JP2013071234A - Robot stopping method and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To discriminate which robot should be actually stopped among a plurality of robots.SOLUTION: When a teaching device 7 of a control device 6 for controlling a plurality of robots 2-5 is operated to select one robot, the moving speed of the selected robot decreases (notification action). The notification action allows the discrimination of a selected robot. By operating the teaching device 7 in the case that the robot that has performed notification action is stopped, the robot is stopped. In the case that the robot that has performed notification action is different from a robot that should be stopped, the teaching device 7 is kept not to be operated. Then, the other robot decelerates and the time of the completion of work operation becomes the same as the robot that should be stopped.

Description

  The present invention relates to a robot stopping method and a robot system when one robot is selected from a plurality of robots and stopped.

There is a system in which a plurality of robots are installed along a production line and these robots perform assembly work. In this robot system, for example, when a bad robot is found, it is necessary to stop the robot for inspection and repair.
When a plurality of robots are collectively controlled by a single control device, in order to stop a specific robot from the plurality of robots, the robot to be stopped by the teaching device connected to the control device is selected. Select and stop.

  Although there is no direct relationship with the present invention, in Patent Document 1, a display unit is attached to a robot arm, and when the robot arm is moved by the teaching device, the moving direction is displayed by the display unit. It is described that the direction can be confirmed in advance.

JP 2008-878 A

  In order to select a specific robot by the teaching device, if the robot is not known on the control device, the robot may be mistakenly stopped. However, relying on the user's memory for the robot number is the cause of mistakes and is undesirable. However, it is dangerous to come close to the operating robot and confirm the number by the user because there is a risk of collision with the robot.

  By applying the technique disclosed in Patent Document 1, a robot is provided with a display, and when one robot is selected by the teaching device, it is configured to display that the display of the selected robot is selected. It is possible. However, depending on the posture of the robot and the equipment environment, the robot display may not be visible from the position where the control device is placed, which is not preferable as a prior confirmation means.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot stopping method and a robot that can identify which robot is actually selected regardless of the posture of the robot or the equipment environment. To provide a system.

  According to the present invention, when one robot is selected by the selection means, the speed of the selected robot decreases, for example, the acceleration of the robot in the middle of acceleration decreases, or the moving speed of the robot moving at a constant speed Therefore, it is possible to know which robot is selected by this speed reduction (notification operation).

  When the robot that the user wanted to stop coincides with the robot that performed the notification operation, the user performs an operation to stop the robot. If the robot that the user wanted to stop is not the robot that performed the notification operation, the user does not perform the stop operation. Then, the robots other than the robot that performed the notification operation first decelerate, and the work operation ends at the same time as the robot that performed the notification operation first. As a result, the operation relationship of the plurality of robots is restored, and all the subsequent robots start the next work operation at the same time.

1 shows an example of a notification operation and a recovery operation in an embodiment of the present invention, where (a) is a velocity pattern diagram of a robot to be stopped, and (b) is a velocity pattern diagram of another robot. It shows another example of the notification operation and the recovery operation, (a) is a speed pattern diagram of the robot to be stopped, (b) is a speed pattern diagram of the other robot Flow chart showing the contents of main control Flow chart showing the contents of the stop instruction corresponding routine Flow chart showing the contents of the notification operation preparation routine Flow chart showing contents of recovery operation preparation routine Typical trapezoidal speed pattern diagram Speed pattern diagram showing the contents of the work cycle Block diagram showing electrical configuration of control device Schematic diagram showing the shared range of two robots Schematic diagram showing the robot system Block diagram showing the electrical connection of the robot system

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 11 and 12, the robot system in this embodiment includes a plurality of units installed on both sides of a conveyor (production line) 1 that conveys products, in this embodiment, four robots 2 to 5, The control device 6 controls the robots 2 to 5 collectively and a teaching device 7 as an operation device connected to the control device 6. In addition, when distinguishing each robot 2-5, it attaches and demonstrates 1st-4th order number.

