CN105579202A - Robot control device - Google Patents
Robot control device Download PDFInfo
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- CN105579202A CN105579202A CN201480042476.XA CN201480042476A CN105579202A CN 105579202 A CN105579202 A CN 105579202A CN 201480042476 A CN201480042476 A CN 201480042476A CN 105579202 A CN105579202 A CN 105579202A
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- operating means
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- wireless
- robot controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
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Abstract
A robot control device (RC) comprises a switching hub (20) and a main CPU (10). A wireless access point (50) that wirelessly communicates with a wireless TP (100B) is connected to the switching hub (20) via a communications line (L1) and a wired TP (100A) is connected to the switching hub (20) via a communications line (L2). The main CPU (10) grants operation rights for permitting the operation of a robot (R), to either the wired TP (100A) or the wireless TP (100B). In this way, the TP having the operation rights granted thereto can be operated exclusively, by granting the operation rights to only either the wired TP (100A) or the wireless TP (100B), and stability can be ensured in a configuration whereby the wired TP and the wireless TP are shared.
Description
Technical field
The present invention relates to a kind of robot controller, it utilizes the network communications technology, and carries out transmission and the reception of various data between portable operating means.
Background technology
In patent document 1 ~ patent document 4, disclose and be configured to be called as the system of carrying out radio communication between the portable operating means of teaching machine and robot controller.
In the system disclosed in patent document 1 and patent document 2, be provided with wireless communication part and wire communication portion in the inside of portable operating means.System disclosed in these documents, wireless TP (Portable wireless formula operating means) is connected with the controller of control machine human action via cable.Thus, wireless TP uses as wired TP (wired portable operating means).
System disclosed in patent document 3, wired TP via cable be wound in operator waist and be connected by the wireless penetration device supported.Thus, wired TP uses as wireless TP.
In system disclosed in patent document 4, be provided with wireless communication part and wire communication portion in portable operating means inside.System disclosed in the document, when portable operating means is placed in the special storing platform being located at robot controller, the splicing ear of portable operating means is electrically connected with the splicing ear of robot controller.Thus, portable operating means uses as wired TP.
Generally speaking, because wireless TP there is no the necessity of traction cable, so very superior in workability or Portability.In addition, be used in the viewpoint of multiple robot controller from the wireless TP of Jiang Yitai, wireless TP still more wired TP is more superior.On the other hand, from the impact being vulnerable to communication environment or these viewpoints that cannot use because of undercharge, wireless TP is comparatively inferior to wired TP.Described in patent document 1 ~ 4, these problems by adding wireless communication part or preparing the mode of wireless penetration device in addition and solved in wired TP.In other words, portable operating means described in patent document 1 ~ 4, is configured to can be used as wired TP to use, also can be used as wireless TP to use.
But, in the existing equipment using wired TP, when for getting advantage that wireless TP has, then can consider these two kinds of methods following.That is, existing wired TP is replaced as wireless TP by method (1); And method (2), described in patent document 1 ~ patent document 4, in wired TP, add wireless function.
But, in method (1), the impact as being easily subject to communication environment cannot be solved or make shortcomings such as cannot using because of undercharge.In addition, in method (2), the wireless penetration due to wired TP needs a large amount of parts, therefore will the weight of portable operating means be caused to increase.In addition, for operator, the structure of wireless penetration device is used to need always carry wireless penetration device and cause burden.Accordingly, in order to apply flexibly the advantage of wired TP and wireless TP both sides, not in wired TP, add wireless function, but except wired TP, add wireless TP in addition, common use wired TP and wireless TP is the best.
But, when can operate wired TP and wireless TP both sides simultaneously, the situation that some are bad will be produced.Such as when wired TP and wireless TP both sides are connected to a robot controller, can from wired TP and wireless TP both sides manipulation robot time, will produce safety on problem.Therefore, the industrial robot pattern of wants is, between robot controller and portable operating means, carry out man-to-man two-way communication.In addition, the industrial robot also pattern of wants is when being operated by the operator holding portable operating means, can not be operated by other portable operating means.
But, in above-mentioned prior art, but do not consider the security when adopting the mode sharing wired TP and wireless TP completely.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2008-93743 publication.
Patent document 2: Japanese Unexamined Patent Publication 2006-341356 publication.
Patent document 3: Japanese Unexamined Patent Publication 2011-194504 publication.
Patent document 4: Japanese Unexamined Patent Publication 2006-321014 publication.
