JP2004017223A - Robot controlling device - Google Patents

Robot controlling device Download PDF

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Publication number
JP2004017223A
JP2004017223A JP2002176509A JP2002176509A JP2004017223A JP 2004017223 A JP2004017223 A JP 2004017223A JP 2002176509 A JP2002176509 A JP 2002176509A JP 2002176509 A JP2002176509 A JP 2002176509A JP 2004017223 A JP2004017223 A JP 2004017223A
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Prior art keywords
operation panel
teaching operation
robot
teaching
detection device
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JP2002176509A
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JP3937079B2 (en
Inventor
Michiharu Tanaka
田中　道春
Shinji Okumura
奥村　信治
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot controlling device which adapts selection of a mode of operation of a robot to requirements of a safety standard for the purpose of securing a safety of operators. <P>SOLUTION: This robot controlling device 2 controlling a robot 1 comprises: a teaching operation panel approach detecting device 7 installed beyond an action range of the robot 1; a detected device 8 installed on a teach operation panel 3 and detected by the teaching operation panel approach detecting device 7; and an operation part 31 on the teaching operation panel 3. Only when the teaching operation panel approach detecting device 7 detects the teaching operation panel 3, a mode of operation of the robot is selected from the teaching operation panel 3. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、ロボットの動作モードの選択を、教示操作盤で行うロボット制御装置にあって、操作者の安全確保のため、ロボットより離れた場所でモードの切り替えを行うために、操作者をロボット近傍より離すための手段を備えるロボット制御装置に関する。
【０００２】
【従来の技術】
従来のロボット制御装置について、図５を用いて説明する。図５は、従来のロボット制御装置の構成を示す。
図５において、ロボット１はロボット制御装置２に接続されており、教示操作盤３もロボット制御装置２に接続されている。ロボット１はその稼動中に周囲の作業者が誤ってロボット１の可動範囲に入らないように安全柵４で囲われており、安全柵４の出入り口には開閉検知装置６が取り付けられており、開閉検知装置６よりの開／閉信号は、ロボット制御装置２へ接続されている。操作者が作業のために安全柵４内に入る際には、開閉検知装置６より開信号がロボット制御装置へ出力され、ロボットの駆動を停止すべく、サーボ電源を遮断する。
【０００３】
ロボットの教示を行う際には、ロボット制御装置２の盤面に取り付けられた操作部３１より教示モードを選択することで、安全柵４の開閉検知装置６より開信号が出力されていても、サーボ電源の投入は教示操作盤に装備されているイネーブルスイッチを操作することで可能となる。サーボ電源が投入されている状態で教示操作盤３の図示しないロボット軸操作キーを操作することでロボットを動作させ、教示点の修正を行う。教示作業が終了すると、操作者は安全柵４外へ出て、その出入り口を閉じることで、開閉検知装置６より閉信号がロボット制御装置２へ出力される。この状態で、ロボット制御装置２の盤面に取り付けられた操作部３１より自動運転モードを選択することで、図示しないサーボ電源投入指令を受けることが出来、サーボ電源が投入され、その後図示しない運転開始指令を受けることで自動運転を開始していた。
