JP2019195852A - System for operating device - Google Patents

Abstract

To improve reliability in an evaluation test of a device which operates in accordance with an operation.SOLUTION: A system (1) operates one or more devices (10) having operation input parts (12a, 13a, 13b) which receive predetermined operation inputs from a user in accordance with the predetermined operation input. The system (1) includes: a storage device (23); a relay unit (2) which is constituted so as to store an operation content when causing at least one device to conduct a predetermined operation in accordance with the operation input for the operational input parts into the storage device (23) and so as to cause the one or more devices to conduct the predetermined operation in accordance with the operation content stored in the storage device (23;) and an operation command device (4) which gives a command for causing the one or more devices (10) to conduct the predetermined operation to the relay unit (2).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for operating a device that operates according to an operation.

  Conventionally, in a robot system, an evaluation test using an actual machine is performed before shipment. For example, Patent Document 1 discloses a system capable of correcting edited motion while confirming the operation of a robot on an actual machine. Patent Document 2 discloses a test system for ATM. Patent Document 3 discloses an introduction support system for industrial equipment. In this system, a server is connected to controllers and simulators of a plurality of robots, which are actual machines for evaluation tests, via an in-company network, and executes an evaluation test on them.

JP 2004-148492 A JP 2011-154656 A JP 2002-074097 A

  However, in each of the above conventional systems, an evaluation test using an actual machine is performed for each evaluation target. For this reason, for example, when the number of robots to be evaluated and the functions of software installed in the robot controller increase, the number of evaluation items becomes enormous. As a result, the quality of the evaluation test differs depending on the skill level of the operator, and the reliability may be lowered. This is a problem common to all devices that operate in accordance with operations, not limited to robot systems.

  The present invention has been made to solve the above-described problems, and an object thereof is to improve reliability in an evaluation test of a device that operates according to an operation.

  In order to achieve the above object, a system according to an aspect of the present invention is a system for operating one or more devices having an operation input unit that receives a predetermined operation input from a user according to the predetermined operation input. According to an operation input to the storage device and the operation input unit, the operation content when at least one device is caused to execute a predetermined operation is stored in the storage device and stored in the storage device. A relay unit configured to cause the one or more devices to execute the predetermined operation according to the operation content, and a command for causing the one or more devices to execute the predetermined operation is given to the relay unit An operation command device.

  According to the above configuration, since the next operation can be automatically executed according to the operation content of one device operated by a user (for example, a skilled worker), for example, reliability can be improved in an evaluation test of a device using an actual machine. Can be improved.

  The operation input unit may be mounted on an operation terminal configured to be able to communicate with the control device. The relay unit has a communication function, is configured to intercept the operation content included in communication data between the operation terminal and the control device, and record the intercepted operation content in the storage device. It may be.

  The device may be a robot system having a robot and a control device that controls the operation of the robot.

  The control device has an operation panel as the operation input unit, and the operation panel is a power switch for switching on and off a power supply for supplying a predetermined power supply voltage to the robot, and a mode for switching an operation mode of the robot. A changeover switch and an emergency stop switch may be included. The relay unit may be configured to record an operation content of the operation panel in the storage device.

  The predetermined operation input is an operation input for causing the robot to perform an operation corresponding to a predetermined evaluation item, and the predetermined operation is executed according to an operation input to the operation terminal or the operation panel. The operation of the robot may be performed.

  The predetermined evaluation item may include an evaluation item related to the robot operation and an evaluation item related to a change in the state of the operation terminal or the operation panel associated with the operation input.

  Further, the operation content includes time-series data, and the operation command device includes the operation content when the robot system performs an operation content when a predetermined operation is executed in the robot system. The operation content may be configured to be editable based on the time series data.

  In addition, the device may be a teach pendant configured to be able to communicate with the control device in a robot system including a robot and a control device that controls the operation of the robot. The relay unit stores, in the storage device, operation details when the teach pendant executes a predetermined operation in response to an operation input to the operation input unit of the teach pendant. The teach pendant may be configured to execute the predetermined operation according to the operation content.