  The robots 2 to 5 are all configured as 6-axis vertical articulated robots. In these robots 2 to 5, an end effector (not shown) such as a hand for gripping a workpiece is attached to the tip of the robot arm. Then, each time the conveyor 1 is intermittently sent by 1 pitch, each robot 2 to 5 grips the parts supplied from the automatic supply device 8 to a fixed position, conveys them onto the conveyor 1 and assembles them to the product. Do.

  The teaching device 7 is mainly used when manually operating the robots 2 to 5. The teaching device 7 is provided with various switches 11 and a display (display means) 12. The switch 11 includes a mode selection switch for selecting a mode such as a teaching mode and an automatic operation mode, and a robot selection switch (selection) for selecting one desired robot from the four robots 2 to 5. Means), an operation instruction switch for moving the robot arm in the teaching mode, a stop switch (stop instruction means) for stopping the selected robot in the automatic operation mode, and the like. In FIG. 12, the robot selection switch is indicated by reference numeral 11a, and the stop switch is indicated by reference numeral 11b.

  Next, in FIG. 9 showing the configuration of the control device 6, each robot 2 to 5 has six motors 13 for driving the arms, and each motor 13 detects the rotational position of the motor 13. Thus, a rotary encoder 14 that outputs to the control device 6 is connected. FIG. 9 shows the relationship between the control device 6 and one robot, and only one motor 13 is shown in one robot.

  The control device 6 includes a CPU 15, a ROM 16 and a RAM 17 as storage means, and a position detection circuit 19 that detects the rotation position of each arm of the robot by a rotation position detection signal from the drive circuit 18 of the motor 13 and the rotary encoder 14. I have. The ROM 16 has a control program for automatically operating the robots 2 to 5 in accordance with the operation program created by the teaching device 7, a control program for stopping the robots 2 to 5 that are operating automatically according to instructions from the teaching device 7, Various data used for speed control and position control of the robots 2 to 5 are stored. The RAM 17 stores an operation program created by the teaching device 7.

The CPU 15 calculates a movement trajectory from the operation program stored in the RAM 17 and controls the position and speed of the robot arm tip so that the robot arm tip moves along the trajectory.
Specifically, the GPU 15 determines the moving speed of the tip of the robot arm by applying it to a speed pattern, for example, a trapezoidal speed pattern. In this case, as shown in FIG. 7, the trapezoidal velocity pattern is composed of an acceleration region, a constant velocity region, and a deceleration region. The acceleration + α in the acceleration region, the speed V in the constant velocity region, and the deceleration −α in the deceleration region are operated. Determined from parameters recorded in the program.

  Then, the CPU 15 calculates the speed at every predetermined sampling period (time) Δt from the trapezoidal speed pattern from the movement start time S to the movement end time E, and calculates the movement distance from the movement start time S. . The moving distance can be obtained as an integral value of speed (the sum of products of speed and Δt time for each sampling time Δt).

  The CPU 15 calculates the position (coordinates) when moving by the movement distance from the movement start time S from the movement locus every time the sampling time Δt elapses, and the position (command position) of the robot arm tip every time the sampling time Δt elapses. ) And speed (command speed), the position and speed of each arm are calculated, and this is used as the target position and target speed for each lapse of the sampling time Δt of each arm. Then, the CPU 15 controls the motor 13 via the drive circuit 18 so that the current position and speed of each arm acquired from the position detection circuit 19 become the target position and target speed. As described above, the tip of the robot arm is controlled so as to move on the trajectory determined by the operation program at a speed according to the trapezoidal speed pattern.

Here, in the trapezoidal velocity pattern, acceleration + α, deceleration -α, and velocity V in the constant velocity range are the maximum allowable acceleration that the robot arm can withstand in terms of strength, maximum deceleration, and maximum safety with a certain safety factor. Acceleration + α _max , allowable lower limit deceleration −α _max , and allowable upper limit speed V _max or less. The motor 13 is a driving source of the robot arm, but also functions as a braking means for braking the robot arm by reverse torque braking (braking by generating reverse torque).

