JP2023173849A - robot control system - Google Patents

Abstract

To provide a robot control system which can prevent a robot from unintentionally operating in a dangerous state, when a user changes 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. Provided that all of the plurality of limiting parameters are input and the scene is set, the setting of the scene is activated.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, a user may intend to change only the acceleration upper limit value of the speed upper limit value and acceleration upper limit value (limiting parameter value) of the robot. 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 robot control systems, it is extremely important to prevent robots from unintentionally operating at dangerous speeds.

The present invention was made to solve these problems, and its main purpose is to prevent the robot from unintentionally operating in a dangerous state when the user changes multiple restriction parameters that limit the robot's movements. The object of the present invention is to provide a robot control system that can suppress

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
The setting of the scene is enabled on the condition that all of the plurality of restriction parameters are input and the scene is set.

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, the setting of the scene is enabled on the condition that all of the plurality of restriction parameters are input and the scene is set. Therefore, if the user sets a scene without inputting some or all of the plurality of restriction parameters, the scene setting is not validated (invalidated). On the other hand, if the user sets a scene by inputting all of the plurality of restriction parameters, the scene setting is enabled. In other words, even if the user intends to change only some of the multiple restriction parameters, the system does not intentionally require the user to input all of the multiple restriction parameters to set the scene. There is. Therefore, it is possible to prevent the robot from unintentionally operating in a 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, the setting unit allows the user to input a scene name, which is the name of the scene, and to set the scene.

According to the above configuration, the setting unit allows the user to input a scene name, which is the name of the scene, and to set the scene. Therefore, the user can input a scene name to specify a scene for which restriction parameters are to be set. Therefore, when specifying a scene and setting restriction parameters, it is possible to prevent the robot from unintentionally operating in a dangerous state.

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, all values of the restriction parameters are associated with the input scene name, provided that all of the restriction parameters are registered in the scene with the inputted scene name. Set to the value of the limit parameter.

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, all of the restriction parameters are registered in the scene with the input scene name. , all values of the restriction parameters are set to the values of the restriction parameters associated with the input scene name. 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. Furthermore, the execution condition for the setting is that all of the restriction parameters are registered in the scene with the input scene name. Therefore, it is possible to prevent the robot from unintentionally operating in a dangerous state.

In the fourth means, when the registered scene name and all values of the restriction parameters are input by the user and the setting section sets the scene, in the scene with the input scene name, All values of the restriction parameters are not set to the values of the restriction parameters associated with the input scene name, but are set to the input values of the restriction parameters. According to such a configuration, the user can perform both a method of setting the value of a restriction parameter registered in advance in association with a scene name, and a method of directly setting all values of the restriction parameter.

In the fifth means, when the registered scene name and all values of the restriction parameters are input by the user and the scene is set by the setting unit, the scene name is registered in association with the input scene name. The value of the limit parameter set is maintained. According to such a configuration, it is possible to specify a registered scene name and directly set all the values of the restriction parameters, while preventing the registered values of the restriction parameters from being changed.

The sixth means includes a display unit that displays the robot, and the setting unit sets the value of the limit parameter in the scene to a command for setting the limit parameter of the scene, and the user A display is displayed on the display section to assist in inputting all of the limit parameters when inputting the limit parameters. According to this configuration, by displaying a display on the display unit to assist the user's input operation, it is possible to prompt the user to input all of the restriction parameters. Therefore, it is possible to reduce the effort required by the user to input the restriction parameters, and it is possible to prevent the input of the restriction parameters from being omitted.

In the seventh means, when the user inputs a registered scene name when the user inputs the command, the setting unit registers the restriction registered in association with the input scene name. All values of the parameters are displayed on the display section. According to this configuration, when displaying a display to assist the user's input operation on the display unit, the value of the limit parameter registered in association with the scene name can be used, and the user does not have to input the limit parameter. It can be further reduced.

In an eighth means, when the robot control system is activated, all values of the limit parameters in the scene currently applied to the robot are set to initial values that allow the robot to operate safely. Ru. According to this configuration, all values of the limit parameters in the scene currently applied to the robot can be set to safe values from the time the robot control system is started.