【０００４】
【発明が解決しようとする課題】
近年、ロボットコントローラを階上などロボットより離れた場所に設置する場合が増え、ロボットの自動運転／教示モードの切り替えに、都度の制御装置盤面操作部操作が必要となり、作業効率低下という問題がある。また、ロボット制御装置の小型化の要請が、ロボット使用者より強く、その際には盤面操作部にモード切り替えスイッチなどの装備領域が確保できないことがある。
そこで、本発明はこのような問題点に鑑みてなされたものであり、ロボット動作モード選択を、操作者の安全を確保すべく、安全規格の要請に適合することのできるロボット制御装置を提供することを目的とする。
【０００５】
【課題を解決するための手段】
上記問題を解決するため、本発明は、次のように構成したのである。
本発明の請求項１記載のロボット制御装置は、ロボットを操作するための可搬型の教示操作盤を接続し、ロボットの動作モードを選択する操作部を有し、前記ロボットを制御するロボット制御装置において、前記ロボットの動作範囲外に設置された教示操作盤接近検出装置と、前記教示操作盤上にあり前記教示操作盤接近検出装置で検出が可能な被検出装置と、前記教示操作盤上に前記操作部を備え、前記教示盤接近装置が前記教示操作盤を検知している場合のみ前記教示操作盤からロボットの動作モードを選択できることを特徴とするものである。
このようになっているため、操作者がロボットの近傍において、操作者の教示操作盤の誤操作や、操作者以外の作業者や上位制御装置より、操作者が意図していないときに運転モードの変更がなされなくなり、操作者の危険より保護することができる。
【０００６】
本発明の請求項２記載のロボット制御装置は、前記教示操作盤接近検出装置は、光、音、赤外線または電磁気等の配線を必要としない信号による相互間通信により、前記被検出装置を検出することを特徴とするものである。
このようになっているため、操作者は物理的な配線接続より開放され、自動運転モードへの変更は、ロボットに近傍より離れ、教示操作盤の操作のみで運転モードを自動運転モードに変更が出来るようにすることができる。
【０００７】
【発明の実施の形態】
以下、本発明の具体的実施例を図に基づいて説明する。
（実施例１）
図１は、本発明のロボット制御装置の構成図である。図において、ロボット１はロボット制御装置２と接続されており、教示操作盤３もロボット制御装置２に接続されている。ロボットの動作範囲を囲む安全柵４には安全柵４の扉５があり、作業者の安全柵４内への出入りに使用される。安全柵４の扉５には、扉５の開閉検知装置６が取り付けられ、ロボット制御装置２へ接続されている。このため、扉５の開閉状態は出力としてロボット制御装置２へ送られる。安全柵４の外部で、扉５の近傍に教示操作盤接近検出装置７が取り付けられ、ロボット制御装置２に接続されている。教示操作盤３の被検出装置８を教示操作盤接近検出装置７に向けられた状態では、教示操作盤接近検出装置７は、被検出装置８とデータ交換を行うために変調が加えられた光を放射し、この光を受光した被検出装置８は、復調を行ない教示操作盤２内のＣＰＵで、自らが接続されているロボット制御装置２に接続された教示操作盤接近検出装置７より放射されたデータであることを確認し、応答データに変調を加え、光を放射する。教示操作盤接近検出装置７では教示操作盤３の被検出装置８より放射された光を受光し、復調し、正しい応答データである場合はロボット制御装置２へ接近信号を出力する。教示操作盤３が教示操作盤接近検出装置７より離れた場合、光が届かなくなるため、前述の相互間通信が正しく行われず、教示操作盤接近検出装置７よりロボット制御装置２へは接近信号は出力されない。また、上述した光を赤外線に変えてもよい。
【０００８】
図２に複数システムの図を示す。教示操作盤接近検出装置７へ異なるロボット制御装置４０に接続された教示操作盤４１を接近させた場合、教示操作盤接近検出装置７より送出されたデータを教示操作盤４１は受信する。教示操作盤４１は、ロボット制御装置４０に接続された教示操作盤接近検出装置ではないことを教示操作盤４１内ＣＰＵは判別し、誤った組合せである意のデータを送出する。教示操作盤接近検出装置７では、この誤った組合せである意のデータであることに、よりロボット制御装置２へは接近信号は出力されない。
ロボット制御装置２では、前述の教示操作盤接近検出装置７よりの接近信号が出力されているときのみ、教示操作盤３の操作部３１で動作モードを自動運転モードに切り替えることが可能である。この場合、操作部３１は、教示操作盤３の上に配置されているスイッチである。このスイッチを操作することにより、動作モードを自動運転モードまたは教示モードに切り替えることができる。
【０００９】
図３は、教示操作盤接近検出装置、および、被検出装置の構成を示すブロック図である。ロボット制御装置２には、メインＣＰＵ１１と教示操作盤接近検出装置７とのインターフェースを行う検出装置インターフェース１２が備えられている。教示操作盤接近検出装置７には、検出装置インターフェース１２とインターフェースを行うメインＣＰＵインターフェース１３、メインＣＰＵ１１よりの接続確認指令に基づき、接続確認データを変調する接近検出装置変調器１４、変調された信号を光変換し、放射する接近検出装置発光器１５、教示操作盤３より放射された光を受光し、電気変換する接近検出装置受光器１６、変換された電気信号を復調する接近検出装置復調器１７がある。復調されたデータはメインＣＰＵインターフェース１３へ送られ、送出したデータと受入したデータの整合がとられる。受入したデータが、送出したデータより定められたデータと一致した場合は、被検出装置と正しくデータの授受が行われたと判断し、検出装置インターフェース１２へ接近信号が出力され、メインＣＰＵ１１へ伝達される。
