JPH03257505A - Robot controller - Google Patents

Abstract

PURPOSE:To enable a robot operator to decide the arrangement of action command devices in accordance with the situation of each work site by providing an action command judging means which judges whether the action requests received from each action command device are valid or not based on the set priority. CONSTITUTION:An action command device priority setting means 20 sets and stores the priority of operating rights of plural action command devices. An action command device operating right judging means 16 judges whether the operating right requested by an operating right requesting means should be validated or not. An action command device storage means 19 which stores the action command devices that are validated by the means 16, and an action command judging means 14 which judges whether the action requests received from each action command device are valid or not based on the set priority. Thus the priority of the operating rights can be freely set to the action command devices which are arranged at each work site. As a result, the robot operating performance is extremely improved and the safety is improved for the workers.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a robot control device.

[Prior Art] Fig. 1 is a block diagram of a robot and its control device, Fig. 2 is an enlarged view of the control device, Fig. 3 is an enlarged view of a motion command device, and Fig. 12 is a block diagram of a motion command judgment means. , FIG. 13 is a block diagram of the operation authority determining means of a conventional motion command device, in which <1> is the robot control device, (2> is the robot body, (3), (4), (5), and (6) is the operation command device, (7> is the teaching device, <8> is the CRT device, (9) is the keyboard, (10) is the switch for the operation request means of the work program, and (11) is the operation of the operation command device. The switch (12) of the right request means is a lamp of the operation right confirmation means of the operation command device.

Next, the operation will be explained. The robot operator uses the teaching device 1F (
7) as a work program and store it in the control device (1). In order to operate the robot according to the created program, the operator presses the switch (11) of the operation authority requesting means of the selected operation command device. As a result, as shown in Fig. 13, when a request for operating authority is received from a plurality of operation command devices (13a), the operating authority is checked according to a fixed priority order (1lb), and if the operating authority is valid, it is activated. The information is stored in the operation command device storage means, and the lamp of the operation authority confirmation means is turned on (13c). Then, when the switch (lO) of the operation request means is pressed, the operation command judgment means (14) shown in FIG. 12 receives the operation request (14a).
, the requested motion command device and the effective motion command device are compared 14b), and if the motion command device is valid, the robot moves with the motion command device (14c). If the lamp of the operation authority confirmation means does not light up, it means that another operation command device has operation authority even if the switch (10) of the operation request means is turned off, and the block diagram of the operation command determination means in FIG. The robot will not move due to the process shown.

[Problems to be Solved by the Invention J¥1] By the way, in the conventional device described above, the priority order of the operation authority of the operation command device is fixed. Therefore, even if there is a motion command device that the robot operator wants to install next to the robot, if the priority of the operation authority for that motion command device is low, it will not be possible to install it next to the robot for safety reasons. As described above, the conventional apparatus has the disadvantage that it is not possible to arrange the motion command devices or set the priority order of the motion command devices suitable for the work site.

The present invention has been made to solve the above-mentioned problems of conventional devices, and is a robot control device that allows a robot operator to arrange motion command devices suitable for the work site and set the priority order of the motion command devices. This is what we are trying to provide.

[Means to solve the problem]

In order to achieve the above object, a robot control device according to the present invention includes: a teaching device that creates positions and commands for operating the robot as a work program; an operating device that operates the robot according to the program; and an operating device that operates the robot according to the program. An operation requesting means for requesting the device to start the operation of a work program, an operation right requesting means for requesting the operation right for the operation command device, and an operation right validity checking means for checking whether the operation right is valid. Equipped with multiple operation command devices, keyboard and CR
operation command device priority setting means for setting and storing the priorities of the operation rights of the plurality of operation command devices using T, and whether or not to enable the operation rights requested by the operation right requesting means. a valid motion command device storage means for storing motion command devices that have been made valid by the motion command device determination means; and motion command device storage means for storing motion command devices that have been made valid by the motion command device determination means; and an operation command determining means for determining whether or not the command is valid.