In the ninth 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 subordinate to the main scene, and the limiting parameters forming the main scene and the limiting parameters forming the sub-scene. 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. FIG. 7 is a diagram showing command input modes and input assistance results. The figure which shows the value of the limit parameter set by a command. FIG. 3 is a diagram showing a command and a scene registration screen. FIG. 3 is a diagram showing commands and a scene list. 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. 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. Execute things such as switching scenes. 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, the user may intend to change only the maximum torque among the limit parameter values of the robot 10. However, if the user omits the input of the maximum speed and the maximum speed limit is canceled, the robot 10 may unintentionally operate at a dangerous speed (dangerous state). In the robot control device 30, it is extremely important to prevent the robot from unintentionally operating at dangerous speeds.

In this regard, the switching unit 32 validates (accepts) the scene setting on the condition that all of the plurality of restriction parameters are input and the scene is set.

Therefore, when "ChangeScene" is executed, the input of all restriction parameters is omitted (not all restriction parameters are input), so the switching unit 32 outputs an error and enables the scene settings. do not accept (not accept). The switching unit 32 does not switch the scene applied to the robot 10. Note that if the scene currently applied to the robot 10 is DefaultScene (20, 20, 20), DefaultScene (20, 20, 20) is maintained.

Furthermore, the setting unit 43 allows the user to input a scene name, which is the name of each scene, to set a scene. The switching unit 32 enables the scene setting on the condition that the user inputs a scene name in ChangeScene.

Therefore, when "ChangeScene(10,10,10)" is executed, since no scene name has been input, the switching unit 32 outputs an error and does not enable (invalidate) the scene settings. The switching unit 32 does not switch the scene applied to the robot 10.

When a registered scene name is input by the user and a scene is set by the setting unit 43, the switching unit 32 performs the following on the condition that all of the restriction parameters are registered in the scene with the input scene name. Set all values of limit parameters to the values of limit parameters associated with the input scene name.

Therefore, when "ChangeScene Scene1" is executed, the registered scene name Scene1 has been input, and all of the limit parameters have been registered in Scene1, so the switching unit 32 changes (maximum speed, maximum torque, movable range) are set in Scene 1 (60, 60, 60) as shown in FIG. The switching unit 32 switches the scene applied to the robot 10 from the current scene (for example, DefaultScene (20, 20, 20)) to Scene1 (60, 60, 60).

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 is not registered (the input is omitted), the switching unit 32 outputs an error and does not enable the scene setting. The switching unit 32 does not switch the scene applied to the robot 10.

When executing "ChangeScene Scene1(30, 10, )", the registered scene name Scene1 is entered, but the input of the range of movement is omitted (not all of the restriction parameters are entered). ), the switching unit 32 outputs an error and does not enable the scene settings. The switching unit 32 does not switch the scene applied to the robot 10.

Further, when a registered scene name and all values of the restriction parameters are input by the user and a scene is set by the setting unit 43, the switching unit 32 controls all of the restriction parameters in the scene with the input scene name. Sets the value to the value of the input limit parameter instead of setting it to the value of the limit parameter associated with the input scene name.

Therefore, when "ChangeScene Scene1(30, 30, 30)" is executed, the registered scene name Scene1 is input and all the restriction parameters are input, so the switching unit 32 (Maximum speed, maximum torque, movable range) are set in Scene1 (30, 30, 30). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 1 (30, 30, 30).

Then, when the registered scene name and all values of the restriction parameters are input by the user and a scene is set by the setting unit 43, the switching unit 32 selects the restriction parameters registered in association with the input scene name. maintain the value of Therefore, even if Scene1 (30, 30, 30) is set, the switching unit 32 maintains the registered Scene1 (60, 60, 60) without changing it. According to such a configuration, it is possible to prevent registered Scene1 (60, 60, 60) from being changed unintentionally. Note that when the registered scene name and all values of the restriction parameters are input by the user and a scene is set by the setting unit 43, the switching unit 32 selects the restriction parameters registered in association with the input scene name. You can also change the value of the limit parameter to the value of the input limit parameter.

In "ChangeScene Scene2 (Speed2, Torque2, Range2)," the variable Speed2 is input for the maximum speed, the variable Torque2 is input for the maximum torque, and the variable Range2 is input for the movable range. 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. The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 2 (Speed 2, Torque 2, Range 2).

In "ChangeScene Scene9(70,70,70)", 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. However, since all of the restriction parameters have been input, the switching unit 32 sets (maximum speed, maximum torque, movable range) to Scene 9 (70, 70, 70). The switching unit 32 switches the scene applied to the robot 10 from the current scene to Scene 9 (70, 70, 70).

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.