教示操作盤３では、接近検出装置発信器１５より放射された光を受光し、電気変換する教示操作盤受光器２２、その電気信号を復調する教示操作盤復調器２３、復調されたデータとメインＣＰＵ１１より受けた特定データの変換を行う教示操作盤ＣＰＵ２１、教示操作盤ＣＰＵ２１より送出されたデータを変調する教示操作盤変調器２４、この変調信号を光変換し、放射する教示操作盤発光器２５がある。
また、教示操作盤接近検出装置７、教示操作盤３、共にロボット制御装置２内のメインＣＰＵ１１に接続されている。尚、教示操作盤接近検出装置７、教示操作盤３の双方より放射される光は、凸レンズなどで集光することで、指向性を高めている。
【００１０】
このように構成されているため、教示操作盤接近検出装置、被検出装置の双方が同一のメインＣＰＵに接続されているので、識別可能なデータが送られ、教示操作盤接近検出装置、被検出装置相互間でデータの送出、変換、受入、識別が行われる。教示操作盤接近検出装置と教示操作盤夫々に接続されるメインＣＰＵが異なると、双方で通信が行われても、教示操作盤接近検出装置は接近検出を行わないため、接近信号を出力することがない。
【００１１】
（実施例２）
図６は、音による相互間通信を行う場合のブロック図である。接近検出装置変調器１４より変調された信号を音に変換し、接近検出装置発信器２６により音を放射する。教示装置３には、放射された音を集音する教示操作盤集音器２８があり、教示操作盤集音器２８は、集音した音を電気変換し、その電気信号を教示操作盤復調器２３へ出力する。また、教示操作盤接近検出装置７へは、音を放射する教示操作盤発信器２９が行う。教示操作盤接近検出装置７では、教示操作盤３から放射された音を受け、電気変換する接近検出装置集音器２７が音を集音する。音の拡散を防止し、集音性を高め、指向性を高めるためには、図７のようなラッパ状の部材を組み込み使用する。
【００１２】
（第３の実施例）
図８に電磁波による相互通信を説明する。教示操作盤接近検出装置７と教示操作盤３との間を電磁波で相互通信する。教示操作盤接近検出装置７には、変調器６０、復調器６１、アンテナコイル６２がある。教示操作盤３には、変調器６５、復調器６４、アンテナコイル６３がある。変調器、復調器からの信号の流れは、第１の実施例に記載したとおりである。
【００１３】
（その他の実施例）
図４は、動作モードを選択する操作部の実施例の図である。動作モードを選択する操作部は、教示操作盤３上のディスプレイに選択画面５０にグラフィックを用いて、現在の動作モードを表示させてもよい。現在の動作モードは、カーソル５１がある個所となる。教示操作盤３のキーを操作し、このカーソルを移動させることで、動作モードを切り替えることができる。また、選択画面５０は、教示操作盤接近検出装置７が教示操作盤３を検知しているときのみ、表示可能としておく。このようにすれば操作者に動作モードを選択可能であるかどうかを識別させることができるという格別な効果を有する。また、選択画面５０には、教示操作盤接近検出装置７や教示操作盤３に設けられた被検出装置８の受光／投光などの接続確認データの状態を操作者が確認できるような構成になっている。従って、各機器が故障した際も、いずれか一方または両方の故障を判別することができる。
以上述べたとおり、ロボットを操作している教示操作盤を識別でき、かつ、教示操作盤接近装置近傍でのみ操作部３１にて動作モードを教示モードより自動運転モード、または自動運転モードから教示モードに切り替えることができる。
【００１４】
【発明の効果】
以上述べたように、本発明のロボット装置によれば、操作者が教示モードで教示後、一旦危険領域より離れるために安全柵外に出て、教示操作盤接近検出装置近傍で、教示に使用していた同一の教示操作盤で、自動運転モードに運転モードを切り替えることができ、操作者の安全が図れると共に、操作者は把持している教示操作盤で自動運転モードに容易に切り替えることができるという効果がある。
【図面の簡単な説明】
【図１】本発明の概要図
【図２】本発明の複数システムの対応図
【図３】本発明の構成を示すブロック図
【図４】本発明の操作部の図
【図５】従来技術の図
【図６】音による相互通信を行うブロック図
【図７】集音性、指向性を高める部材の外形図
【図８】電磁波による相互通信を行うブロック図
【符号の説明】
１：ロボット
２：ロボット制御装置
３：教示操作盤
４：安全柵
５：扉
６：扉の開閉検知装置
７：教示操作盤接近検出装置
８：被検出装置
１１：メインＣＰＵ
１２：検出装置インターフェース
１３：メインＣＰＵインターフェース
１４：接近検出装置変調器
１５：接近検出装置発光器
１６：接近検出装置受光器
１７：接近検出装置復調器
２１：教示操作盤ＣＰＵ
２２：教示操作盤受光器
２３：教示操作盤復調器
２４：教示操作盤変調器
２５：教示操作盤発光器
２６：接近検出装置発信器
２７：接近検出装置集音器
２８：教示操作盤集音器
２９：教示操作盤発信器
３１：操作部
５０：選択画面
５１：カーソル
６０：接近検出装置変調器
６１：接近検出装置復調器
