JP2023173845A - robot control system - Google Patents

Abstract

To provide a robot control system which can prevent a robot from unintentionally operating in a dangerous state, even when a user omits inputting some or all of a plurality of limiting parameters for limiting an operation of the robot.SOLUTION: A robot control system (30, 40) for controlling a robot (10) includes a setting unit (43) which sets a scene including, as a component, a plurality of limiting parameters for limiting an operation of the robot, on the basis of the limiting parameter input by a user, a switching unit (32) which switches the scene to be applied to the robot, and an operation unit (33) which operates the robot under the limitation by the limiting parameter set in the scene applied to the robot. When the scene is set by the setting unit, a value of a predetermined limiting parameter, which is one of the limiting parameters the input of which is omitted, is set to an initial setting value of the predetermined limiting parameter.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot control system for controlling a robot.

Conventionally, an upper limit value changing section changes at least one of the speed upper limit value and acceleration upper limit value of the robot according to the type and number of workpieces gripped by a hand, and the speed upper limit value and acceleration upper limit changed by the upper limit value changing section. There is a robot control device that includes an operation control unit that controls the operation of the robot so that the robot does not exceed the value (see Patent Document 1).

JP 2017-24095 Publication

By the way, for example, when changing only the acceleration upper limit of the robot's speed upper limit and acceleration upper limit (limit parameter value), if the user also needs to input the robot's speed upper limit, unnecessary speed upper limits will be changed. This increases the effort required to input values, and there is a risk of setting incorrect values. However, if the user omits the input of the speed upper limit value, for example, if the restriction based on the speed upper limit value is canceled, the robot may unintentionally operate at a dangerous speed (dangerous state). In a robot control device, it is extremely important to prevent the robot from unintentionally operating at dangerous speeds.

The present invention has been made in order to solve these problems, and its main purpose is to provide a system in which even if the user omits inputting some or all of the plurality of restriction parameters that restrict the robot's movements, An object of the present invention is to provide a robot control system that can prevent a robot from unintentionally operating in a dangerous state.

The first means to solve the above problem is
A robot control system that controls a robot,
a setting unit that sets a scene including a plurality of restriction parameters as constituent elements that restrict the movement of the robot, based on the restriction parameters input by a user;
a switching unit that switches the scene applied to the robot;
an operation unit that causes the robot to operate in a restricted state according to the restriction parameters set in the scene applied to the robot;
Equipped with
When the scene is set by the setting unit, a value of a predetermined limit parameter, which is a limit parameter whose input is omitted among the plurality of limit parameters, is set as an initial setting value of the predetermined limit parameter.

According to the above configuration, the setting unit sets a scene including as constituent elements a plurality of restriction parameters that restrict the operation of the robot, based on the restriction parameters input by the user. Therefore, by inputting a plurality of restriction parameters that are constituent elements of a scene, the user can collectively set a plurality of restriction parameters for each scene. The switching unit switches the scene applied to the robot. Therefore, by switching the scene to be applied to the robot, a plurality of restriction parameters can be applied at once, making it easy to change the plurality of restriction parameters. Then, the operation unit operates the robot in a state limited by the restriction parameters set in the scene applied to the robot. Therefore, the robot can be operated appropriately based on the set limit parameters.

Further, when the scene is set by the setting unit, a value of a predetermined restriction parameter, which is a restriction parameter whose input is omitted among the plurality of restriction parameters, is set as an initial setting value of the predetermined restriction parameter. Therefore, the user can set a scene without inputting some or all of the multiple restriction parameters, and it is possible to suppress the increase in the effort of inputting unnecessary restriction parameters. Setting incorrect values can be suppressed. Furthermore, the value of the predetermined limit parameter, which is the limit parameter whose input is omitted, is set as the initial setting value of the predetermined limit parameter. Therefore, the value of the restriction parameter whose input is omitted can be set as the initial setting value, and it is possible to prevent the robot from operating in an unintended and dangerous state. Here, in the robot control device, it is extremely important to be able to prevent the robot from operating in an unintended and dangerous manner.

In the second means, when the user inputs a scene name that is the name of the scene and the setting section sets the scene, the value of the predetermined restriction parameter is set in the scene with the input scene name. , is set to the initial setting value of the predetermined limit parameter.

According to the above configuration, the user can input a scene name and specify a scene for which restriction parameters are to be set. When a scene name is input and the scene is set by the setting section, the value of the predetermined restriction parameter is set to the initial setting value of the predetermined restriction parameter in the scene with the input scene name. Therefore, when specifying a scene and setting limit parameters, it is possible to suppress the increase in the effort of inputting unnecessary limit parameters, and it is possible to suppress setting incorrect values to limit parameters. .