Summary of the invention
Invent problem to be solved
The object of the invention is to, a kind of robot controller is provided, the security under the mode sharing wired TP and wireless TP can be guaranteed.
For solving the means of problem
In order to solve above-mentioned problem, according to the 1st aspect of the present invention, provide a kind of robot controller, according to the operation of portable operating means and control.Robot controller possesses: relay, is connected respectively via order wire with wireless communication part and wired portable operating means, and described wireless communication part and Portable wireless formula operating means carry out radio communication; And operation right giving portion, will the operating rights allowing to operate robot be used for, authorize to either party in wired portable operating means and Portable wireless formula operating means.
Preferably at above-mentioned robot controller, operation right giving is given the portable operating means outputing connection request among wired portable operating means and Portable wireless formula operating means the earliest by operation right giving portion.
Preferably at above-mentioned robot controller, under the state that operating rights to be awarded to wired portable operating means and Portable wireless formula operating means either party, never when the portable operating means being awarded the opposing party of operating rights outputs connection request, operation right giving portion confirms whether the current state of robot or robot controller meets specified requirements, when current state meets specified requirements, by the portable operating means of operation right giving the opposing party.
Preferably at above-mentioned robot controller, when by the portable operating means of operation right giving the opposing party, operation right giving portion cuts off the servo power supply of robot.
Preferably at above-mentioned robot controller, under the state that operating rights to be awarded to wired portable operating means and Portable wireless formula operating means either party, never, when the portable operating means being awarded the opposing party of operating rights outputs connection request, operation right giving portion notifies that the portable operating means of the opposing party has existed the portable operating means being awarded operating rights.
Preferably at above-mentioned robot controller, operation right giving portion with the portable operating means being awarded operating rights not by time of operating through the fixed time for condition, remove operating rights.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the structure representing the robot control system possessing robot controller of the present invention.
Fig. 2 (a) is the block diagram of the structure representing robot control system.
Fig. 2 (b) is the block diagram of the structure representing wired TP.
Fig. 2 (c) is the block diagram of the structure representing wireless TP.
Fig. 3 is the block diagram of the structure of the receiving element representing robot controller.
Fig. 4 is the block diagram representing the state being simultaneously connected with wired TP and wireless TP on the receiving unit.
Fig. 5 is the flow chart representing operation right giving process.
Detailed description of the invention
Below, with reference to Fig. 1 ~ Fig. 5, illustrate a kind of embodiment specialized by robot controller of the present invention.
As shown in Figure 1, robot control system 1 possesses the robot controller RC of robot R, wired TP100A and wireless TP100B and control R action.Robot R is a kind of operation robot carrying out the operation such as arc welding or spot welding.In the front end of the wrist portion of robot R, the power tool such as arc torch, spot-welding gun is installed.In addition, wired TP100A is wired portable operating means, and wireless TP100B is Portable wireless formula operating means.
Wired TP100A and wireless TP100B possesses the micro computer being provided with the operating systems such as Windows (registration mark).Wired TP100A and wireless TP100B also possesses keyboard 130, display unit 140 and emergency stop switch 180 etc.Operator operates keyboard 130 and performs the teaching operation of robot R.Display unit 140 shows the training data inputted by teaching operation.Operator operation emergency stop switch 180, makes robot R emergent stopping.At the back side of wired TP100A and wireless TP100B, not shown enabling key (enableswitch) is installed.Operator operates enabling key under teaching pattern, thus supplies electric power to the servo motor of robot R or cut off supply of electric power.
Teaching operation signal from wired TP100A is sent to robot controller RC by wire communication.Teaching operation signal from wireless TP100B is sent to robot controller RC by radio communication.Teaching operation signal comprises: for manually operation make the inching feed signal of robot R movement, for input training data teaching signal, at the washout of urgent Shi Shi robot R emergent stopping and enabling signal etc.Send these teaching operation signals from wired TP100A or wireless TP100B, robot controller RC then carries out fine motion feed operation, the various process such as making training data, emergent stopping etc. of robot R.
As shown in Fig. 2 (a), robot controller RC possesses: as the host CPU (central processing unit) 10 of control axis, switch hub 20 as relay, receiving element 30 and the order controlling unit 40 being connected to receiving element 30.Communication data from wired TP100A and wireless TP100B is carried out relaying by switch hub 20, transfers to host CPU 10 and receiving element 30 respectively.