６２：接近検出装置アンテナコイル
６３：教示操作盤アンテナコイル
６４：教示操作盤復調器
６５：教示操作盤変調器[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot control device for selecting an operation mode of a robot using a teaching operation panel. In order to ensure the safety of the operator, the operator switches the mode to a location remote from the robot. The present invention relates to a robot control device provided with a means for separating the robot from the vicinity.
[0002]
[Prior art]
A conventional robot control device will be described with reference to FIG. FIG. 5 shows a configuration of a conventional robot control device.
In FIG. 5, the robot 1 is connected to the robot control device 2, and the teaching operation panel 3 is also connected to the robot control device 2. The robot 1 is surrounded by a safety fence 4 so that surrounding workers do not accidentally enter the movable range of the robot 1 during operation, and an opening / closing detection device 6 is attached to an entrance of the safety fence 4. The open / close signal from the open / close detection device 6 is connected to the robot control device 2. When the operator enters the safety fence 4 for work, an open signal is output from the open / close detection device 6 to the robot control device, and the servo power is cut off to stop driving the robot.
[0003]
When teaching the robot, by selecting a teaching mode from the operation unit 31 attached to the panel surface of the robot control device 2, even if an open signal is output from the open / close detection device 6 of the safety fence 4, the servo is controlled. The power can be turned on by operating an enable switch provided on the teaching operation panel. By operating a robot axis operation key (not shown) of the teaching operation panel 3 while the servo power is turned on, the robot is operated and the teaching point is corrected. When the teaching operation is completed, the operator goes out of the safety fence 4 and closes the entrance, whereby a closing signal is output from the open / close detection device 6 to the robot control device 2. In this state, by selecting the automatic operation mode from the operation unit 31 attached to the panel surface of the robot control device 2, a servo power-on command (not shown) can be received, and the servo power is turned on. Automatic operation was started by receiving the command.