  The present invention has the above-described configuration and can improve reliability in an evaluation test of a device that operates according to an operation.

FIG. 1 is a schematic diagram showing the configuration of a system according to the first embodiment of the present invention. FIG. 2 is a schematic diagram showing the internal configuration of the automatic evaluation unit. FIG. 3 is an explanatory diagram for explaining the concept of the automatic evaluation system. FIG. 4 is a diagram illustrating an example of a display screen of the operation command device. FIG. 5 is a first diagram for explaining the operation of the recording / reproducing mode of the automatic evaluation unit. FIG. 6 is a second diagram for explaining the operation in the recording / reproducing mode of the automatic evaluation unit. FIG. 7 is a schematic diagram showing the configuration of a system according to the second embodiment of the present invention.

  Hereinafter, preferred embodiments will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted. Further, the drawings schematically show each component for easy understanding.

(First embodiment)
[Robot equipment]
FIG. 1 is a schematic diagram showing the configuration of a system according to the first embodiment of the present invention. The system of the present embodiment is an automatic evaluation system (hereinafter also referred to as “automatic evaluation system”) used when performing an evaluation test of an apparatus using an actual machine. First, the configuration of the robot apparatus 10 that is an actual machine for the evaluation test of the present embodiment will be described. The robot apparatus 10 includes a robot main body 11, a control device 12 that controls the operation of the robot main body 11, and an operation terminal 13 that is connected to the control device 12 in a communicable manner. The configuration of the robot body 11 is not limited, but is, for example, a 6-axis vertical articulated robot. An end effector (not shown here) is provided at the tip of the robot body 11. Further, the operation of the robot body 11 in the evaluation test includes the operation of the external axis of the robot. Here, the external shaft is a shaft other than the shaft constituting the robot body 11, and includes, for example, a drive shaft of an end effector and a drive shaft of a conveyor. The control device 12 is connected to the robot body 11 via a cable and is connected to the operation terminal 13 via the communication cable 5. In the present embodiment, the control device 12 is a robot controller including a computer such as a microcontroller. In the present embodiment, the operation terminal 13 includes a teach pendant 13a and a personal computer (PC) 13b, which are teaching portable operation terminals.

  The control device 12 includes an operation panel 12a for the operator to operate. The operation panel 12 a includes a power switch 15, an operation mode switch 16 and an emergency stop switch 17. The power switch 15 is a switch for switching on and off a power supply (not shown) that supplies a predetermined power supply voltage to the robot body 11. The changeover switch 16 is a switch for changing the operation mode of the robot body 11. The emergency stop switch 17 is a switch for making an emergency stop of the operation of the robot body 11.

  Further, the control device 12 includes, for example, a calculation unit such as a CPU, a servo control unit, a memory such as a ROM and a RAM, an external I / F, and a communication I / F (all not shown). ). The control device 12 may be configured by a single control device that performs centralized control, or may be configured by a plurality of control devices that perform distributed control in cooperation with each other.

  The control device 12 is configured to switch the operation mode of the robot between the teaching mode and the repeat mode in response to an input operation of the mode change switch 16 of the operation panel 12a. Here, the teaching mode is an operation mode for teaching the operation of the robot body 11 through the teach pendant 13a. In this mode, the robot body 11 creates and edits an operation program for performing various operations such as specific work. In the teaching mode, the control device 12 is configured to control the operation of the robot body 11 in accordance with operation information generated by the operation input unit 30 of the teach pendant 13a. On the other hand, the repeat mode is an operation mode in which an operation program created or edited in the teaching mode is reproduced to perform a specific target operation. This mode does not require the operator to operate the operation terminal 13 for execution. In the repeat mode, the operation of the robot body 11 is controlled according to the operation program recorded in the memory. Teach data created in the teaching mode is stored in the memory as a predetermined operation program, and the operation of the robot body 11 is controlled by the operation unit reading and executing the operation program in the repeat mode. The predetermined operation program is, for example, a command to move the arm hand (for example, end effector) of the robot body 11 to a predetermined position. In the calculation unit, one or more functions are realized by executing a predetermined program stored in the memory. Thereby, the robot main body 11 can perform various operations. In addition, the control device 12 is connected to a peripheral device (not shown) via a field bus, and can exchange signals with the peripheral device.