Host CPU 10 performs the various process corresponding with the teaching operation signal from wired TP100A or wireless TP100B, specifically, and input teaching data or setup control parameter etc.In addition, host CPU 10 computing be located at the CD-ROM drive motor in each joint of robot R current-order, export not shown servo amplifier to.Thus, the CD-ROM drive motor in each joint is driven.In addition, host CPU 10, to either party in wired TP100A and wireless TP100B, is authorized for allowing the operating rights operated robot R.That is host CPU 10 is operation right giving portions, be controlled to the use either party in wired TP100A and wireless TP100B can being carried out exclusiveness.
Switch hub 20 has the port 21 ~ 24 connected for LAN.So-called LAN connects, such as, can for example there are the communication connection undertaken by Ethernet (registration mark), but be not limited to this.On port 21, handling have the order wire L1 of wireless access node 50.Port 22 loads and unloads the order wire L2 of wired TP100A.Port 23 is connected with host CPU 10, and port 24 is connected with receiving element 30.Wireless access node 50 uses known communication protocol, carries out radio communication with wireless TP100B.Wireless access node 50 is equivalent to wireless communication part.
As shown in Figure 3, receiving element 30 possesses: a pair CPU31,32; The relay R Y1 of the start by CPU31, RY3; The relay R Y2 of the start by CPU32, RY4; To energize output circuit 33,34; Emergent stopping output circuit 35,36; And splicing ear portion 37,38,39.CPU31,32 is inputed to from switch hub 20 via splicing ear portion 37 from the washout of wireless TP100B and enabling signal.
As shown in Figure 4, the enabling signal from wired TP100A inputs to CPU31,32 via the splicing ear T21 ~ T24 in splicing ear portion 38.No matter with or without the input signal of other CPU, CPU31,32, according to respective received input signal, makes relay R Y1 ~ RY4 start individually.
Output circuit 33,34 of energizing is the safety circuit of dual.Output circuit 33 of energizing is circuit that relay contact S1, the S2 be made up of a contact (normally opened contact) is in series, and output circuit 33 of energizing is connected with splicing ear T1, the T2 in splicing ear portion 39.Splicing ear T1, T2 are electrically connected with splicing ear T11, T12 of order controlling unit 40 respectively.Output circuit 34 of energizing is circuit that relay contact S3, the S4 be made up of a contact (normally opened contact) is in series, and output circuit 34 of energizing is connected with splicing ear T3, the T4 in splicing ear portion 39.Splicing ear T3, T4 are electrically connected with splicing ear T13, T14 of order controlling unit 40 respectively.When relay R Y1 start (excitatory), relay contact S1, S3 are closed.When relay R Y2 start (excitatory), relay contact S2, S4 are closed.
Emergent stopping output circuit 35,36 is the safety circuit of dual.Emergent stopping output circuit 35 is formed by by the connecting circuit of short circuit between the splicing ear T5 in splicing ear the portion 39 and splicing ear T25 in splicing ear portion 38 and the series circuit of relay contact S5, S6.Each end of the series circuit of relay contact S5, S6 is connected with the splicing ear T6 in splicing ear portion 39 and the splicing ear T26 in splicing ear portion 38 respectively.Splicing ear T5, T6 are electrically connected with splicing ear T15, T16 of order controlling unit 40 respectively.Emergent stopping output circuit 36 is formed by by the series circuit of the connecting circuit and relay contact S7, S8 that carry out short circuit between the splicing ear T7 in splicing ear the portion 39 and splicing ear T27 in splicing ear portion 38.Each end of the series circuit of relay contact S7, S8 is connected with the splicing ear T8 in splicing ear portion 39 and the splicing ear T28 in splicing ear portion 38 respectively.Splicing ear T7, T8 are electrically connected with splicing ear T17, T18 of order controlling unit 40 respectively.Relay contact S5, S7 are made up of b contact (normally-closed contact), and when relay R Y3 start (excitatory), relay contact S5, S7 open.In addition, relay contact S6, S8 are made up of b contact (normally-closed contact), and when relay R Y4 start (excitatory), relay contact S6, S8 open.
When under the state that the relay contact S1 ~ S4 at output circuit 33,34 of energizing all closes, when at least one relay contact is opened, from the shutoff signal of output circuit 33,34 to order controlling unit 40 input foundation enabling signal of energizing that relay contact is opened.By this, order controlling unit 40 makes not shown cutter start, the electric power supply towards servo amplifier is cut off.That is the electric power supply to the servo motor of the drive source as robot R is cut-off.