[0004]
[Problems to be solved by the invention]
In recent years, the robot controller is often installed at a location remote from the robot, such as on the floor, and it is necessary to operate the control panel surface operation unit every time to switch between the automatic operation and the teaching mode of the robot, resulting in a problem of a reduction in work efficiency. . In addition, there is a strong demand for miniaturization of the robot control device more than the robot user, and in that case, it may not be possible to secure an equipment area such as a mode switch in the panel operation unit.
Therefore, the present invention has been made in view of such a problem, and provides a robot control apparatus that can select a robot operation mode to meet the requirements of a safety standard in order to ensure the safety of an operator. The purpose is to:
[0005]
[Means for Solving the Problems]
In order to solve the above problem, the present invention is configured as follows.
A robot controller according to claim 1 of the present invention, comprising a portable teaching operation panel for operating the robot, an operation unit for selecting an operation mode of the robot, and a robot controller for controlling the robot. In the teaching operation panel approaching detection device installed outside the operation range of the robot, a detected device that is on the teaching operation panel and can be detected by the teaching operation panel approach detection device, The operation unit is provided, and the operation mode of the robot can be selected from the teaching operation panel only when the teaching panel approaching device detects the teaching operation panel.
Because of this, when the operator is in the vicinity of the robot, an erroneous operation of the operator's teaching operation panel, or when an operator other than the operator or a higher-level control device does not intend the operation mode when the operator does not intend. No changes are made and the danger of the operator can be protected.
[0006]
According to a second aspect of the present invention, in the robot control device, the teaching operation panel approach detection device detects the device to be detected by mutual communication using a signal that does not require wiring such as light, sound, infrared, or electromagnetic. It is characterized by the following.
Because of this, the operator is released from the physical wiring connection, and the change to the automatic operation mode is made farther from the vicinity of the robot, and the operation mode is changed to the automatic operation mode only by operating the teaching operation panel. You can do it.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
(Example 1)
FIG. 1 is a configuration diagram of the robot control device of the present invention. In the figure, a robot 1 is connected to a robot controller 2, and a teaching operation panel 3 is also connected to the robot controller 2. The safety fence 4 surrounding the operation range of the robot has a door 5 for the safety fence 4 and is used for a worker to enter and exit the safety fence 4. The door 5 of the safety fence 4 is provided with an opening / closing detection device 6 for the door 5 and is connected to the robot controller 2. For this reason, the open / closed state of the door 5 is sent to the robot controller 2 as an output. Outside the safety fence 4, a teaching operation panel approach detection device 7 is attached near the door 5 and connected to the robot control device 2. In a state where the detected device 8 of the teaching operation panel 3 is directed to the teaching operation panel approach detection device 7, the teaching operation panel approach detection device 7 uses a light modulated to perform data exchange with the detected device 8. The detected device 8 which has received this light, demodulates the signal, and radiates from the teaching operation panel approaching detection device 7 connected to the robot control device 2 to which the detection device 8 performs demodulation by the CPU in the teaching operation panel 2. After confirming that the response data has been obtained, the response data is modulated and light is emitted. The teaching operation panel approach detection device 7 receives and demodulates light emitted from the detected device 8 of the teaching operation panel 3 and outputs an approach signal to the robot control device 2 when the response data is correct. When the teaching operation panel 3 is separated from the teaching operation panel approaching detection device 7, the light does not reach, so that the above-mentioned mutual communication is not performed properly, and the approach signal is transmitted from the teaching operation panel approaching detection device 7 to the robot control device 2. No output. Further, the above-described light may be changed to infrared light.
[0008]
FIG. 2 shows a diagram of a plurality of systems. When the teaching operation panel 41 connected to a different robot controller 40 approaches the teaching operation panel approach detection device 7, the data transmitted from the teaching operation panel approach detection device 7 is received by the teaching operation panel 41. The CPU in the teaching operation panel 41 determines that the teaching operation panel 41 is not the teaching operation panel approaching detection device connected to the robot control device 40, and sends out data indicating an incorrect combination. In the teaching operation panel approach detection device 7, the approach signal is not output to the robot control device 2 because the data is the meaning of the incorrect combination.