- Activate the scene settings on the condition that all of the multiple restriction parameters are input and the scene is set. Therefore, if the user sets a scene without inputting some or all of the plurality of restriction parameters, the scene setting will not be validated. On the other hand, if the user sets a scene by inputting all of the plurality of restriction parameters, the scene setting is enabled. In other words, even if the user intends to change only some of the multiple restriction parameters, the system does not intentionally require the user to input all of the multiple restriction parameters to set the scene. There is. Therefore, it is possible to prevent the robot 10 from unintentionally operating in a 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 setting unit 43 allows the user to input a scene name (for example, "Scene1") that is the name of each scene to set a scene. Therefore, the user can input the scene name "Scene1" to specify the scene for which the restriction parameters are to be set. Therefore, when specifying a scene and setting restriction parameters, it is possible to prevent the robot 10 from unintentionally operating in a dangerous state.

- 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, all of the restriction parameters are registered in the scene with the input scene name "Scene1". Under this condition, all values of the restriction parameters are set to the values (60, 60, 60) of the restriction parameters associated with the input scene name "Scene1", as shown in FIG. Therefore, the user can easily set the previously registered limit parameter values (60, 60, 60) by inputting the registered scene name "Scene1" and setting the scene. Furthermore, the execution condition for the above setting is that all of the restriction parameters are registered in the scene with the input scene name "Scene1". Therefore, it is possible to prevent the robot 10 from unintentionally operating in a dangerous state.

- When a registered scene name and all values of restriction parameters are input by the user and a scene is set by the setting unit 43, all values of restriction parameters are input in the scene with the input scene name. Instead of setting the value of the restriction parameter associated with the scene name, set it to the value of the input restriction parameter. For example, when "ChangeScene Scene1(30, 30, 30)" is executed, the switching unit 32 sets (maximum speed, maximum torque, movable range) to the pre-registered Scene1 (60, 60, 60). First, set it to Scene1 (30, 30, 30). According to such a configuration, the user can perform both a method of setting the value of a restriction parameter registered in advance in association with a scene name, and a method of directly setting all values of the restriction parameter.

- The setting unit 43 inputs the input when the registered scene name (for example, "Scene1") and all values of the restriction parameters (30, 30, 30) are input by the user and the scene is set by the setting unit 43. The limit parameter values (60, 60, 60) registered in association with the scene name "Scene1" are maintained. According to this configuration, it is possible to directly set all values (30, 30, 30) of the restriction parameters by specifying the registered scene name "Scene1", and it is also possible to specify the registered scene name "Scene1" and directly set all the values (30, 30, 60) can be left unchanged.

- When the robot control device 30 (robot control system) is started, all values of the limit parameters 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 values of the limit parameters in the scene currently applied to the robot 10. It is set to the default value that allows safe operation. According to this configuration, all values of the predetermined restriction parameters in the scene currently applied to the robot 10 can be set to safe values 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.

- 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 and all of the restriction parameters have not been input, so the switching unit 32 outputs an error and does not enable the scene settings. The switching unit 32 does not switch the scene applied to the robot 10. Note that the results of executing the other commands in FIG. 3 are the same as the results shown in FIG.

- As shown in FIG. 4, the setting unit 43 sets the value of the limit parameter in the scene by the command ChangeScene that sets the limit parameter of the scene, and when the user inputs the command ChangeScene, all the limit parameters are input. The display unit 41 may display a display to assist the user in the process.

When the user inputs "ChangeScene↓", the setting unit 43 automatically displays (inputs) "ChangeScene DefaultScene(20, 20, 20)" on the display unit 41. Note that "↓" is, for example, the Enter key. According to this configuration, by displaying a display on the display unit 41 to assist the user's input operation, it is possible to prompt the user to input all of the restriction parameters. Therefore, it is possible to reduce the effort required by the user to input the restriction parameters, and it is possible to prevent the input of the restriction parameters from being omitted. Note that inputting all of the restriction parameters includes automatically displaying (inputting) "ChangeScene DefaultScene(20, 20, 20)".

When the user inputs a registered scene name when the user inputs the command ChangeScene, the setting unit 43 displays all values of the restriction parameters registered in association with the input scene name on the display unit 41. Display.

Therefore, when the user inputs "ChangeScene Scene1↓", "ChangeScene Scene1(60, 60, 60)" is automatically displayed (input) on the display unit 41. According to this configuration, when displaying on the display unit 41 a display that assists the user's input operation, it is possible to use the limit parameter values (60, 60, 60) registered in association with the scene name "Scene1". This further reduces the user's effort to enter restriction parameters. Further, the user can edit the value of the restriction parameter that is automatically displayed on the display unit 41. Note that inputting all of the restriction parameters includes automatically displaying (inputting) "ChangeScene Scene1(60, 60, 60)".