In the third means, the setting unit registers the scene name input by the user in association with the restriction parameter, and when the registered scene name is input by the user, the setting unit When a scene is set, the value of the restriction parameter is set to the value of the restriction parameter associated with the input scene name.

According to the above configuration, the setting unit registers in advance the scene name input by the user and the restriction parameter in association with each other. Therefore, the user can not only directly set the restriction parameters when setting a scene, but also register the scene name and the restriction parameters in association with each other in advance. When the registered scene name is input by the user and the scene is set by the setting unit, the value of the restriction parameter is changed to the value of the restriction parameter associated with the input scene name. Set to . Therefore, by inputting the registered scene name and setting the scene, the user can easily set the value of the restriction parameter registered in advance.

In the fourth means, when the registered scene name and the value of the restriction parameter are input by the user and the setting section sets the scene, the value of the restriction parameter is set to the inputted scene. is not set to the value of the restriction parameter associated with the name, but is set to the input value of the restriction parameter. According to such a configuration, when the user inputs a scene name, the user not only sets the value of the limit parameter registered in advance, but also sets the value of the input limit parameter in place of the value of the limit parameter registered in advance. You can also do that.

In the fifth means, when the registered scene name and the value of the restriction parameter are input by the user and the setting unit sets the scene, the restriction associated with the input scene name is set. not setting the value of the restriction parameter to the value of the restriction parameter associated with the input scene name, provided that the input value of the restriction parameter is safer than the value of the parameter; Set to the input value of the limit parameter. According to such a configuration, only when changing to a safer operation, the value of the restriction parameter is not set to the value of the restriction parameter associated with the input scene name, and the value of the restriction parameter associated with the input scene name is not set. Allowed to set to the value of the limit parameter. On the other hand, unless the operation is to be changed to safer operation, it is possible to prohibit setting the input limit parameter value in place of the pre-registered limit parameter value.

In the sixth means, when the scene name input by the user is not registered, the value of the predetermined restriction parameter is set to an initial setting value. According to such a configuration, when the user inputs a scene name incorrectly or registers a scene incorrectly, the value of the predetermined limit parameter can be set to the initial setting value, and the robot can unintentionally cause danger. It is possible to prevent the device from operating in a dangerous state.

In the seventh means, the omission of the input of the restriction parameter means that a numerical value, symbol, or character that cannot be effectively treated as the restriction parameter has been input. According to this configuration, even if the user inputs a numerical value, symbol, or character that cannot be effectively treated as a restriction parameter, it can be handled in the same way as if the input of the restriction parameter was omitted, expanding the range of allowable input modes. be able to. With such an aspect, it is possible to prevent an increase in the effort required to input values of unnecessary limit parameters, and it is possible to suppress setting of incorrect values to limit parameters.

In the eighth means, the values of the restriction parameters in the scene are set by a command that changes only some values of the plurality of restriction parameters and sets the values of the remaining restriction parameters to initial setting values. According to such a configuration, the user only needs to set the limit parameters that he or she wants to change, and the values of the remaining limit parameters can be set to the initial setting values, and it is possible to suppress setting incorrect values to the limit parameters. can.

In the ninth means, when the robot control system is activated, the value of the limit parameter in the scene currently applied to the robot is set to an initial setting value that allows the robot to operate safely. According to this configuration, the value of the limit parameter in the scene currently applied to the robot can be set to a safe value from the time the robot control system is started.

In the tenth means, the setting unit includes a plurality of main scenes and a plurality of sub-scenes subordinate to the main scene, and the setting unit includes a plurality of main scenes and a plurality of sub-scenes, and the limiting parameters forming the main scene and the limiting parameters forming the sub-scenes. The scene is set by the combination. According to this configuration, the user can organize and set each scene according to each situation into combinations of multiple main scenes and multiple sub-scenes subordinate to the main scene, and can set multiple limiting parameters. It is possible to prevent incorrect settings from being made when setting according to the situation. Here, in a robot control device, if the limit parameters are set incorrectly, the robot may harm the surrounding environment or people, so it is extremely important to be able to suppress incorrect settings of the limit parameters. .

FIG. 1 is a schematic diagram showing a robot and a robot control system. Table showing limit parameters for each scene. A diagram showing the relationship between each command and result. The figure which shows the parameter set in a main scene and a sub scene. A schematic diagram showing the relationship between a main scene and sub-scenes.