In the robot controller 2, the operation mode can be switched to the automatic operation mode by the operation unit 31 of the teaching operation panel 3 only when the approach signal from the teaching operation panel approach detection device 7 is output. In this case, the operation unit 31 is a switch arranged on the teaching operation panel 3. By operating this switch, the operation mode can be switched to the automatic operation mode or the teaching mode.
[0009]
FIG. 3 is a block diagram showing the configurations of the teaching operation panel approach detection device and the device to be detected. The robot control device 2 is provided with a detection device interface 12 for interfacing the main CPU 11 and the teaching operation panel approach detection device 7. The teaching operation panel approach detection device 7 includes a main CPU interface 13 that interfaces with the detection device interface 12, an approach detection device modulator 14 that modulates connection confirmation data based on a connection confirmation command from the main CPU 11, and a modulated signal. , A proximity detector light-receiving device 15 that receives light emitted from the teaching operation panel 3 and converts the electrical signal, and a demodulator that demodulates the converted electrical signal. There are seventeen. The demodulated data is sent to the main CPU interface 13, where the transmitted data and the received data are matched. If the received data matches the data determined from the transmitted data, it is determined that the data has been correctly exchanged with the device to be detected, and an approach signal is output to the detection device interface 12 and transmitted to the main CPU 11. You.
The teaching operation panel 3 receives the light emitted from the proximity detection device transmitter 15 and converts the electric signal to a teaching operation panel light receiver 22, a teaching operation panel demodulator 23 for demodulating the electric signal, a demodulated data and a main data. A teaching operation panel CPU 21 for converting specific data received from the CPU 11, a teaching operation panel modulator 24 for modulating data transmitted from the teaching operation panel CPU 21, a teaching operation panel light emitting device 25 for optically converting and emitting this modulated signal. There is.
Further, both the teaching operation panel approach detection device 7 and the teaching operation panel 3 are connected to the main CPU 11 in the robot control device 2. The light emitted from both the teaching operation panel approach detection device 7 and the teaching operation panel 3 is condensed by a convex lens or the like, thereby increasing the directivity.
[0010]
With this configuration, since both the teaching operation panel approach detection device and the detected device are connected to the same main CPU, identifiable data is sent, and the teaching operation panel approach detection device and the detection target device are detected. Data transmission, conversion, reception, and identification are performed between the devices. If the teaching operation panel approach detection device and the main CPU connected to the teaching operation panel are different from each other, the teaching operation panel approach detection device does not perform approach detection even if communication is performed between both, so an approach signal is output. There is no.
[0011]
(Example 2)
FIG. 6 is a block diagram in the case of performing mutual communication by sound. The signal modulated by the proximity detector modulator 14 is converted into sound, and the proximity detector transmitter 26 emits sound. The teaching device 3 includes a teaching operation panel sound collector 28 that collects the emitted sound. The teaching operation panel sound collector 28 converts the collected sound into an electric signal and demodulates the electric signal to the teaching operation panel. Output to the device 23. Further, the teaching operation panel transmitter 29 that emits a sound is transmitted to the teaching operation panel approach detection device 7. In the teaching operation panel approach detection device 7, the approach detection device sound collector 27 that receives the sound radiated from the teaching operation panel 3 and converts the sound into electricity collects the sound. In order to prevent sound diffusion, enhance sound collection, and enhance directivity, a trumpet-shaped member as shown in FIG. 7 is incorporated and used.
[0012]
(Third embodiment)
FIG. 8 illustrates mutual communication using electromagnetic waves. The teaching operation panel approach detection device 7 and the teaching operation panel 3 communicate with each other by electromagnetic waves. The teaching operation panel approach detection device 7 includes a modulator 60, a demodulator 61, and an antenna coil 62. The teaching operation panel 3 includes a modulator 65, a demodulator 64, and an antenna coil 63. The flow of signals from the modulator and the demodulator is as described in the first embodiment.