  FIG. 8 shows an example of the velocity pattern of the tip of the robot arm when the robots 2 to 5 are automatically operated. In FIG. 8, T1 to T2 are ascending operation, T2 to T3 are lateral movement operation, T3 to T4 are descending operation, T4 to T5 are moving operation stop, T5 to T6 are ascending operation, T6 to T7 Indicates a horizontal movement operation, T7 to T8 indicate a lowering operation, and T8 to T9 = T1 indicate a movement operation stop.

  In FIG. 8, the first work operation is from T1 to T5, the second work operation is from T5 to T9, and these two work operations are one work cycle. During the automatic operation, this work cycle is repeatedly executed.

  The one work cycle of FIG. 8 is applied to each robot 2-4. First, the first robot 2 and the fourth robot 5 hold the workpiece supplied from the automatic supply device 8 and move up at T1 to T2, and transfer the workpiece from the automatic supply device 8 onto the conveyor 1 at T2 to T3. Then, the workpiece is lowered to the conveyor product at T3 to T4, and the gripping of the workpiece is released when the moving operation is stopped at T4 to T5 (first work operation). After that, it leaves upward from the conveyor 1 at T5 to T6, moves from the conveyor 1 to the automatic supply device 8 at T6 to T7, and descends to the workpiece supplied to the fixed position by the automatic supply device 8 at T7 to T8. The workpiece is gripped when the moving operation is stopped in T8 to T9 (second work operation).

  On the other hand, the second robot 3 and the third robot 4 move upward from the conveyor 1 at T1 to T2, move from the conveyor 1 to the automatic feeder 8 at T2 to T3, and automatically at T3 to T4. The work is lowered to the work supplied to the fixed position by the supply device 8, and the work is gripped when the moving operation is stopped from T4 to T5 (first work operation). Thereafter, the workpiece is lifted while holding the workpiece at T5 to T6, and the workpiece is transferred from the automatic supply device 8 onto the conveyor 1 at T6 to T7, and the workpiece is lowered to the conveyor product at T7 to T8. The gripping of the workpiece is released when the operation is stopped (second work operation).

  Therefore, the first robot 2 and the second robot 3, and the third robot 4 and the fourth robot 5 normally maintain an operation relationship in which when one approaches the conveyor 1, the other moves away. Thus, since it is controlled by the control device 6, there is no fear of a collision. However, the first robot 2 and the second robot 3, and the third robot 4 and the fourth robot 5 share an operation range (shown by an ellipse) on the conveyor 1 as shown in FIG. Since there is a shared area (U), there is a possibility of collision in the shared area U if the operation timing is shifted.

  By the way, during the automatic operation of the robots 2 to 5, for example, when there is a robot that the user feels abnormal, depending on the degree of abnormality, it is necessary to stop the robot for inspection. In this case, the robot is stopped by the teaching device 7. For example, when the first robot 2 is stopped, the selection switch 11a is operated to select the number assigned to the first robot 2, and the stop switch 11a is operated.

  However, it is not certain whether the first robot 2 is also the first robot on the teaching device 7. For example, in FIG. 11, if the robot installed at the position of the first robot 2 is determined as the first and the robot installed at the position of the second robot 3 is determined as the second, the factory actually When installing, for some reason, they are installed at positions opposite to each other (the second robot 3 is installed at the position of the first robot 2, and the first robot 2 is installed at the position of the second robot 3). There is also. In this case, if it is desired to stop the first robot 2 and the first robot is selected and a stop operation is performed, the second robot 3 stops.

  In order to prevent the occurrence of such a problem and to surely stop the robot to be stopped, in the present invention, the robot selected to be stopped on the teaching device 7 (on the operating device) The robot to be stopped) performs a notification operation for notifying that the robot has been selected, and when the robot that the user wanted to stop matches the robot that performed the notification operation, the stop operation is performed.