An embodiment of a robot that performs collaborative work with humans and a robot control system that controls the robot will be described below with reference to the drawings.

As shown in FIG. 1, the robot 10 is, for example, a vertically articulated robot, and includes an arm 11. Adjacent links of the arm 11 are connected via joints so that they can rotate relative to each other. Each joint (each axis) is driven by each motor corresponding to each joint. Each joint of the robot 10 is provided with an encoder (not shown) that detects the rotation angle of each joint, a torque sensor (not shown) that detects the torque of each joint, and the like. Note that the robot 10 is not limited to a vertically articulated robot, but may be a horizontally articulated robot or the like.

A hand 20 is attached to the tip of the arm 11. The hand 20 (tool) includes, for example, a pair of claws, and performs opening/closing operations to enlarge and reduce the distance between the pair of claws. A workpiece or the like is gripped by opening and closing the pair of claws of the hand 20.

The robot control device 30 is configured as a computer including a CPU, ROM, RAM, a drive circuit, an input/output interface, and the like. The robot control device 30 is connected to the robot 10. The robot control device 30 includes a switching section 32 and an operating section 33. The robot control device 30 realizes the functions of the switching unit 32 and the operating unit 33 and controls the operation of the robot 10 by executing an operation program that causes the robot 10 to operate. Note that the robot control device 30 may be built into the robot 10.

The teaching pendant 40 (operator) includes a display section 41, an operation section 42, and a setting section 43. The display unit 41 is composed of a liquid crystal panel or the like, and displays information regarding the robot 10. The operation unit 42 includes keys, buttons, dials, etc. that are operated by the user. The setting unit 43 sets a scene including, as constituent elements, a plurality of restriction parameters that restrict the motion of the robot 10, based on the restriction parameters input by the user.

Input by the user is performed using, for example, a teaching pendant 40 connected to the robot control device 30. The restriction parameters include, for example, the maximum speed of the monitored part of the robot 10, the maximum torque of the target joint of the robot 10, the movable range of the robot 10 (the movable angle of the target joint), and the like. A scene is composed of a combination of a plurality of restriction parameters. The switching unit 32 switches the scene applied to the robot 10. The operation unit 33 causes the robot 10 to operate in a state where the robot 10 is restricted by restriction parameters set in a scene applied to the robot 10.

FIG. 2 is a table showing the scene name, which is the name of each scene, and the restriction parameters of each scene. Here, an example is shown in which each scene is configured by maximum speed, maximum torque, and movable range. Note that each scene may include restriction parameters other than those shown in the figure, or may include parameters other than the restriction parameters.

DefaultScene is a scene that is initially set in the robot control device 30, does not require setting by the user, and cannot be changed by the user. In DefaultScene, the maximum speed, maximum torque, and movable range are set to initial values that allow the robot 10 to operate safely. Here, an example in which the speed of the monitored part of the robot 10 is limited to a maximum speed of 20 or less, the torque generated by the target joint of the robot 10 is limited to a maximum torque of 20 or less, and the movable range of the robot 10 is limited to a range of 20 or less. It shows. Note that each value of the maximum speed, maximum torque, and movable range abstractly represents each tendency (the larger the value, the larger and wider the value), and the specific method of specifying it is arbitrary. When the robot control device 30 (robot control system) is activated, the switching unit 32 applies DefaultScene to the robot 10 (switches the scene applied to the robot 10 to DefaultScene). That is, when the robot control device 30 is started, the values of all the limit parameters currently applied to the robot 10 are set to initial values that allow the robot 10 to operate safely. Then, the operation unit 33 causes the robot 10 to operate in a restricted state based on the restriction parameters set in DefaultScene.

Scenes 1 and 2 are scenes registered (set) in advance before executing the operation program of the robot 10. The scene names and restriction parameters of Scenes 1 and 2 are input by the user using, for example, the operation unit 42 of the teaching pendant 40 in an application other than the operation program of the robot 10, and are associated and registered (settings) by the setting unit 43. ) to be done. That is, the setting unit 43 associates and registers (sets) the scene name input by the user and the restriction parameters in advance. The scene name and restriction parameters are input by the user in an application or the like different from the operation program of the robot 10, and the setting unit 43 registers (memorizes) the scene name and restriction parameters in association with each other. This corresponds to the setting unit 43 setting a scene based on the parameters. In Scene 1, for example, the maximum speed value is set to 60, the maximum torque value is set to 60, and the movable range value is set to 60. In Scene 2, for example, the maximum speed value is set to 50, the maximum torque value is set to 50, and the movable range value is not set. That is, in Scene 2, the range of movement is not restricted. Note that at the stage when the restriction parameters of Scenes 1 and 2 are registered in an application other than the operation program of the robot 10, the switching unit 32 does not switch the scenes applied to the robot 10 to Scenes 1 and 2. remains applied.