  The teach pendant 13 a includes an operation input unit 30 and a display unit 31. The operation input unit 30 includes various operation keys for instructing the operation of the robot main body 11, the start / end / stop of the repeat mode or the teaching mode, and the recording of the teaching point. The display unit 31 includes a display device such as a liquid crystal display. The display device displays characters, images, symbols, graphics, and the like on the screen. The teach pendant 13a is configured to receive operation information and various commands from the operation input unit 30 and to output various command values and calculation results to the display unit 31. The teach pendant 13a includes a calculation unit such as a CPU, a storage unit such as a ROM and a RAM, an external I / F, and a communication I / F (not shown here). For example, in the teaching mode, the teach pendant 13a receives a predetermined operation input by the operator at the operation input unit 30, and generates operation information (operation content) according to the operation input. Here, the operation information is information relating to the operation contents of the operator included in the communication data between the switch signal of the operation panel 12a and the teach pendant 13a and the control device 12, and includes time-series data. The calculation unit generates communication data including operation information, and transmits the generated communication data to the control device 12 via the communication I / F. Accordingly, the control device 12 is configured to control the operation of the robot body 11 in accordance with operation information (operation content) generated by the operation input unit 30. In the teaching mode, the operator operates the teach pendant 13a and remotely operates the robot body 11 to perform the teaching work.

  The PC 13b is used for an evaluation test. The evaluation test software is activated on the PC 13b. The operator can edit the operation program and set various parameters such as operation speed by operating the PC 13b.

[Evaluation test]
Next, an evaluation test of the robot apparatus 10 will be described. The operator performs an evaluation test to determine whether or not a predetermined operation corresponding to a predetermined evaluation item is being performed in the robot apparatus 10 in accordance with the operation of the operation terminal 13 or the operation panel 12a. For example, the evaluation test is performed according to the following procedure.
(1) First, the operator turns on the power of the robot apparatus 10 and starts an evaluation test. At this time, the worker keeps the teach pendant 13a and the PC 13b usable. Specifically, the worker “turns on” the power switch 15 of the operation panel 12a. The operator confirms that the power switch 15 changes from the off state to the on state. As described above, the evaluation items in the evaluation test also include an evaluation item related to a change in the state of the switch of the operation panel 12a accompanying the operation input by the operator. Further, the operator confirms that the control device 12 is normally activated by turning on the power switch 15.
(2) Next, the worker performs teaching work of the robot apparatus 10. Specifically, the worker sets the mode change switch 16 of the operation panel 12a to the “teach mode”. The operator confirms, for example, on the screen of the teach pendant 13a that the mode changeover switch 16 changes state from the “repeat mode” to the “teach mode”. Then, the operator operates the teach pendant 13a to perform the teaching operation of the robot apparatus 10. At this time, the operator confirms that the position of the robot body 11 (for example, the hand position) moves to the teaching point according to the operation of the teach pendant 13a and the state change of the teach pendant 13a due to the operation input. As described above, the evaluation items in the evaluation test include not only the evaluation items related to the robot operation but also the evaluation items related to the state change of the operation terminal 13 accompanying the operator's operation input. The state change of the teach pendant 13a includes, for example, the operation information and various commands input from the operation input unit 30, the output of various command values and calculation results to the display unit 31, and the display change of the display. And changes in the lighting state of the LED are also included. In the memory of the control device 12, teaching data created in the teaching mode is stored as a predetermined operation program.
(3) Next, the worker evaluates the operation of the robot apparatus 10. Specifically, the operator sets the mode changeover switch 16 to “repeat mode”. The operator confirms, for example, on the screen of the teach pendant 13a that the mode changeover switch 16 changes state from the “teach mode” to the “repeat mode”. In the repeat mode, the operation of the robot body 11 is executed by the controller 12 reading and executing the operation program stored in the memory in the control device 12. The operator confirms whether the repeat operation of the robot apparatus 10 is performed and a predetermined operation corresponding to a predetermined evaluation item is performed. In addition, the worker changes the operation of the robot as necessary. For example, the operator edits the operation program and changes various parameters such as the operation speed by operating the PC 13b. At this time, the operator confirms that the position of the robot body 11 (for example, the hand position) moves to the teaching point according to the operation of the PC 13b and the state change of the PC 13b due to the operation input. The state change of the PC 13b includes, for example, that various command values are output to the display screen of the PC 13b as a result of input of operation information from the keyboard of the PC 13b.
(4) Next, the worker evaluates the emergency stop function during the operation of the robot apparatus 10. Specifically, the worker “turns on” the emergency stop switch 17 of the operation panel 12a. The operator checks whether the emergency stop switch 17 changes from the off state to the on state, and whether the emergency stop switch 17 is turned on and whether the control device 12 is brought to an emergency stop.
(5) Next, the operator performs an operation evaluation after the robot apparatus 10 is restored. Specifically, the operator turns on the power switch 15 to restart the control device 12 and then sets the mode change switch 16 to “repeat mode” to determine whether or not the repeat operation is resumed. Check.
(6) Finally, the operator turns off the power switch 15 to check whether or not the robot apparatus 10 is shut down, and the evaluation test ends.