[Operation] The robot control device according to the present invention is configured as described above. Therefore, it is possible to arbitrarily set the priority order of the operation authority of the operation command device, and according to this set operation authority priority, only the operation command request from the operation command device with valid operation authority is valid and the robot is activated. It can be made to work.

[Embodiment of the Invention] FIG. 4 is a block diagram of a motion command device priority setting means provided in a robot control device which is an embodiment of the present invention.
The figure is a configuration diagram of the priority setting memory of the operation command device.
The figure is a block diagram of the operation command device operating authority determination means, FIG. 7 is a configuration diagram of a memory that stores operation authority request data, and FIG.
Figures 10 and 10 are configuration diagrams of a memory in which the operating authority status of multiple operation command devices is set in real time, and Figures 9 and 11 are configuration diagrams of a memory in which valid operation command device names are entered. be.

Next, the operation will be explained. In FIG. 1, a robot operator uses a plurality of motion command devices A (3), motion command device B (4), motion command device C (5), and motion command device D.
(6), and according to the block diagram of the operation command device priority setting means (20) in FIG.
9> Set the priority of the operation command device 20a)
, confirmed by CRT (8) (20b)
After that, the priority order of the operation authority of the plurality of operation command devices is set in the memory A (15) shown in FIG.

To create a work program, use the teaching device (7) to create and store the positions and commands you want the robot to move as a work program.In order to operate the created work program, the operator must use the selected movement command device. All you have to do is press the switch (12) of the operation authority requesting means.

Next, the operating authority of the operation command device will be explained.

The operation command device operation right determining means (16) shown in FIG. 6 receives operation right requests from a plurality of operation command devices (
lea), the name of the operation commanding device is registered in the memory B (17) which stores the data of the operation authority request shown in FIG. The memory B (17) has a secondary array configuration in which the name of the operation commanding device and the status of the operation authority are paired, and the status of the operation commanding device is set in real time. The names of the operation commanding devices are registered in the memory A (15) in the order of priority setting, and the operation commanding device status includes the state of the operating authority of each device.

There are three operation command device states: "valid,""invalid," and "invalidity pending.""Invaliditypending" means that any motion commanding device that has requested operation authority is This indicates that an operation command device with a higher priority exists in a "valid" state. The operating authority determining means (16)
When a request for operation authority is received from an arbitrary operation command device (
18a) Then, it is compared with the data in memory C (18), and it is checked (18b) whether a device higher than the operation command device that requested the operation right has the operation right. As a result of the check, if the device with the higher priority has the operation authority, the status of the operation command device that requested the operation authority will be "invalid pending", and if the device with the higher priority does not have the operation authority, the operation authority will not be granted. The state of the operation command device that made the request becomes "valid" and is set in memory D (18c).

Furthermore, if there is a device with a lower priority that is “enabled”,
The operation command device status of the device with the lower priority is set to "invalid pending." As shown in FIG. 8, when the operation authority of the operation command device C is “valid”, the operation command device iA
If there is a request for operating authority from the user, the operation command device A becomes "valid" and the operation command device C becomes "invalid pending".

When the operating authority of the operation command device is changed, it is stored in the effective operation command device storage means (memory D), and is stored in the memory C (1g).
The data is stored in the memory D as shown in Figures 8 to 10.
The data is changed from FIG. 9 to FIG. 11.

Further, the lamp (12) of the operation authority confirmation means of the operation command device whose operation authority has become "valid" lights up. Then, if the switch (10) of the operation requesting means is pressed, (14a), (14b), (1) of the operation command determining means (14) shown in FIG.
The robot operates by the process 4c). At this time, the operation command judgment means (14) compares the effective operation command device name set in the memory D (19) with the name of the operation command device that requested the operation command (14b). I will accept the request.

Note that if the lamp (12>) of the operating authority confirmation means does not light up, even if the switch (lO) of the operation requesting means is pressed, another operation command device has the operating authority and the robot will not operate.