FIG. 3 is a diagram showing the relationship between each command and result. Each command such as ChangeScene is a command executed in the operation program of the robot 10. A user creates (edits) an operation program by performing an input operation using the teaching pendant 40, for example. Here, an example is shown in which the operation program for the robot 10 is written in a text programming language. Further, as shown in FIG. 2, it is assumed that restriction parameters for DefaultScene, Scene1, and Scene2 are registered.

ChangeScene is a command that executes scene switching. Specifically, ChangeScene allows you to switch scenes by applying the value of a limit parameter, to switch a scene by specifying the scene name to switch to, and to change the scene by specifying a scene name and applying the value of a limit parameter. When switching scenes, etc. are executed. When an operation program is created, the setting unit 43 recognizes the ChangeScene command in the operation program and makes the operation program including the ChangeScene command executable. When a ChangeScene command is specified (input) by the user in an operating program, the setting unit 43 recognizes the ChangeScene command (or the setting unit 43 makes the operating program including the ChangeScene command executable). This corresponds to the setting unit 43 setting a scene based on the restriction parameters input by the user. Note that the state in which the operating program can be executed includes, for example, a state in which a completed operating program is stored before being compiled, a state in which the operating program is compiled, and the like.

Here, for example, when changing only the maximum torque among the limit parameter values of the robot 10, if the user also needs to input the maximum speed and movement range of the robot 10, input the unnecessary maximum speed and movement range. This increases the amount of time and effort required to do so, and there is a risk of setting incorrect values. However, if the user omits inputting the maximum speed and range of motion, for example, if the restrictions based on the maximum speed and range of motion are canceled, there is a risk that the robot 10 may unintentionally operate at a dangerous speed and range of motion (dangerous state). There is. In the robot control device 30, it is extremely important to prevent the robot 10 from unintentionally operating in a dangerous state.

In this regard, when a scene is set by the setting unit 43, the switching unit 32 sets the value of the predetermined limit parameter, which is the limit parameter whose input is omitted among the plurality of limit parameters, to the initial setting value of the predetermined limit parameter. Set.

Therefore, when "ChangeScene" is executed, the input of all limit parameters (predetermined limit parameters) is omitted, so the switching unit 32 changes the (maximum speed, maximum torque, movable range) as shown in FIG. Set the initial setting value DefaultScene (20, 20, 20) as follows. The switching unit 32 switches the scene applied to the robot 10 from the current scene to DefaultScene (20, 20, 20). Note that if the scene currently applied to the robot 10 is DefaultScene (20, 20, 20), DefaultScene (20, 20, 20) is maintained.

When "ChangeScene( ,10, )" is executed, 10 is input for the maximum torque, and the input of the maximum speed and movable range (predetermined limit parameters) is omitted, so the switching unit 32 changes (maximum speed, maximum torque, movable range) to the scene (initial setting value, 10, initial setting value), that is, scene (20, 10, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to scene (20, 10, 20).

Further, when a registered scene name is input by the user and a scene is set by the setting unit 43, the switching unit 32 changes the value of the restriction parameter to the value of the restriction parameter associated with the input scene name. Set.

Therefore, when "ChangeScene Scene1" is executed, since the registered scene name Scene1 is input, the switching unit 32 changes the (maximum speed, maximum torque, movable range) as shown in FIG. Set to Scene1 (60, 60, 60). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 1 (60, 60, 60).

When a scene name is input by the user and the scene is set by the setting unit 43, the switching unit 32 sets the value of the predetermined restriction parameter in the scene with the input scene name to the initial setting value of the predetermined restriction parameter. .

In "ChangeScene Scene2", the registered scene name Scene2 is input. As shown in FIG. 2, Scene2 (50, 50, ) is registered (set) by the setting unit 43. However, since the movable range (predetermined limit parameter) is not registered (input is omitted), the switching unit 32 changes (maximum speed, maximum torque, movable range) to Scene2 (50, 50, initial setting value), That is, set it to Scene2 (50, 50, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 2 (50, 50, 20).

