement locus) where the hand of the robot 2 moves can be performed. This teaching work can be performed by operating the key operation unit 12 and remotely operating the robot 2 (manual operation).

  In addition, program access such as setting and changing work programs, target position changing, parameter access such as setting and changing the speed of the robot 2 (each axis servo motor), robot operation prohibited area setting and changing system, etc. Access is possible. Of the above-described functions, the work following the teaching work may be performed by the operator entering the operation area of the robot 2 and ensuring safety is important.

  In the present embodiment, an operator who works with the teaching pendant 4 has (or wears) the RFID tag 14 (see FIG. 3), and the teaching pendant 4 includes the RFID tag 14. An RFID tag reader 15 (see FIG. 3) that can perform near field communication is built in.

  FIG. 3 schematically shows an electrical configuration of the RFID tag 14 and the RFID tag reader 15. The RFID tag 14 includes an antenna coil 16, a power supply circuit 17 for generating DC operating power from a power feeding signal received from the RFID tag reader 15 received by the antenna coil 16, and overall control of communication and the like, as is well known. And a modulation circuit 19 and a demodulation circuit 20 for modulating and demodulating transmission / reception signals, a memory 21 such as an EEPROM for storing a control program, ID data, and the like. Each of the circuits 17 to 21 is a one-chip IC.

  At this time, in the memory 21, as the ID data, the worker information for each worker, specifically, the name and affiliation of the worker, as will be described later, is divided into three levels 1 to 3. In addition, work permission level data relating to the worker is stored. In this embodiment, as shown in FIG. 2, the RFID tag 14 is built in a wristband (wristband) 22 so that each worker can work while wearing the wrist on the left hand H. Is supposed to do.

  As shown in FIG. 3, the RFID tag reader 15 includes an antenna 23 for performing power supply and communication by electromagnetic waves with the RFID tag 14, a modulation circuit 24 and a demodulation circuit 25 connected to the antenna 23, A control circuit 26 connected to them, a memory 27, a communication interface 28, an oscillator (not shown) for generating a 13.56 MHz carrier wave, and the like are provided. The control circuit 26 outputs a power signal (high frequency) to the antenna 23 through the modulation circuit 24, and demodulates the received signal received by the antenna 23 through the demodulation circuit 25 and extracts it as data.

  At this time, in this embodiment, the antenna 23 is built in the strap portion 13 provided on the left side of the teaching pendant 4. Therefore, when the operator holds the teaching pendant 4 through the strap 13 with the left hand H to which the bracelet 22 is attached, the RFID tag 14 and the antenna 23 are brought into close proximity and communication is enabled. . As a result, the RFID tag reader 15 supplies operating power to the RFID tag 14 using electromagnetic waves, and the ID data is communicated (read).

  The ID data read by the RFID tag reader 15 is transmitted to the robot controller main body 3 via the communication interface 28. Then, as will be described in the following description of the operation, the robot controller main body 3 has a software configuration (control program) that allows the operator to execute the operation based on the ID data (work permission level) read by the RFID tag reader 15. Functions executable by the teaching pendant 4 are limited. Further, when the RFID tag 14 cannot be confirmed by communication, the execution of the function is prohibited (the operation of the key operation unit 12 is invalidated).

  Therefore, the robot controller main body 3 functions as an operation limiting means. Furthermore, in the present embodiment, the robot controller body 3 stores history data including worker information read by the RFID tag reader 15 and work contents executed by operating the operator's teaching pendant 4 as built-in storage means. Is stored in the history data storage memory.

  Next, the operation of the above configuration will be described. FIG. 4 shows a list of worker levels (work permission levels) and functions permitted to be executed by the teaching pendant 4. Here, level 1 is the level of the lowest general worker, and for this level 1 worker, only selection and activation of the work program of the robot 2 are permitted. The intermediate level 2 is a level of a worker equivalent to a programmer. In addition to selecting and starting the work program of the robot 2, the level 2 worker has a relatively high level of knowledge (judgment) and ability. Necessary teaching work and part of parameter access (change of target position and work program, etc.) are permitted.