If the user inputs "ChangeScene Scene9↓", since Scene9 is not registered, the setting unit 43 outputs an error and does not provide input assistance.

Further, when the user inputs "ChangeScene", the setting unit 43 automatically selects, for example, "ChangeScene DefaultScene(20, 20, 20)" and "ChangeScene Scene1(60,60, 60)" as input candidates. It may be displayed (input) on the display unit 41 so that the user can select it. Even with such a configuration, by displaying a display on the display unit 41 to assist the user's input operation, it is possible to prompt the user to input all of the restriction parameters. Note that inputting all of the limit parameters means that the user can select one from the automatically displayed (input) "ChangeScene DefaultScene(20, 20, 20)" and "ChangeScene Scene1(60,60, 60)". Including selecting.

- As shown in FIG. 5, when the user moves the cursor to the command "ChaneScene Scene1" while creating (editing) the motion program for the robot 10, the setting unit 43 sets a restriction to the command "ChaneScene Scene1". The parameters may be displayed on the display section 41. According to this configuration, the user can easily confirm the value of the restriction parameter while creating the operation program.

- As shown in FIG. 6, while the user is creating (editing) the motion program P1 for the robot 10, the setting section 43 causes the display section 41 to display a scene registration screen T1 (scene setting screen) together with the motion program P1. Good too. The scene registration screen T1 is a screen for registering (setting) restriction parameters by a user's input operation using, for example, the teaching pendant 40 in an application other than the operation program P1. According to this configuration, the user can easily check the value of the restriction parameter of each scene while creating the operation program P1. Note that the operation program P1 may have a function of registering (setting) restriction parameters.

- As shown in FIG. 7, the setting unit 43 may display the scene list T2 together with the operation program P2 on the display unit 41 while the user is creating (editing) the operation program P2 for the robot 10. The scene list T2 includes scenes and restriction parameters set by each ChangeScene command of the operation program P1. According to this configuration, the user can easily check the scene and restriction parameters set by each ChangeScene command while creating the operation program P2.

- 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. 8 is a diagram showing parameters set in the main scene MSn and sub-scene Sn, and FIG. 9 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.

- The operating unit 33, instead of the switching unit 32, may execute the activation of the scene setting on the condition that all of the plurality of restriction parameters have been input and the scene has been set. Specifically, when operating the robot 10 in a state restricted by restriction parameters set in a scene applied to the robot 10, the operation unit 33 inputs all of the plurality of restriction parameters and sets the scene. Under these conditions, the scene settings can be enabled and the robot 10 can be operated in a state limited by the restriction parameters. Furthermore, the setting unit 43, instead of the switching unit 32, can validate the scene setting on the condition that all of the plurality of restriction parameters have been input and the scene has been set.

- 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 (9)

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
A robot control system that validates the setting of the scene on the condition that all of the plurality of restriction parameters are input and the scene is set. The robot control system according to claim 1, wherein the setting unit allows the scene to be set by inputting a scene name that is a name of the scene by the user. 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 scene is set by the setting unit, on the condition that all of the restriction parameters are registered in the scene with the input scene name, The robot control system according to claim 2, wherein all values of the restriction parameters are set to values of the restriction parameters associated with the inputted scene name. When the registered scene name and all values of the restriction parameters are input by the user and the setting unit sets the scene, all values of the restriction parameters in the scene with the input scene name. The robot control system according to claim 3, wherein is not set to the value of the restriction parameter associated with the inputted scene name, but is set to the value of the inputted restriction parameter. When the registered scene name and all values of the restriction parameters are input by the user and the setting unit sets the scene, the restriction parameters registered in association with the input scene name are The robot control system according to claim 4, wherein the robot control system maintains a value. comprising a display section that displays information regarding the robot;
The setting unit sets the value of the limit parameter in the scene to a command for setting the limit parameter of the scene, and assists the user to input all of the limit parameters when inputting the command. The robot control system according to any one of claims 1 to 5, wherein the display section displays a display indicating that the robot control system is configured to display a display screen. When the user inputs a registered scene name when the user inputs the command, the setting unit sets all values of the restriction parameters registered in association with the input scene name. The robot control system according to claim 6, wherein the robot control system is displayed on the display unit. At startup of the robot control system, all values of the limit parameters in the scene currently applied to the robot are set to default values that allow the robot to operate safely. 5. The robot control system according to any one of 5. 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 5.

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