  As described above, in the evaluation test of the robot apparatus 10, the operator operates the operation terminal 13 for each evaluation target. For this reason, when the number of robot devices 10 for evaluation increases, the number of evaluation items becomes enormous. As a result, the quality of the evaluation test varies depending on the skill level of the worker. Therefore, in the present embodiment, the automatic evaluation system 1 is introduced and the evaluation test of the robot apparatus 10 is performed.

[Automatic evaluation system]
Next, the configuration of the automatic evaluation system 1 will be described. The automatic evaluation system 1 is used by an operator when performing an evaluation test of the robot apparatus 10. As shown in FIG. 1, the automatic evaluation system 1 includes an automatic evaluation unit 2 and an operation command device 4. The automatic evaluation unit 2 is a relay unit disposed between the operation terminal 13 and the control device 12. FIG. 2 is a schematic diagram showing an internal configuration of the automatic evaluation unit 2. As shown in FIG. 2, the automatic evaluation unit 2 includes a relay circuit 20, a relay control unit 21, a control unit 22, a storage unit 23, and a communication unit 24.

  The relay circuit 20 includes a first relay RL1, a second relay RL2, and a third relay RL3. The first relay RL1 shorts both ends of the switch of the operation panel 12a. One end of the first relay RL1 is connected to a signal line 51 that connects one end of the switch of the control device 12 and its operation panel 12a, and the other end of the first relay RL1 is the other end of the switch of the control device 12 and its operation panel 12a. Are connected to a signal line 52 for connecting.

  The second relay RL2 switches connection / disconnection between the control device 12 and the other end of the switch of the operation panel 12a. One end of the second relay RL2 is connected to the signal line 52, and the other end of the second relay RL2 is connected to the other end of the switch of the operation panel 12a.

  The third relay RL3 switches connection / disconnection of communication between the operation terminal 13 and the control device 12. Here, when the third relay RL3 is turned on, the communication between the operation terminal 13 and the control device 12 is enabled via the communication cable 5, and when the third relay RL3 is turned off. The communication between the operation terminal 13 and the control device 12 is disabled, and the communication between the automatic evaluation unit 2 and the control device 12 is enabled through the communication unit 24.