[0013]
(Other Examples)
FIG. 4 is a diagram of an embodiment of an operation unit for selecting an operation mode. The operation unit for selecting the operation mode may display the current operation mode on the display on the teaching operation panel 3 using a graphic on the selection screen 50. The current operation mode is where the cursor 51 is located. The operation mode can be switched by operating the keys of the teaching operation panel 3 and moving the cursor. The selection screen 50 can be displayed only when the teaching operation panel approaching detection device 7 detects the teaching operation panel 3. This has a special effect that the operator can determine whether or not the operation mode can be selected. The selection screen 50 has a configuration that allows the operator to check the state of connection confirmation data such as light reception / light emission of the detected device 8 provided on the teaching operation panel approach detection device 7 or the teaching operation panel 3. Has become. Therefore, when each device fails, one or both failures can be determined.
As described above, the teaching operation panel operating the robot can be identified, and the operation mode of the operation unit 31 is changed from the teaching mode to the automatic operation mode or from the automatic operation mode to the teaching mode only in the vicinity of the teaching operation panel approaching device. You can switch to
[0014]
【The invention's effect】
As described above, according to the robot apparatus of the present invention, after the operator teaches in the teaching mode, the operator once goes out of the safety fence to leave the danger area, and uses the teaching operation panel in the vicinity of the approach detection device for teaching. The operation mode can be switched to the automatic operation mode with the same teaching operation panel that was used, and the safety of the operator can be achieved, and the operator can easily switch to the automatic operation mode with the grasping operation panel. There is an effect that can be.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of the present invention. FIG. 2 is a correspondence diagram of a plurality of systems of the present invention. FIG. 3 is a block diagram showing a configuration of the present invention. FIG. 4 is a diagram of an operation unit of the present invention. Figure 6: Block diagram for mutual communication by sound Figure 7: External view of a member that enhances sound collection and directivity Figure 8: Block diagram for mutual communication by electromagnetic waves
1: Robot 2: Robot control device 3: Teaching operation panel 4: Safety fence 5: Door 6: Door open / close detection device 7: Teaching operation panel approach detection device 8: Detected device 11: Main CPU
12: detection device interface 13: main CPU interface 14: proximity detection device modulator 15: proximity detection device light emitter 16: proximity detection device light receiver 17: proximity detection device demodulator 21: teaching operation panel CPU
22: teaching operation panel light receiver 23: teaching operation panel demodulator 24: teaching operation panel modulator 25: teaching operation panel light emitter 26: approach detection device transmitter 27: approach detection device sound collector 28: teaching operation panel sound collection 29: teaching operation panel transmitter 31: operation unit 50: selection screen 51: cursor 60: approach detection device modulator 61: approach detection device demodulator 62: approach detection device antenna coil 63: teaching operation panel antenna coil 64: teaching Operation panel demodulator 65: Teaching operation panel modulator

Claims (2)

ロボットを操作するための可搬型の教示操作盤を接続し、ロボットの動作モードを選択する操作部を有し、前記ロボットを制御するロボット制御装置において、
前記ロボットの動作範囲外に設置された教示操作盤接近検出装置と、
前記教示操作盤上にあり前記教示操作盤接近検出装置で検出が可能な被検出装置と、
前記教示操作盤上に前記操作部を備え、
前記教示盤接近装置が前記教示操作盤を検知している場合のみ前記教示操作盤からロボットの動作モードを選択できることを特徴とするロボット制御装置。A robot control device for connecting a portable teaching operation panel for operating the robot, having an operation unit for selecting an operation mode of the robot, and controlling the robot,
A teaching operation panel approach detection device installed outside the operation range of the robot,
A detected device that is on the teaching operation panel and can be detected by the teaching operation panel approach detection device,
Comprising the operation unit on the teaching operation panel,
A robot control device, wherein an operation mode of a robot can be selected from the teaching operation panel only when the teaching panel approaching device detects the teaching operation panel. 前記教示操作盤接近検出装置は、光、音、赤外線または電磁気等の配線を必要としない信号による相互間通信により、前記被検出装置を検出することを特徴とする請求項１記載のロボット制御装置。The robot control device according to claim 1, wherein the teaching operation panel approach detection device detects the device to be detected by mutual communication using a signal that does not require wiring such as light, sound, infrared light, or electromagnet. .
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