  The highest level 3 is the level of a worker equivalent to a service person. For this level 3 worker, in addition to the functions up to level 2 described above, system access that requires more advanced knowledge (judgment) and ability And all functions such as parameter access are allowed. The operator who performs the work with the teaching pendant 4 is divided into three levels in advance according to the knowledge and ability (skill, experience, job type) of each person regarding the robot work. Operator level data is stored.

  As described above, the worker who performs the work with the teaching pendant 4 holds the teaching pendant 4 with the left hand H as shown in FIG. 2 with the bracelet 22 of each worker attached to the wrist of the left hand H. Like that. Then, the RFID tag 14 in the bracelet 22 and the RFID tag reader 15 in the teaching pendant 4 communicate with each other to read the worker information stored in the RFID tag 14 and send the data to the robot controller body 3. It is done. At this time, the RFID tag 14 and the antenna 23 of the RFID tag reader 15 are necessarily arranged close to each other, and communication between the two can be reliably performed.

  Thereby, the robot controller main body 3 restricts the functions that can be executed by the teaching pendant 4 in accordance with the read level of the worker. As shown in FIG. 4, the level 1 worker (general worker) can execute selection and activation of the work program of the robot 2, and execution of further functions is restricted. In addition, a level 2 worker (equivalent to a programmer) can execute part of teaching work and parameter access in addition to that, but execution of further functions is limited.

  In addition to these, level 3 workers (equivalent to service personnel) are allowed to execute all functions such as system access and parameter access. Thereby, for example, functions such as selection and activation of a work program that can be executed by operating the teaching pendant 4 outside the work area of the robot 2 can also be executed by a general worker. Teaching work, etc. that is performed by entering the operation area of the robot 2 can be executed only by level 2 and level 3 workers with advanced knowledge and ability, and cannot be performed by general workers, thus ensuring safety. It can be done.

  In this case, in order to limit the functions, for example, only a list of functions that can be executed is displayed on the initial screen of the display unit 11 of the teaching pendant 4, and a function to be executed can be selected therefrom. it can. Alternatively, even if an operator tries to select a function that the operator wants to execute, it is possible to display that the execution is restricted (prohibited) other than the permitted functions and not accept the operation.

  In addition, there may be a case in which the operator passes the teaching pendant 4 to an operator of a different level while the operator is performing the operation using the teaching pendant 4. However, in this case, the RFID tag reader 15 reads data of the RFID tag 14 of a new worker. Therefore, even if the worker before the change executes a high-level function, the execution of the function is limited according to the level of the worker after the change when the worker changes. The person who cannot do the work beyond his / her level is not allowed.

  Further, in the present embodiment, in the robot controller body 3, history data including worker information read by the RFID tag reader 15 and work contents executed by operating the operator's teaching pendant 4 are stored in the history data storage memory. Remembered. That is, it is possible to automatically store and accumulate history data indicating when and what work is performed, and recalling the history data is effective for troubleshooting.

  As described above, according to the present embodiment, various functions are executed by the operator's operation of the teaching pendant 4. The RFID tag reader 15 provided on the teaching pendant 4 uses the RFID tag possessed by the worker. The 14 worker information is automatically read, and the functions that can be executed by the teaching pendant 4 by the worker are limited based on the worker information. Therefore, it is possible to effectively prevent an operator who does not have the authority to execute the function from executing the function by operating the teaching pendant 4, thereby improving safety.

  In particular, in the present embodiment, the operator holds the RFID pendant 4 while holding the bracelet 22 with the RFID tag 14 built in, without the operator being particularly conscious. The RFID tag reader 15 can be disposed in the vicinity of the antenna 23, and an advantage that the communication between the RFID tag 14 and the RFID tag reader 15 can be performed reliably can be obtained. At this time, the operator only needs to wear the bracelet 22, and it is needless to say that an operation such as a password input operation or an ID card reading operation is not required.