  The relay control unit 21 controls on / off of each of the relays RL <b> 1 to RL <b> 3 of the relay circuit 20 according to a command from the control unit 22. The control unit 22 transmits a switching command for the relay circuit 20 to the relay control unit 21 in accordance with a command (recording mode / reproduction mode) from the operation commanding device 4. Further, in the recording mode, the control unit 22 stores operation information (operation contents) included in communication data between the operation terminal 13 and the robot apparatus 10 in the storage unit 23, and in the reproduction mode, the storage unit Is transmitted to the control device 12 in accordance with the operation information (operation content) included in the control information. The storage unit 23 stores operation information (operation contents).

  The communication unit 24 is configured to transmit and receive communication data with the control device 12 and the operation terminal 13. The communication unit 24 is also configured to transmit and receive communication data with the operation command device 4.

  The operation command device 4 (see FIG. 1) gives an operation command (recording mode / reproduction mode) to the automatic evaluation unit 2. In this embodiment, the operation command device 4 is a personal computer in which application software for automatic evaluation (hereinafter also referred to as an automatic evaluation application) is installed, but an operation input function, a display function, a calculation function, a communication function, Other information terminals may be used as long as they have a memory function or the like. In the recording mode, the operation command device 4 gives an instruction to the automatic evaluation unit 2 to cause the robot device 10 to execute a predetermined operation in response to an operation input to the operation panel 12a of the operation terminal 13 or the control device 12.

  FIG. 3 is an explanatory diagram for explaining the concept of the automatic evaluation system 1. The automatic evaluation system 1 operates in two modes, a recording mode and a reproduction mode. In the recording mode, as shown in FIG. 3A, the operator operates the operation terminal 13 and the operation panel 12a according to the check list (evaluation item) to perform the first evaluation test. The operation information (operation content) at this time is stored in the storage unit 23 (see FIG. 2) of the automatic evaluation unit 2 as a recording file. On the other hand, in the reproduction mode, as shown in FIG. 3B, the robot apparatus 10 is operated according to the operation information (operation content) included in the recording file stored in the storage unit 23 (see FIG. 2) of the automatic evaluation unit 2. To execute a predetermined operation. Thereby, the second and subsequent evaluation tests are automatically executed.

  In the present embodiment, the automatic evaluation system 1 is operated via an automatic evaluation application (terminal software) installed in the operation command device 4. When the operator operates the operation command device 4 to activate the automatic evaluation application, a selection button for a recording mode and a reproduction mode is displayed on the screen of the operation command device 4 (see FIG. 4).

  The operator selects the recording mode and performs the first evaluation test. It is desirable that the worker who performs the first evaluation test is an expert who has knowledge of the test procedure and the operation and mechanism of the actual machine and has many similar evaluation test experiences. As shown in FIG. 5A, the operator performs an evaluation test by operating various switches of the operation panel 12a and the operation terminal 13 in the recording mode. Here, the automatic evaluation unit 2 turns off the first relay RL1 and turns on the second relay RL2 of the relay circuit 20, and the operation information (operation content) of the switch operation at this time is stored in the storage unit 23 (FIG. 2). In the recording mode, the operator operates the operation terminal 13 as shown in FIG. Thereby, the operation terminal 13 and the control device 12 perform an evaluation test while transmitting and receiving communication data including operation information. Here, the automatic evaluation unit 2 turns on the relay RL3, and the communication between the operation terminal 13 and the control device 12 is effectively switched via the communication cable 5. Operation information (operation content) included in the communication data at this time is recorded in the storage unit 23 (see FIG. 2). Thus, the automatic evaluation unit 2 receives the operation information (operation content) included in the communication data between the operation terminal 13 and the robot apparatus 10 in the recording mode, and stores the received operation information (operation content) in the storage unit 23. To record.