  Next, the control contents of the control device 6 when one robot is stopped during the automatic operation of the robots 2 to 5 will be described with reference to the flowcharts of FIGS. In the automatic operation mode, each of the robots 2 to 5 has a work cycle composed of a plurality of work operations including a plurality of movement operations, that is, a first operation including a movement operation of ascending / laterally moving / lowering shown in FIG. A work cycle consisting of an operation and a second work operation is repeatedly executed.

  During this automatic operation, the control device 6 executes the main control routine of FIG. 3 for controlling the positions and speeds of the robot arm tips of the robots 2 to 5 by the command position and the command speed as described above. 4 is executed. The main control routine of FIG. 3 and the stop instruction corresponding routine of FIG. 4 are performed by parallel processing.

  The contents of control by the stop instruction response routine will be described below. That is, when the robots 2 to 5 are in automatic operation, for example, when a robot that is not in good condition is found and the robot is stopped, the user operates the selection switch 11a of the teaching device 7 and seems to be that of the robot to be stopped. Select the robot number. Then, the control device 6 determines “YES” in step A1 of FIG. 4 and proceeds to a notification operation preparation routine (notification operation preparation means) A2. Details of this notification operation preparation routine A2 are shown in FIG.

  When proceeding to the notification operation preparation routine A2, the control device 6 determines the stop target robot from the selected robot number, and selects the operation timing (time point p1 on the trapezoidal speed pattern of the stop target robot shown in FIG. 1A). Is stored (step B1). Next, based on the trapezoidal speed pattern (Pt in FIG. 1 (a)) of the currently moving motion of the robot to be stopped, the control device 6 performs n hours (for example, 2 seconds) from the current (selection operation timing point p1). ) Obtain the speed command value for each previous sampling time Δt (step B2).

Subsequently, it is assumed that the control device 6 has operated for n hours (notification operation) at a speed reduced by 10% from the acquired speed command value, and then accelerated at a predetermined acceleration, for example, an allowable upper limit acceleration + α _max , at a constant speed. The time m required to reach the zone velocity V0 is calculated (step B3). In addition, when braking is applied to reduce the speed to a speed reduced by 10% from the speed command value, the deceleration is set to a predetermined deceleration, for example, −α _max , and the braking time also enters n hours.

Next, in the moving operation currently in progress, the control device 6 determines whether or not p1 is within the deceleration region or the time from p1 to the start point p3 of the deceleration region is within (n + m) (step B4). When it is determined as “NO” in Step B4, the control device 6 calculates an operation deficiency M0 due to the notification operation from the selection operation timing point p1 (Step B5). Here, when moving for n hours at a speed reduced by 10% from the command speed, and then moving to reach V0 after accelerating at + _αmax , it moves compared to the case where the command speed is moved according to the original trapezoidal speed pattern. Although the distance will be insufficient, the operation shortage amount is the shortage amount of the moving distance. In FIG. 1, the area of the hatched portion with the lower left is the operation deficient amount M0. Incidentally, when the p1 point is in the acceleration range, depending on the acceleration of the initial trapezoidal speed pattern Pt, until reaching the V0 are accelerated by + alpha _max, a portion, sometimes initially out to the outside of the trapezoidal speed pattern Pt However, since the outward projecting portion is an increase in the operation, it is necessary to subtract the increase when calculating the insufficient operation amount.

Next, in the trapezoidal speed pattern Pt of the moving operation currently being executed, the control device 6 decelerates the speed command value for the period of time n from the time point p1 by the predetermined deceleration and reduces it by 10%. A new trapezoidal velocity pattern is created by rewriting the command value so that the acceleration for m hours is rewritten to + α _max from the time point when n hours elapse (step B6), and the process returns.