In addition, between splicing ear T25, T26 and between splicing ear T27, T28 at least either party become non-shorting state by short-circuit condition or in the relay contact S5 ~ S8 of emergent stopping output circuit 35,36, at least one relay contact is opened time, order controlling unit 40 makes not shown cutter action, and the electric power cut off to not shown servo amplifier supplies.In addition, in contents described later, the electric power supply to servo motor is called " opening (ON) servo power supply ", the electric power supply cut off to servo motor is called " closing (OFF) servo power supply ".
Splicing ear T21 ~ the T24 in splicing ear portion 38 is electrically connected with the splicing ear T31 ~ T34 in the splicing ear portion 42 of robot controller RC respectively.Splicing ear T25 ~ the T28 in splicing ear portion 38 is electrically connected with the splicing ear T35 ~ T38 in the splicing ear portion 42 of robot controller RC respectively.
First, with reference to Fig. 2 (b), wired TP100A is described.
As shown in Fig. 2 (b), wired TP100A possesses CPU (central processing unit) 110, ROM120, keyboard 130, display unit 140 and wired lan I/F (interface) 150.The each several parts such as CPU (central processing unit) 110, ROM120, keyboard 130, display unit 140 and wired lan I/F (interface) 150 are interconnected via bus 190.Wired lan I/F150 can load and unload relative to the port 22 of switch hub 20 via order wire L2.Wired TP100A can be communicated with the host CPU 10 of robot controller RC by wired with switch hub 20 via order wire L2.As the communication data of this situation, there are: according to the operation of the keyboard 130 from wired TP100A and the various data such as image information of the key information generated, display unit 140.
Wired TP100A possesses enabling key 170 and emergency stop switch 180.As shown in Figure 4, when enabling key 170 carried out opening (ON) operate time, normally opened contact S11, S12 of being located at a pair circuit C1, C2 are respectively closed, when enabling key 170 carried out closing (OFF) operate time, normally opened contact S11, S12 open.When using wired TP100A, circuit C1, C2, via holding wire L3 and not shown joint, are connected to the splicing ear T31 ~ T34 in the splicing ear portion 42 of robot controller RC.Under the state that holding wire L3 is connected with splicing ear portion 42, normally opened contact S11, S12 from closure state become open time, respectively from circuit C1, C2 to robot controller RC export enabling signal.
When emergency stop switch 180 carried out closing (OFF) operate time, normally-closed contact S13, S14 of being located at a pair circuit C3, C4 respectively open.Circuit C3, C4, via holding wire L3 and not shown joint, are connected to the splicing ear T35 ~ T38 in the splicing ear portion 42 of robot controller RC.Under the state that circuit C3, C4 are connected to robot controller RC, emergency stop switch 180 is carried out closing (OFF) when operating, two normally-closed contacts S13, S14 open, and export washout from circuit C3, C4 respectively to robot controller RC.
Then with reference to Fig. 2 (c), be described for wireless TP100B.For the part identical with wired TP100A in wireless TP100B, then description is omitted.
As shown in Fig. 2 (c), the difference of wireless TP100B and wired TP100A is, substitutes wired lan I/F150 and has WLAN I/F160.As shown in Fig. 2 (a), wireless TP100B can via wireless access node 50, order wire L1 and switch hub 20, by wireless and communicate with the host CPU 10 of robot controller RC.As communication data in this case, there are: based on the operation of the keyboard 130 from wireless TP100B and the various data such as image information of the key information generated, display unit 140.
Although not shown, but wireless TP100B possesses the structure suitable with circuit C1 ~ C4, normally opened contact S11, S12 and normally-closed contact S13, S14.In wireless TP100B, being different from wired TP100A, when a pair normally opened contact S11, S12 close enabling key 170 by operating, wirelessly exporting enabling signal by WLAN I/F160.In addition, when a pair normally-closed contact S13, S14 open the emergency stop switch 180 of wireless TP100B by operating, wirelessly washout is exported by WLAN I/F160.
About the effect of above-mentioned robot controller RC, the flow chart with reference to Fig. 5 is described.Detailed content is illustrate when host CPU 10 is only by process during either party in wired for operation right giving TP100A and wireless TP100B.When illustrating, wired TP100A being called wired TP and wireless TP100B is called wireless TP.
(1, wired TP and wireless TP all communicates less than setting up between robot controller RC, is not awarded the situation of the operating rights allowing manipulation robot R)
First, under either party state not all being awarded operating rights in wired TP and wireless TP is described, process when outputing connection request by wired TP.
As shown in Figure 5, in step St1, host CPU 10 confirms with or without connection request.As (step St1: yes) after the connection request that host CPU 10 confirms from wired TP, transfer to step St2.