In "ChangeScene Speed2, Torque2," the variable Speed2 is input as the maximum speed, the variable Torque2 is input as the maximum torque, and the input of the movable range (predetermined limit parameter) is omitted. The setting unit 43 allows the limit parameters to be set using variables, and the values of the variables are set, for example, in the operation program of the robot 10. Since the input of the movable range (predetermined limit parameters) is omitted, the switching unit 32 converts (maximum speed, maximum torque, movable range) into the scene (Speed2, Torque2, initial setting values), that is, the scene (Speed2, Torque2, 20 ). The switching unit 32 switches the scene applied to the robot 10 from the current scene to the scene (Speed 2, Torque 2, 20).

The setting unit 43 allows inputting numerical values, symbols, or characters that cannot be effectively treated as restriction parameters into the restriction parameters. The fact that input of a restriction parameter has been omitted includes the fact that a numerical value, symbol, or character that cannot be effectively treated as a restriction parameter has been input. In other words, the fact that the input of the limit parameter has been omitted includes the fact that a symbol or character representing setting to the current value has been input.

Therefore, when you execute "ChangeScene Speed2, *,CurRange", the variable Speed2 is input for the maximum speed, the symbol * that cannot be treated as a limit parameter is input for the maximum torque, and the variable cannot be treated as a limit parameter for the movable range. Since the character CurRange has been input, the switching unit 32 sets (maximum speed, maximum torque, movable range) to the scene (Speed2, initial setting value, initial setting value), that is, the scene (Speed2, 20, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to the scene (Speed 2, 20, 20).

When a registered scene name and a value of a restriction parameter are input by the user and a scene is set by the setting unit 43, the switching unit 32 changes the value of the restriction parameter to the restriction parameter associated with the input scene name. instead of setting it to the value of the limit parameter entered.

In "ChangeScene Scene2( ,20,20)", the registered scene name Scene2 is input. As shown in FIG. 2, Scene2 (50, 50, ) is registered (set) by the setting unit 43. However, since 20 is input for the maximum torque and 20 is input for the movable range, the switching unit 32 sets (maximum speed, maximum torque, movable range) to Scene2 (50, 20, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 2 (50, 20, 20).

In "ChangeScene Scene9( , ,70)", Scene9, which is an unregistered scene name, is input. As shown in FIG. 2, the input Scene 9 has not been registered (set) by the setting unit 43. Furthermore, when the scene name input by the user is not registered, the switching unit 32 sets the value of the predetermined restriction parameter to the initial setting value. Then, since the input of the maximum speed and maximum torque is omitted and 70 is input in the movable range, the switching unit 32 changes (maximum speed, maximum torque, movable range) to Scene 9 (initial setting value, initial value, 70). , that is, set it to Scene9 (20, 20, 70). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 9 (20, 20, 70).

The switching unit 32 sets the values of the restriction parameters in the scene using a command that changes only some values of the plurality of restriction parameters and sets the values of the remaining restriction parameters to initial setting values. For example, the switching unit 32 sets the value of the limit parameter in the scene using ChaneMaxTorque, which is a command in which the user changes only the value of the maximum torque and sets the values of the remaining limit parameters to the initial setting values.

Therefore, when "ChangeMaxTorque Torque1" is executed, the switching unit 32 changes (maximum speed, maximum torque, movable range) to scene (initial setting value, Torque1, initial setting value), that is, scene (20, Torque1, 20). Set to . Torque1 is a variable, and the value of the variable Torque1 is set, for example, in the operation program of the robot 10. The switching unit 32 switches the scene applied to the robot 10 from the current scene to scene (20, Torque1, 20).

The present embodiment described in detail above has the following advantages.

- The setting unit 43 sets a scene including, as constituent elements, a plurality of restriction parameters that restrict the motion of the robot 10, based on the restriction parameters input by the user. Therefore, by inputting a plurality of restriction parameters that are constituent elements of a scene, the user can collectively set a plurality of restriction parameters for each scene. The switching unit 32 switches the scene applied to the robot 10 from the current scene. Therefore, by switching the scene applied to the robot 10, a plurality of restriction parameters can be applied at once, making it easy to change the plurality of restriction parameters. Then, the operating unit 33 causes the robot 10 to operate while being restricted by the restriction parameters set in the scene applied to the robot 10. Therefore, the robot 10 can be operated appropriately based on the set limit parameters.

- When a scene is set by the setting unit 43, the value of the predetermined limit parameter, which is the limit parameter whose input is omitted among the plurality of limit parameters, is set as the initial setting value of the predetermined limit parameter. Therefore, the user can set a scene without inputting some or all of the multiple restriction parameters, and it is possible to suppress the increase in the effort of inputting unnecessary restriction parameters. Setting incorrect values can be suppressed. Furthermore, the value of the predetermined limit parameter, which is the limit parameter whose input is omitted, is set as the initial setting value of the predetermined limit parameter. Therefore, the value of the restriction parameter whose input is omitted can be set as the initial setting value, and it is possible to prevent the robot 10 from operating in an unintended and dangerous state. Here, it is extremely important that the robot control device 30 can prevent the robot 10 from unintentionally operating in a dangerous state.