  If “YES” in step B4, that is, if the time point p1 is within the deceleration region or the time from the time point p1 to the deceleration region is within (n + m), the control device 6 proceeds to step B7 to select the selection operation timing point p1. Is changed after the lapse of q hours from the start of the acceleration range of the next movement operation, the message “Please wait for a while” is displayed on the display 12 (step B8), the above-mentioned steps B2 to B6 are executed, and the process returns. The reason why the selection operation timing point p1 is set after q hours have elapsed from the start of the acceleration region of the next movement operation is that when the notification operation is started from the acceleration start point, it cannot be determined as the notification operation. When the selection operation timing point p1 is when the movement is stopped, the notification operation preparation routine is started from step B7.

  Thus, the notification operation preparation routine A2 is completed, and then the operation proceeds to a recovery operation preparation routine (recovery operation preparation means) A3. The recovery preparation routine A3 is shown in FIG. When entering this routine, the control device 6 first delays the deceleration region start time point p3 of the initial trapezoidal speed pattern Pt of the robot to be stopped, and the operation amount increase Ma in the deceleration region caused by this (in FIG. 1A). A new trapezoidal speed pattern Pt ′ is created so that the downward slanted line portion) matches the motion deficit amount M0 (step C1). In this case, if the robot to be stopped has a movement operation following the movement operation currently being executed, the trapezoidal speed pattern Ps of the subsequent movement operation is also changed to the initial trapezoidal speed pattern Ps as shown in FIG. On the other hand, a new trapezoidal speed pattern Ps ′ is created by delaying by the delay Td of the deceleration region start time point p3.

  Next, the control device 6 determines the delay time Td from the deceleration zone start time p3 of the initial trapezoidal speed pattern Pt to the deceleration zone start time p3 ′ of the new trapezoidal speed pattern Pt ′, in other words, the end time of the initial trapezoidal speed pattern Pt. The delay time Td of the end point p4 ′ of the new trapezoidal speed pattern Pt ′ with respect to p4 is calculated (step C2).

  Subsequently, the control device 6 rewrites the trapezoidal velocity pattern of the other robots after the time point p2 so that the end time of the work operation of the robot other than the robot to be stopped (hereinafter referred to as another robot) is delayed by Td time from the beginning ( Step C3). When there is a moving operation that follows the moving operation being executed at the time point p2, the trapezoidal velocity pattern of the subsequent moving operation is also subject to rewriting.

  That is, as shown in FIG. 1B, when there is no movement operation following the other robot, the end point p6 of the deceleration region is set to the stop target robot for the trapezoidal speed pattern Pu of the movement operation being executed at the time point p2. Delayed by Td so as to coincide with the end point p4 ′ of the new trapezoidal speed pattern Pt ′, and decelerated at a predetermined deceleration from the time point p2, for example, deceleration in the deceleration region in the initial trapezoidal speed pattern Pu, from the initial speed V1. When the speed is changed to V2, the operation deficiency (part with the slanting left slanted line) M1 caused by decelerating at the deceleration speed from the time point p2 and changing from the initial speed V1 to V2 and the end time of the speed reduction area Is delayed by Td, and V2 is determined so as to be equal to the operation increase M2 generated in the deceleration region (the portion with the slanting line to the right) M2.

  After V2 is determined as described above, a deceleration line for decelerating to the speed V2 at the same deceleration as the deceleration range is created from the time point p2, and then the constant velocity line is drawn at the V2 and the deceleration line in the deceleration range is set to p4. A new trapezoidal velocity pattern Pu ′ of another robot is created by creating it so as to end at the time of ′ (p6 ′).