  Next, the operator selects the regeneration mode and performs the second evaluation test (see FIG. 4). In the reproduction mode, the automatic evaluation unit 2 turns on the first relay RL1 and turns off the second relay RL2 according to the operation information (operation content) stored in the storage unit 23 (see FIG. 5B). Thereby, the switch signal is transmitted to the control device 12 as if the operator operated the operation switch of the operation panel 12a. In the regeneration mode, the automatic evaluation unit 2 turns off the third relay RL3 (see FIG. 6B). Thereby, the communication between the operation terminal 13 and the control device 12 becomes invalid and the communication between the automatic evaluation unit 2 and the control device 12 becomes valid. The automatic evaluation unit 2 transmits communication data including operation information (operation contents) stored in the storage unit 23 to the control device 12. As a result, the communication data is transmitted to the control device 12 as if the operator operated the operation terminal 13.

  The operator can automatically execute the second and subsequent evaluation tests by selecting the reproduction mode in the same procedure.

  According to the present embodiment, the operation contents related to the evaluation test operated by an operator (for example, a skilled worker) can be reflected and the operation related to the evaluation test from the next time can be automatically executed. Reliability can be improved in 10 evaluation tests.

  In this embodiment, the operation terminal 13 and the robot apparatus 10 are connected by a wired communication cable 5 and the automatic evaluation unit 2 is disposed between them. However, the operation terminal 13 and the robot apparatus 10 perform wireless communication. It may be configured to do. In this case, the automatic evaluation unit 2 may be configured to intercept wireless communication data between the operation terminal 13 and the robot apparatus 10.

  In the present embodiment, since the operation content includes time-series data, the operation command device 4 executes the operation content when the robot device 10 performs a predetermined operation on the robot device 10. In this case, the operation content may be edited based on time-series data included in the operation content. For example, the execution timing of a predetermined operation may be changed (reduced or enlarged). Further, for example, in the playback mode, the robot apparatus 10 may be operated while omitting a time zone in which no operation information exists. Thereby, the time concerning an evaluation test can be shortened. Further, the test may be performed in various situations such as increasing the waiting time or pressing the switch for a long time.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. Below, the description of the structure common to 1st Embodiment is abbreviate | omitted and only a different structure is demonstrated.

  FIG. 7 is a schematic diagram showing the configuration of a system according to the second embodiment of the present invention. As shown in FIG. 7, in this embodiment, the evaluation target device is not the robot device 10 but the teach pendant 13 a, and the automatic evaluation unit 2 is between the teach pendant 13 a and the operation command device 4. Is different from the first embodiment. In the recording mode, the automatic evaluation unit 2 of the present embodiment indicates the operation content when the teach pendant 13a performs a predetermined operation in response to an operation input to the operation input unit 30 of the teach pendant 13a. Store in (storage device). The automatic evaluation unit 2 reads the operation information (operation content) stored in the automatic evaluation unit 2 in the reproduction mode in accordance with the operation command (reproduction command) from the operation command device 4, and teach-pendant 13a in accordance with the read operation information. Is configured to execute a predetermined operation.

  In the evaluation test of the present embodiment, the operator confirms whether or not the teach pendant 13a is performing an operation corresponding to a predetermined evaluation item in accordance with an operation input to the operation input unit 30. The operation of the teach pendant 13a includes a display change of the display unit 31 and a change in the lighting state of the LED.

(Other embodiments)
In the present embodiment, the actual machine for the evaluation test is one robot apparatus 10, but may be two or more robot apparatuses 10.

  In this embodiment, the actual machine for the evaluation test is the robot apparatus 10, but other apparatuses may be evaluated as long as the apparatus operates according to the operation. In addition, one or more devices (for example, an audio or video playback device) may be operated not for evaluation purposes but for exhibition purposes.

  In this embodiment, the teach pendant 13a is used as a portable operation terminal, but a portable information terminal such as a mobile phone or a smart phone may be used.