- The user can input the scene name "Scene2" to specify the scene for which the restriction parameters are to be set. When the scene name "Scene2" is input and a scene is set by the setting unit 43, the value of the predetermined limit parameter (for example, the range of movement) in the scene with the input scene name "Scene2" is set to the initial value of the predetermined limit parameter. Set to the set value. Therefore, when specifying a scene and setting limit parameters, it is possible to suppress the increase in the effort of inputting unnecessary limit parameters, and it is possible to suppress setting incorrect values to limit parameters. .

- The setting unit 43 associates and registers the scene name input by the user and the restriction parameters in advance. Therefore, the user can not only directly set the restriction parameters when setting a scene, but also register the scene name and restriction parameters in association with each other in advance. When a registered scene name (for example, "Scene1") is input by the user and a scene is set by the setting unit 43, as shown in FIG. Set the limit parameter value (60, 60, 60) associated with "Scene1". Therefore, the user can easily set the pre-registered limit parameter values (60, 60, 60) by inputting the registered scene name "Scene1" and setting the scene.

- When a registered scene name and limit parameter value are input by the user and a scene is set by the setting unit 43, the limit parameter value is set to the limit parameter value associated with the input scene name. Set to the value of the limit parameter entered. For example, when executing "ChangeScene Scene2( ,20,20)", set the limit parameter value (50, 20, 20) instead of the pre-registered limit parameter value (50, 50, ). . According to such a configuration, when the user inputs a scene name, the user not only sets the value of the limit parameter registered in advance, but also sets the value of the input limit parameter in place of the value of the limit parameter registered in advance. You can also do that.

- If the scene name input by the user is not registered, the value of the predetermined restriction parameter is set to the initial setting value. According to such a configuration, when the user inputs a scene name incorrectly or registers a scene incorrectly, the value of the predetermined restriction parameter can be set to the initial setting value, and the robot 10 can unintentionally cause danger. It is possible to prevent the device from operating in a dangerous state.

- The fact that input of a restriction parameter has been omitted may also mean that a numerical value, symbol (for example, *), or character (for example, CurRange) that cannot be treated as a valid restriction parameter has been input. According to this configuration, even if the user inputs a numerical value, symbol, or character that cannot be effectively treated as a restriction parameter, it can be handled in the same way as if the input of the restriction parameter was omitted, expanding the range of allowable input modes. be able to. With such an aspect, it is possible to prevent an increase in the effort required to input values of unnecessary limit parameters, and it is possible to suppress setting of incorrect values to limit parameters.

- Setting the value of the restriction parameter in the scene using a command (for example, "ChangeMaxTorque Torque1") that changes only the values of some of the plurality of restriction parameters and sets the values of the remaining restriction parameters to the initial setting values. According to such a configuration, the user only needs to set the limit parameter (maximum torque) that he or she wants to change, and can set the values of the remaining limit parameters (maximum speed and movable range) to the initial settings. It is possible to suppress the setting of the specified value.

- When the robot control device 30 (robot control system) is started, the limit parameter values in the scene currently applied to the robot 10 are set to the limit parameter values (20, 20, 20) in the DefaultScene, that is, the robot 10 is safely controlled. It is set to the default value that allows it to operate. According to this configuration, the value of the restriction parameter in the scene currently applied to the robot 10 can be set to a safe value from the time the robot control device 30 is started.

Note that the above embodiment can be modified and implemented as follows. The same parts as those in the above embodiment are given the same reference numerals and the description thereof will be omitted.

・When starting the robot control device 30 (robot control system), instead of applying DefaultScene to the robot 10, each value of the limit parameters at the time of the previous termination is set to 1/2, 1/3, etc. The constructed scene can also be applied to the robot 10. In that case as well, the setting unit 31 may use DefaultScene (20, 20, 20) as the initial setting value of the restriction parameter.