Further, as shown in FIG. 2B, when another robot also has a subsequent movement operation, the number of remaining operation operations including the operation operation currently being executed (at time p2) is N (2 or more). If it is an integer), the end point p6 of the trapezoidal speed pattern Pu of the work operation being executed at the time point p2 and the end point p7 of the subsequent work operation are delayed by Td / N, respectively. Then, the end point of the deceleration line of the trapezoidal speed pattern Pu of the work operation currently being executed is delayed by Td / N so that the operation deficit amount M1 and the operation increase amount M2 are equal to each other in the same manner as in FIG. A new trapezoidal speed pattern Pu ′ is created. Regarding the trapezoidal speed pattern of the subsequent work operation, the acceleration and deceleration are the same as the initial trapezoidal speed pattern Pv, the start point P6 of the acceleration area is delayed by Td / N, and the speed in the constant speed area is V3 to V4. The shortage of operation due to the decrease (the part with the slanted line to the left) M3 and the end point p7 of the deceleration region is Z · Td / N (Z is the work operation that is being executed at the time point p2 of the subsequent work operation) A new trapezoidal speed pattern Pv ′ is created so that the increased operation amount M4 resulting from the delay is equal. FIG. 2B shows a case where the subsequent work operation is 1 (N is 2).
When the new trapezoidal speed pattern is generated in this way, the control device 6 ends the restoration operation preparation routine, and returns to step A4 (notification operation control means) of the stop instruction corresponding routine in FIG.

In step A4, the control device 6 controls the moving speed of the tip of the robot arm of the robot to be stopped so that the speed pattern obtained in step B6 is reduced by 10% of the command speed for n hours from p1. By this notification operation control, the acceleration in the acceleration range of the robot to be stopped is reduced, or the speed in the constant velocity range is reduced. The stop target robot uses this speed reduction operation as an operation (notification operation) for notifying that it has been selected as a robot to be stopped on the teaching device 7.
Then, the user who has found the robot that has performed the notification operation operates the stop switch 11b when the robot that has performed the notification operation matches the robot that the user wants to stop ("YES" in step A5).

  The control device 6 counts the elapsed time from the start point p1 of the notification operation, and when the stop switch 11b is operated within the predetermined time (n + m) at this elapsed time (“YES” in step A5, “ YES ”), reverse torque is generated in the motor 13 to stop and stop the robot to be stopped (step A8: stop control means). Thereby, the robot to be stopped stops before reaching the end point of the moving operation.

  When the stop switch 11b is not operated within a predetermined time (n + m) from the notification operation start time point p1 (“NO” in step A5), the control device 6 determines the speed of the robot to be stopped after the time point p2 as described above. Control is performed according to the new trapezoidal velocity pattern Pt ′ of FIG. 1A created in C1 or the new trapezoidal velocity patterns Pt ′ and Ps ′ of FIG. Further, other robots are controlled in accordance with the new trapezoidal speed pattern Pu ′ of FIG. 1B created in step C3 or the new trapezoidal speed patterns Pu ′ and Pv ′ of FIG. 2B (step A7: recovery). Control means).

By this restoration operation, the other robots slow down the speed, so that the work operation ends at the same time as the end of the work operation of the robot to be stopped.
As described above, according to the present embodiment, when the user selects one robot to be stopped by the teaching device 7, the moving speed of the selected robot is reduced. Can know which robot is actually the robot to be stopped selected by the teaching device 7. When the robot that the user wanted to stop matches the robot that performed the notification operation, the robot that the user wanted to stop can be stopped by operating the stop switch 11b.

  Further, when the robot that has performed the notification operation is different from the robot that the user wants to stop, the user does not perform the stop operation. Then, the robot to be stopped causes an operation delay relative to the other robots by the amount of the notification operation, but the other robot recovers, that is, the other robot reduces the speed and the delay of the robot to be stopped due to the notification operation. However, other robots also exhibit a delay in operation, and the four robots finish their work operations at the same time.

  Since all the robots 2 to 5 stop the work operation at the same time due to the recovery operation, the robot that has performed the notification operation collides with another robot in the common area by making the stop timing of the work operation different from usual. The occurrence of the danger can be eliminated.

The present invention is not limited to the embodiment described above and shown in the drawings, and can be expanded or changed as follows.
The moving operation for performing the notification operation is the moving operation performed when the selection switch 11a is operated. However, the moving operation for performing the notification operation may be determined in advance as, for example, a horizontal movement operation.
The movement operation in the horizontal direction is not limited to horizontal movement, and may be accompanied by vertical movement.
The pattern representing the speed of the moving operation is not limited to a trapezoid, and may be a triangle. In particular, when the moving distance is short, a triangular speed pattern including an acceleration region and a deceleration region is preferable.