In step St2, what host CPU 10 confirmed operating rights authorizes state.When operation right giving in wired TP and wireless TP either party when, such as, the identifying informations such as MAC Address are stored in the not shown RAM of robot controller RC.In this case, host CPU 10 reads identifying information from RAM, and what confirm operating rights authorizes state.At this, because operating rights is not awarded to either party in wired TP or wireless TP, therefore identifying information is NULL value.
In step St3, host CPU 10 identifying information by reading from RAM, which side in wired TP and wireless TP be decision power be awarded to.At this, because identifying information is shown as NULL value, therefore host CPU 10 is judging that operating rights is not awarded to either party in wired TP and wireless TP (step St3: no), transfers to step St8.
In step St8, host CPU 10 by operation right giving to the wired TP outputing connection request.In addition, host CPU 10 stores the identifying information of the wired TP being awarded operating rights in the not shown RAM of robot controller RC.
In step St9, host CPU 10 carries out the process for setting up the communication between wired TP.After the communication has been established, host CPU 10 notifies by the message of wired for operation right giving TP to wired TP.Its result, it is the message of having authorized operating rights that the display unit 140 of wired TP shows purport.
(2, by operation right giving under either party state in wired TP and wireless TP, outputed the situation of connection request by the TP of the opposing party not being awarded operating rights)
Then, illustrate by operation right giving under either party state in wired TP and wireless TP, process when outputing connection request by the TP of the opposing party not being awarded operating rights.At this, illustrate ought by operation right giving under the state of wired TP, process when outputing connection request by wireless TP.
In step St1, host CPU 10 confirms with or without connection request.Host CPU 10 is (step St1: yes) after confirming the connection request from wireless TP, is transferred to step St2.
In step St2, host CPU 10 authorizes state in order to what confirm operating rights, reads identifying information by RAM.At this, read the identifying information of wired TP from RAM.
In step St3, host CPU 10 is according to the identifying information read by RAM, and which side in wired TP and wireless TP be decision power be awarded to.At this, when host CPU 10 judges that operating rights is awarded to wired TP (step St3: no), be transferred to step St4.Now, purport is by the message of wired for operation right giving TP by host CPU 10, and notice is to the wireless TP exporting connection request.
In step St4, host CPU 10 confirms the transfer condition of operating rights.That is host CPU 10 judges whether current state can transfer the possession of operating rights to wireless TP by wired TP.In order to judge whether to transfer the possession of operating rights, host CPU 10 reads the information such as built-in variable or mark (flag), confirms the current state of robot R or robot controller RC.Such as, when the current state of robot R or robot controller RC meets following condition, host CPU 10 is judged as the transfer that can not carry out operating rights.But following condition is an example, is not limited to these conditions.
Be in teaching pattern and the servo power supply of robot R for open (ON) state.
Be in teaching pattern and supply electric power to servo amplifier.
Access (reading and writing) and be located at external memory in TP.
Lock function operating rights not being transferred to other TP is set by operator.
In step St5, host CPU 10 determines whether the state being in negotiable operating rights.At this, suppose that the current state of robot R or robot controller RC does not meet any one of above-mentioned condition.In this case, host CPU 10 is judged as negotiable operating rights (step St5: yes), is transferred to step St6.In addition, when the current state of robot R or robot controller RC meets any one condition above-mentioned, host CPU 10 is judged as non-negotiable operating rights (step St5: no), terminates present treatment.
In step St6, host CPU 10 removes the operating rights of the wired TP be just connected with robot controller RC at present, cuts off the communication between wired TP simultaneously.In addition, remove operating rights and refer to the identifying information removed and be written in the RAM of robot controller RC.
In step St7, the servo power supply of robot R is closed by host CPU 10.In this case, to the electric power supply of servo amplifier, servo power supply can not be opened (ON) preferably by cut-out immediately.Thus, even if carried out opening (ON) operation to enabling key 170 in the TP after being just awarded operating rights by mistake, servo power supply still can have been prevented to be unlocked.
In step St8, operation right giving has been exported the wireless TP of connection request by host CPU 10.That is host CPU 10 stores the identifying information of the wireless TP being awarded operating rights in the not shown RAM of robot controller RC.
In step St9, host CPU 10 carries out the process for setting up the communication between wireless TP.After foundation communication, purport is operation right giving to the message of wireless TP has been notified wireless TP by host CPU 10.Its result, in the display unit 140 of wireless TP, display purport is the message being awarded operating rights.