- When a registered scene name (for example, "Scene1") and a value of a restriction parameter are input by the user and a scene is set by the setting section 43, the switching unit 32 associates it with the input scene name "Scene1". The condition is that each input limit parameter value is safer than the input limit parameter value (60, 60, 60) (for example, each limit parameter value is (60, 60, 60) or less). , the value of the restriction parameter may not be set to the value of the restriction parameter (60, 60, 60) associated with the input scene name "Scene1", but may be set to the value of the input restriction parameter. For example, if "ChangeScene Scene1(70,20,20)" is executed, the settings of "Scene1(70,20,20)" are not allowed and "ChangeScene Scene1(40,50,60)" is executed. Allow the setting of "Scene1(40,50,60)" when According to this configuration, the value of the limit parameter is set to the value of the limit parameter (60, 60, 60) associated with the input scene name "Scene1" only when changing to safer operation. It is allowed to set the limit parameter to the input value (40, 50, 60). On the other hand, unless the operation is to be changed to safer operation, it is possible to prohibit setting the input limit parameter value instead of the pre-registered limit parameter value (60, 60, 60).

- If Scene1 and Scene2 are not registered in advance, or if the setting unit 43 does not register the scene name and restriction parameters in advance, the result of executing the following command will be different from that shown in Figure 3. , becomes as follows.

When "ChangeScene Scene1" is executed, Scene1 is not registered, so the switching unit 32 changes (maximum speed, maximum torque, movable range) to Scene1 (initial setting value, initial setting value, initial setting value), i.e. Set to Scene1 (20, 20, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 1 (20, 20, 20).

When "ChangeScene Scene2" is executed, Scene2 is not registered, so the switching unit 32 changes (maximum speed, maximum torque, movable range) to Scene2 (initial setting value, initial setting value, initial setting value), i.e. Set to Scene2 (20, 20, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 2 (20, 20, 20).

If you execute "ChangeScene Scene2( ,20,20)", Scene2 is not registered, so the switching unit 32 should set (maximum speed, maximum torque, movable range) to Scene2( ,20,20). shall be. However, the input of the maximum speed is omitted, 20 is input for the maximum torque, and 20 is input for the movable range, so the switching unit 32 changes (maximum speed, maximum torque, movable range) to Scene2 (initial setting value, 20, 20), that is, Scene2 (20, 20, 20). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 2 (20, 20, 20). Note that the results of executing the other commands in FIG. 3 are the same as the results shown in FIG.

- The setting unit 43 includes a plurality of main scenes and a plurality of sub-scenes Sn subordinate to the main scene MSn, and sets a scene by a combination of restriction parameters forming the main scene MSn and restriction parameters forming the sub-scene Sn. You can also do that. n is a natural number. FIG. 4 is a diagram showing parameters set in the main scene MSn and sub-scene Sn, and FIG. 5 is a schematic diagram showing the relationship between the main scene MSn and the sub-scene Sn.

For example, in the main scene MSn, usage conditions of the robot 10 are set, and in the sub-scene Sn, safety monitoring is set. Parameters set in sub-scene Sn include scene switching conditions, maximum speed, maximum torque, maximum force, and the like. The maximum speed and maximum torque are the same as in the above embodiment. The scene switching condition sets the position of the robot 10 that permits scene switching. The maximum force is set, for example, to the maximum value of the force that the robot 10 applies to the workpiece. The parameters set in the main scene MSn include the effective setting of each safety monitor, the maximum load mass, the tool number, the workpiece number, the movable range, the monitored part, etc. The enable setting for each safety monitor sets whether the maximum speed, etc. (each parameter) of the safety monitor is enabled or disabled. The maximum load mass sets the maximum mass of a workpiece or the like that the robot 10 moves. The tool number is a number representing the type of tool. The work number is a number representing the type of work. The movable range is the same as in the above embodiment. The monitoring part sets a part of the robot 10 whose speed and the like are to be monitored.

Each sub-scene Sn is subordinate to any main scene MSn. MS1S1 represents a sub-scene S1 (in the lower hierarchy) in the main scene MS1. MS1S1, MS1S2, and MS1S3 are all subordinate to main scene MS1, and the parameters set in main scene MS1 are commonly applied. Similarly, MSnSn represents a sub-scene Sn within the main scene MSn.

According to such a configuration, the user can organize and set each scene according to each situation into a combination of a plurality of main scenes MSn and a plurality of sub-scenes Sn subordinate to the main scene MSn, and set a plurality of restrictions. When setting parameters according to many situations, it is possible to prevent incorrect settings. Here, in the robot control device 30, it is extremely important to be able to suppress incorrect settings of the limit parameters because if the limit parameters are set incorrectly, the robot 10 may harm the surrounding environment or people. has.