  In the present embodiment, the operation information (operation content) in the recording mode is stored in the storage unit 23 of the automatic evaluation unit 2, but may be stored in a memory (not shown) of the operation command device 4.

  In the present embodiment, the automatic evaluation unit 2 includes the storage unit 23 inside, but may include a storage device outside. Further, the automatic evaluation unit 2 may be connected to a storage device that can communicate on a network (cloud).

  In the present embodiment, the automatic evaluation unit 2 is configured to perform an evaluation test by operating the operation panel 12a or the operation terminal 13 in the recording mode and record operation information (operation contents) at this time. However, it is not limited to this. An operation test of the peripheral device may be performed by giving a simulated I / O signal (see FIG. 1) to the peripheral device connected to the control device 12 via the field bus or the control device. In this case, a simulated I / O signal generated for evaluation is also included in the operation information (operation content) for the peripheral device and the control device. In the recording mode, the automatic evaluation unit 2 records the I / O signal at this time as operation information (operation contents), so that the operation test of the peripheral device is automatically executed according to the operation information in the reproduction mode. be able to.

  From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  The present invention is useful for an evaluation test of a robot system using an actual machine.

1 Automatic evaluation system 2 Automatic evaluation unit (relay unit)
4. Operation command device (personal computer)
5 Communication Cable 10 Robot Device 11 Robot Body 12 Robot Controller 12a Operation Panel 13 Operation Terminal 13a Teach Pendant 13b Personal Computer 15 Power Switch 16 Mode Change Switch 17 Emergency Stop Switch 20 Relay Circuit 21 Relay Control Unit 22 Calculation Unit 23 Storage Unit 24 Communication Unit 25 signal state monitoring unit 30 operation input unit 31 display unit 32 calculation unit 33 storage unit 34 first communication unit 35 second communication unit 51, 52 signal line RL1, RL2, RL3 relay

Claims (8)

A system for operating one or more devices having an operation input unit that receives a predetermined operation input from a user according to the predetermined operation input,
A storage device;
In accordance with an operation input to the operation input unit, the operation content when at least one device is caused to perform a predetermined operation is stored in the storage device, and the one or more according to the operation content stored in the storage device A relay unit configured to cause the apparatus to perform the predetermined operation;
An operation command device that gives the relay unit a command for causing the one or more devices to execute the predetermined operation;
A system comprising: The operation input unit is mounted on an operation terminal configured to be able to communicate with the device,
The relay unit has a communication function, and is configured to intercept the operation content included in communication data between the operation terminal and the device, and record the intercepted operation content in the storage device. The system of claim 1.   The system according to claim 1, wherein the device is a robot system including a robot and a control device that controls the operation of the robot. The control device has an operation panel as the operation input unit,
The operation panel includes a power switch that switches on and off a power source that supplies a predetermined power voltage to the robot, a mode switch for switching the operation mode of the robot, and an emergency stop switch.
The system according to claim 3, wherein the relay unit is configured to record an operation content of the operation panel in the storage device. The predetermined operation input is an operation input for causing the robot to perform an operation corresponding to a predetermined evaluation item,
The system according to claim 3 or 4, wherein the predetermined operation is an operation of the robot that is executed in response to an operation input to the operation terminal or the operation panel.   The system according to claim 5, wherein the predetermined evaluation items include an evaluation item related to the robot operation and an evaluation item related to a state change of the operation terminal or the operation panel associated with the operation input. The operation content includes time series data,
The operation command device edits the operation content based on time-series data included in the operation content when the operation content when executing a predetermined operation in the robot system is executed by the robot system. 7. A system according to any one of claims 3 to 6, configured to be possible. The device is a teach pendant configured to be able to communicate with the control device in the robot system,
The relay unit stores, in the storage device, operation details when the teach pendant executes a predetermined operation in response to an operation input to the operation input unit of the teach pendant. The system according to claim 3, wherein the system is configured to cause the teach pendant to execute the predetermined operation according to the operation content.

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