The robot is not limited to the vertical articulated type.
When the work operation of another robot is stopped, it does not necessarily coincide exactly with the stop of the work operation of the robot to be stopped. If the stop time is the same as long as it can prevent other robots from colliding with the robot to be stopped, there will be no problem even if the stop time varies.
The start time and end time of each movement operation of a plurality (four in the above embodiment) of robots may be different from each other, but the start time (T1 to T3, T5 to T7) of each movement operation of a plurality of robots. It is preferable for the formation of the new trapezoidal velocity pattern that the end points (T2 to T4, T6 to T8) are the same point in time.

  In the drawing, 2 to 5 are robots, 6 is a control device (notification operation control means, stop control means, recovery control means), 7 is a teaching device (operation device), 11a is a selection switch (selection means), and 11b is a stop switch. (Stop instruction means).

Claims (2)

A plurality of robots that repeatedly execute a work cycle composed of a plurality of work operations including a plurality of movement operations;
Always, the moving speed from the start point to the end point of each moving operation in each work operation of each robot, the trapezoidal speed pattern from the acceleration region to the deceleration region through the constant velocity region, or the acceleration region and the deceleration region By controlling according to a triangular speed pattern consisting of: one control device for controlling the work operations of the plurality of robots to be completed at the same time, and
In a robot system provided with one operating device for performing manual operation instructions to each of the plurality of robots connected to the control device,
The operating device is provided with a selection means for selecting a desired robot from the plurality of robots, and a stop instruction means for stopping the robot selected by the selection means,
The controller is
When one of the plurality of robots is selected as a robot to be stopped on the operating device by the selection unit, the movement operation being executed or a predetermined movement is performed with respect to the robot to be stopped. The acceleration in the acceleration range of the motion or the speed in the constant speed range is changed to the decrease side, and this speed change is regarded as the notification operation that the robot is selected as the stop target robot, and the stop is performed within a predetermined time after the notification operation. When the instruction means is operated, the stop target robot is stopped, and when the stop means is not operated within a predetermined time after the notification operation, the stop target robot is selected from the plurality of robots. The movement speed of the other robot is reduced, and the end time of the work operation currently being executed by the other robot is determined by the notification motion of the robot to be stopped. The method of stopping a robot, characterized in that as the equal to the end time of the working operation of the currently running went. A plurality of robots that repeatedly execute a work cycle composed of a plurality of work operations including a plurality of movement operations;
Always, the moving speed from the start point to the end point of each moving operation in each work operation of each robot, the trapezoidal speed pattern from the acceleration region to the deceleration region through the constant velocity region, or the acceleration region and the deceleration region By controlling according to a triangular speed pattern consisting of: one control device for controlling the work operations of the plurality of robots to be completed at the same time, and
In a robot system provided with one operating device for performing manual operation instructions to each of the plurality of robots connected to the control device,
The operating device is provided with a selection means for selecting a desired robot from the plurality of robots, and a stop instruction means for stopping the robot selected by the selection means,
In the control device,
When one of the plurality of robots is selected as a robot to be stopped on the operating device by the selection unit, the movement operation being executed or a predetermined movement is performed with respect to the robot to be stopped. A notification operation control means for changing the acceleration in the acceleration region of the motion or the speed in the constant velocity region to the decreasing side and making this speed variation a notification operation of being selected as the robot to be stopped;
Stop control means for stopping the robot to be stopped when the stop instruction means is operated within a predetermined time after the notification operation;
When the stopping means is not operated within a predetermined time after the notification operation, the moving speed of the other robots except the stopping target robot among the plurality of robots is reduced, and the other robots currently being executed A robot system, comprising: recovery control means for controlling so that an end time of a work operation is the same as an end time of the currently-executed work operation in which the notification operation of the robot to be stopped is performed.

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