  In the above embodiment, the robot controller main body 3 is configured to limit the executable functions. However, in the present invention, the RFID tag reader 15 and the RFID tag reader 15 read the teaching pendant (operation pendant). An operation restriction unit that restricts a function that can be executed by an operation of the worker based on the worker information may be provided. This eliminates the process of determining the authority of the operator and the process of restricting the operation on the robot controller body 3 side.

  In the above embodiment, the RFID tag held by the operator is provided on the bracelet 22, but the RFID tag is provided on other accessories that the operator can wear such as a ring, a wristwatch, and gloves. Also good. Furthermore, an RFID tag may be provided on an item worn by an operator, such as a safety cap or work clothes. Various modifications can be made to the shape of the RFID tag and the like, and the operator may have a card-like one (non-contact IC card). The antenna of the RFID tag reader is not limited to the one provided in the strap unit 13 and may be provided inside the operation pendant (for example, the back side).

  Further, in the above embodiment, the level of the worker is divided into three stages, but it may be divided into two stages or four or more stages. In the RFID tag, only personal information (ID) such as a worker's name is stored, and a table indicating the level of each worker is stored on the robot controller main body (or operation pendant) side. You may make it judge a level. In addition, the operation pendant may have a relatively simple configuration without the display unit 11, and various modifications can be made to the shape and structure of the robot and the robot controller main body. Can be implemented with appropriate modifications within the scope of the invention.

The perspective view which shows one Example of this invention and shows the structure of the system of a robot roughly The figure which shows a mode that an operator is holding a teaching pendant Block diagram showing electrical configuration of RFID tag reader and RFID tag Diagram showing the relationship between worker level and allowed functions

Explanation of symbols

  In the drawings, 1 is a robot control system, 2 is a robot, 3 is a robot controller body, 4 is a teaching pendant (operation pendant), 12 is a key operation unit, 13 is a strap unit, 14 is an RFID tag, 15 is an RFID tag reader, 22 Is a bracelet (jewelry), and 23 is an antenna.

Claims (7)

A robot control system that is configured by connecting an operation pendant to a robot controller body that controls a robot, and that allows an operator to operate the operation pendant to execute various functions such as operation and setting of the robot. In
An RFID tag possessed by the worker and storing worker information for each worker,
An RFID tag reader that is provided on the operation pendant and reads worker information by communication with the RFID tag;
A robot control system comprising: operation restriction means for restricting functions executable by the operation pendant by the operator based on worker information read by the RFID tag reader. The RFID tag stores work permission level data divided into a plurality of stages as worker information for each worker.
The robot control system according to claim 1, wherein the operation restriction unit is configured to restrict a function according to the read data of the work permission level. The RFID tag is provided on an accessory that can be worn by an operator,
3. The robot control system according to claim 1, wherein an antenna of the RFID tag reader is built in a grip portion of the operation pendant. The RFID tag is provided on an accessory that can be worn by an operator,
The operation pendant is provided with a strap portion in which an antenna of the RFID tag reader is built,
3. The robot control according to claim 1, wherein the RFID tag and the RFID tag reader are made to communicate with each other by holding an operation pendant while an operator wears the hand wearing the accessory through the strap portion. 4. system.   The robot control system according to claim 3 or 4, wherein the accessory provided with the RFID tag is a bracelet attached to a wrist of an operator.   The robot controller main body is provided with storage means for storing history data including worker information read by the RFID tag reader and work contents executed by operation of the operation pendant of the worker. A robot control system according to any one of claims 1 to 5. An operation pendant that is connected to a robot controller body that controls the robot, and that can execute various functions such as operation and setting of the robot by an operation of an operator,
An RFID tag reader that reads worker information for each worker stored in the RFID tag by communication with the RFID tag possessed by the worker;
An operation pendant, comprising: operation restriction means for restricting a function executable by an operation of the worker based on worker information read by the RFID tag reader.

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