- When a scene is set by the setting unit 43, the switching unit sets the value of the predetermined limit parameter, which is the limit parameter whose input is omitted among the plurality of limit parameters, as the initial setting value of the predetermined limit parameter. The operation section 33 can also execute the operation instead of the operation section 32. Specifically, when operating the robot 10 in a state restricted by the restriction parameters set in the scene applied to the robot 10, the operation unit 33 inputs the value of the predetermined restriction parameter, which is the restriction parameter whose input is omitted. can be set to the initial setting value of a predetermined limit parameter, and the robot 10 can be operated in a state limited by the limit parameter. Further, when a scene is set by the setting unit 43, the value of the predetermined limit parameter, which is the limit parameter whose input is omitted among the plurality of limit parameters, is set as the initial setting value of the predetermined limit parameter. The setting unit 43 can also execute the process instead of the unit 32.

- The operation program for the robot 10 can also be written in a visual programming language. In this case, each command such as ChangeScene may be replaced with each corresponding block.

- The robot 10 may be a simulation image of the robot, and the robot control device 30 may be a simulation device that controls the simulation image of the robot. The simulation device can be configured by a teaching pendant 40, for example. In this case, the teaching pendant 40 has a function of simulating the operation of the robot 10. The teaching pendant 40 realizes the functions of the display section 41, the operation section 42, and the setting section 43, and executes the operation program of the robot 10 during simulation to realize the functions of the switching section 32 and the operation section 33. . For example, the display unit 41 displays a simulation image and an operation program of the robot 10. Even in this case, after the user confirms the execution mode of the operation program using the simulation device, the real robot 10 is operated according to the operation program. Therefore, the same effects as those of the above embodiment can be achieved.

- Instead of the teaching pendant 40, the functions of the teaching pendant 40 (including the functions of the switching unit 32 and the operating unit 33 during simulation) are controlled by a PC (computer), monitor, keyboard, mouse, etc. connected to the robot control device 30. It is also possible to realize

DESCRIPTION OF SYMBOLS 10... Robot, 30... Robot control device, 32... Switching part, 33... Operating part, 43... Setting part.

Claims (10)

A robot control system that controls a robot,
a setting unit that sets a scene including a plurality of restriction parameters as constituent elements that restrict the movement of the robot, based on the restriction parameters input by a user;
a switching unit that switches the scene applied to the robot;
an operation unit that causes the robot to operate in a restricted state according to the restriction parameters set in the scene applied to the robot;
Equipped with
robot control, when the scene is set by the setting unit, a value of a predetermined limit parameter, which is a limit parameter whose input is omitted among the plurality of limit parameters, is set as an initial setting value of the predetermined limit parameter; system. When the scene name that is the name of the scene is input by the user and the scene is set by the setting unit, the value of the predetermined restriction parameter is set to the value of the predetermined restriction parameter in the scene with the inputted scene name. The robot control system according to claim 1, wherein the robot control system is set to an initial setting value. the setting unit registers in advance the scene name input by the user and the restriction parameter in association with each other;
When the registered scene name is input by the user and the setting unit sets the scene, the value of the restriction parameter is set to the value of the restriction parameter associated with the input scene name. The robot control system according to claim 2. When the registered scene name and the value of the restriction parameter are input by the user and the setting section sets the scene, the value of the restriction parameter is set to the value of the restriction parameter associated with the input scene name. The robot control system according to claim 3, wherein the limit parameter is not set to the value of the limit parameter, but is set to the input value of the limit parameter. When the registered scene name and the value of the restriction parameter are input by the user and the setting section sets the scene, the value of the restriction parameter associated with the input scene name is Provided that the input limit parameter value is safe, the input limit parameter value is not set to the limit parameter value associated with the input scene name. The robot control system according to claim 4, wherein the robot control system is set to a value of . The robot control system according to claim 2, wherein when the scene name input by the user is not registered, the value of the predetermined restriction parameter is set to an initial setting value. 7. The robot control system according to claim 1, wherein the omission of the input of the restriction parameter means that a numerical value, symbol, or character that cannot be effectively treated as the restriction parameter has been input. The robot control according to claim 1, wherein the value of the limit parameter in the scene is set by a command that changes only some values of the plurality of limit parameters and sets the values of the remaining limit parameters to initial setting values. system. Claims 1 to 6, 8, wherein when the robot control system is activated, the value of the limiting parameter in the scene currently applied to the robot is set to an initial setting value that allows the robot to operate safely. The robot control system according to any one of the above. The setting unit includes a plurality of main scenes and a plurality of sub-scenes subordinate to the main scene, and sets the scene by a combination of the restriction parameters forming the main scene and the restriction parameters forming the sub-scene. The robot control system according to any one of claims 1 to 6 and 8.

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