(3, relevant operational power authorize after process)
Host CPU 10 only according to the teaching operation signal of the TP being awarded operating rights that controls oneself, performs various process.That is controlling oneself the teaching operation signal of the TP being awarded operating rights in host CPU 10 1 aspect only analysis interpretation, then ignores the teaching operation signal from the TP not being awarded operating rights on the other hand.In the present embodiment, wired TP is connected to robot controller RC all the time.Therefore, as shown in Figure 3 and Figure 4, the washout sent by the emergency stop switch 180 of wired TP, via order wire L3 and receiving element, is passed to order controlling unit 40.That is, only there is the washout from wired TP, just can have nothing to do in operating rights, and order controlling unit 40 can be input to all the time.This means, although during by wireless for operation right giving TP, although the operation signal from wired TP cannot be inputted, but still can input by means of only the emergency stop switch 180 of wired TP.That is, wired TP only can be played a role as emergency stop switch.
According to this structure, skilled worker can hand-held wired TP as emergency stop switch, while allow the green hand operate wireless TP being unfamiliar with operation sequence.In such cases, even if green hand allows robot R feed towards the direction crawl of mistake because of carelessness, wired TP that skilled worker still can hold by oneself makes robot R emergent stopping.
In addition, in the present embodiment, the TP being awarded operating rights can also not exceeded fixed time, such as 10 minutes for condition, enforceable releasing operating rights by the time operated.According to this structure, even if when operator in order to not make operating rights from TP transfer after setting lock function, when have left scene, also can weigh in transfer operation after the fixed time.
So, according to the present embodiment, under the state sharing wired TP and wireless TP, only give either party in wired TP and wireless TP by operation right giving, can exclusively operate the TP being awarded operating rights.Thereby, it is possible to guarantee the security under the state sharing wired TP and wireless TP.
Claims (6)
1. a robot controller, according to the operation of portable operating means and control, is characterized in that possessing:
Relay, is connected with wireless communication part and wired portable operating means respectively via order wire, and described wireless communication part and Portable wireless formula operating means carry out radio communication; And
Operation right giving portion, will be used for the operating rights allowing to operate described robot, authorize to either party in described wired portable operating means and described Portable wireless formula operating means.
2. robot controller according to claim 1, is characterized in that,
Described operation right giving is given the portable operating means outputing connection request among described wired portable operating means and described Portable wireless formula operating means the earliest by described operation right giving portion.
3. robot controller according to claim 1 and 2, is characterized in that,
Under the state that described operating rights to be awarded to described wired portable operating means and described Portable wireless formula operating means either party, never when the portable operating means being awarded the opposing party of described operating rights outputs connection request, described operation right giving portion confirms whether the current state of described robot or described robot controller meets specified requirements, when described current state meets specified requirements, by the portable operating means of the opposing party described in described operation right giving.
4. robot controller according to claim 3, is characterized in that,
When by the portable operating means of the opposing party described in described operation right giving, described operation right giving portion cuts off the servo power supply of described robot.
5. the robot controller according to any one of Claims 1 to 4, is characterized in that,
Under the state that operating rights to be awarded to described wired portable operating means and described Portable wireless formula operating means either party, never, when the portable operating means being awarded the opposing party of described operating rights outputs connection request, described operation right giving portion notifies that the portable operating means of described the opposing party has existed the portable operating means being awarded operating rights.
6. the robot controller according to any one of Claims 1 to 5, is characterized in that,
Described operation right giving portion with the portable operating means being awarded described operating rights not by time of operating through the fixed time for condition, remove described operating rights.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013156484 | 2013-07-29 | ||
| JP2013-156484 | 2013-07-29 | ||
| PCT/JP2014/069417 WO2015016108A1 (en) | 2013-07-29 | 2014-07-23 | Robot control device |
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| Publication Number | Publication Date |
|---|---|
| CN105579202A true CN105579202A (en) | 2016-05-11 |
| CN105579202B CN105579202B (en) | 2018-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480042476.XA Active CN105579202B (en) | 2013-07-29 | 2014-07-23 | Robot controller |
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| Country | Link |
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| JP (1) | JP2015044280A (en) |
| CN (1) | CN105579202B (en) |
| TW (1) | TWI679090B (en) |
| WO (1) | WO2015016108A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201515793A (en) | 2015-05-01 |
| TWI679090B (en) | 2019-12-11 |
| CN105579202B (en) | 2018-03-30 |
| WO2015016108A1 (en) | 2015-02-05 |
| JP2015044280A (en) | 2015-03-12 |
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