This example relates to a robot control device, but
The invention can also be applied to other operating devices such as automatic machines. Furthermore, other means may be used as the operation command device priority setting means, the operation authority requesting means, and the operation authority confirmation means if similar setting and confirmation are possible.

[Effects of the Invention] A robot control device according to the present invention includes a teaching device that creates positions and commands for operating the robot as a work program, an operating device that operates the robot according to the program, and a teaching device that operates the robot according to the program. an operation requesting means for requesting the start of operation of a work program; an operation authority requesting means for requesting operation authority for the operation command device; and an operation authority validity confirmation means for confirming whether or not the operation authority is valid. A plurality of motion command devices, a motion command device priority setting means for setting and storing the priority order of the operation rights of the plurality of motion command devices using a keyboard and a CRT, and a motion command device priority order setting means for setting and storing the priority order of the operation rights of the plurality of motion command devices, and the operation right requesting means. a motion commanding device determining means for determining whether or not to validate the operation authority determined by the motion commanding device; a valid motion commanding device storage means for storing the motion commanding device that has been enabled by the motion commanding device determining means; and a set priority order. Accordingly, the operation command determination means determines whether or not the operation request from each operation command device is valid. It is now possible to freely set priorities, making the robot much easier to operate.
This has also greatly contributed to improving worker safety.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of a robot and its control device which is an embodiment of the present invention, Fig. 2 is an enlarged view of the control device, Fig. tJS3 is an enlarged view of the motion command device, and Fig. 4 is the priority order of the motion command device. FIG. 5 is a block diagram of the setting means, FIG. 5 is a configuration diagram of the priority order setting memory of the operation command device, FIG. 6 is a block diagram of the operation command device operating authority determining means, and FIG. 7 is a block diagram for storing operation authority request data. Figures 8 and 10 are memory configuration diagrams in which the operation authority status of multiple operation command devices is set in real time, and Figures 9 and 11 are memory configuration diagrams in which the operating authority status of multiple operation command devices is set in real time. FIG. 12 is a block diagram of operation command determining means, and FIG. 13 is a block diagram of operation authority determining means of a conventional operation command device. In the figure, (1) is the robot control device, (2> is the robot body, (3), (4), (5), and (6) are the operation command devices, (7) is the teaching device, and (8> is the CRT). device, (9)
is the keyboard, (10> is the switch for the operation request means for the work program, (11) is the switch for the operation authority request means for the operation command device, (12) is the lamp for the operation authority confirmation means for the operation command device, and (14) is the switch for the operation authority confirmation means for the operation command device. Operation command determining means; (15) is a priority setting memory for the operation command device; (16) is an operation authority determination means for the operation command apparatus; (17) is a memory for storing operation authority request data; (18) (19) is a memory in which the state of operation authority of a plurality of operation commanding devices is set in real time, (19> is a memory that stores valid operation commanding device names, and (20>) is an operation commanding device priority setting means. The same reference numerals in the figures indicate the same or equivalent parts. Figure 1 Figure 2

Claims (1)

[Scope of Claims] A teaching device that creates positions and commands for operating a robot as a work program, an operating device that operates the robot according to the program, and a teaching device that starts operating the work program for the operating device. a plurality of operation command devices, each comprising: an operation request means for requesting the operation command; an operation authority request means for requesting the operation authority for the operation command device; and an operation authority validity confirmation means for checking whether the operation authority is valid. , keyboard and CR
operation command device priority setting means for setting and storing the priorities of the operation rights of the plurality of operation command devices using T; and whether or not to enable the operation rights requested by the operation right requesting means. a valid motion command device storage means for storing motion command devices that have been made valid by the motion command device determination means; and motion command device storage means for storing motion command devices that have been made valid by the motion command device determination means; 1. A robot control device comprising: a motion command determining means for determining whether or not the command is valid.