TWI586501B - Robot control system - Google Patents

Description

Robot control system

The present invention relates to a robot control system.

The robot's teach pendant has an energizing switch to protect the user's safety. As a teacher, in order to operate with one hand, only the left side or the right side of the rear side of the teacher is provided with an energizing switch, or in order to operate with both hands, an energizing switch is provided on both sides of the back of the teacher. . The position of the energizing switch on the back of the teach pendant varies from user's request.

Regarding the energizing switch, as in the three postures of releasing and grasping, releasing, grasping, and gripping, there are two specifications with different postures. Further, as described above, regarding the energizing switch, the configuration of the rear side of the teach pendant has three different specifications, that is, two one-hand operation specifications and one two-hand operation specification. Therefore, there are six specifications for the energizing switch, depending on the combination of the posture and the configuration of the rear of the teach pendant.

Conventionally, the switching mechanism is composed of a hardware of a relay circuit in accordance with each of the two posture specifications and the three posture specifications. For example, Patent Literatures 1 to 3 disclose a three-position specification enable switch that is formed of a hardware such as a relay circuit and that is provided on both sides of the rear surface of the teach pendant. In this way, the enabling switch is implemented in two posture specifications or three posture specifications, and the teaching device is used for one-hand operation or two-hand operation. use. Therefore, to change the specifications of the teach pendant at the job site, it is necessary to modify the hardware itself.

Patent Document 1: Patent No. 4291523

Patent Document 2: JP-A-2002-83522

Patent Document 3: JP-A-2004-362497

It is an object of the present invention to provide a robot control system that can easily change the specification of an energizing switch at a job site without modifying the hardware of the teach pendant.

In order to achieve the above object, a first aspect of the present invention provides a robot system including a robot control device and a teacher, wherein the robot control device includes a servo control unit of a servo control robot, and the teacher is provided with one or two An energizing switch that can take three positions of release state, hold state, and grip state. The robot system includes a specification switching parameter input unit for inputting a specification switching parameter indicating two posture specifications or a release state in which one or both of the enabling switches are in a released state and a grasped state, The three posture specifications of the state and the grip state are used; the specification switching parameter storage unit is a memory specification switching parameter; and the interpretation unit is based on the input state of the two postures or the three postures under the specification switching parameter. Explain the input state of the enable switch. The servo control unit is based on the explanation of the explanation section. If the servo control is stopped or executed.

S1, S2, S3‧‧‧ status values

S10, S20, S30, S40, S50, S60, S70‧‧ steps

10‧‧‧Teacher

40‧‧‧ Controller

20‧‧‧Energy switch

21‧‧‧Energy switch

14‧‧‧Memory Department

11‧‧‧CPU

24‧‧‧Key input monitoring unit 27

25‧‧‧Parameter Write Processing Department

26‧‧‧Energy switch input monitoring unit

22‧‧‧ cable

27‧‧‧Serval Status Processing Department

19‧‧‧ Busbar

12‧‧‧ROM

13‧‧‧RAM

15‧‧‧Communication I/F

16‧‧‧ keyboard

17‧‧‧Monitor

42‧‧‧ROM

43‧‧‧RAM

45‧‧‧Communication I/F

46‧‧‧Action Control Department

48‧‧‧ Busbar

44‧‧‧Memory Department

50‧‧‧Communication Control Department

41‧‧‧CPU

51‧‧‧Interpreter

52‧‧‧Mobile Control Department

54‧‧‧Key input monitoring department

55‧‧‧Parameter Write Processing Unit

56‧‧‧Energy switch input monitoring unit

57‧‧‧Serval Status Processing Department

SW‧‧ switch

Fig. 1 is a block diagram showing a robot control system according to a first embodiment of the present invention.

Figure 2(a) is a schematic front view of the teach pendant.

Figure 2(b) is a schematic rear view of the teach pendant.

Fig. 3 is a table showing the relationship between the servo state of the two-handed one-handed enable switch (left) specification and the operational state of a pair of energized switches.

Figure 4 is a flow chart of the servo status processing program.

Fig. 5 is a table showing the relationship between the servo state of the three-handed one-handed enable switch (left) specification and the operational state of a pair of energized switches.

Fig. 6 is a table showing the relationship between the S state and the servo output in the case of the three-position one-handed enable switch (left) specification.

Figure 7 is a state transition diagram of the energization switch of the three-position one-handed enable switch (left) specification.

Figure 8 is a table showing the relationship between the servo state of the two-handed hand-engaged switch specification and the operating state of a pair of energized switches.

Fig. 9 is a table showing the relationship between the state of the two-handed enable switch specification S state and the servo output.

Figure 10 is a transition diagram of the energizing switch state of the two-handed two-handed switch specification.

Figure 11 is a table showing the relationship between the servo state of the three-handed two-handed enable switch specification and the operational state of a pair of energized switches.

Figure 12 shows the situation of the three-handed two-handed switch specification S state. A table of the relationship between the condition and the servo output.

Figure 13 is a state transition diagram of the energized switch of the three-position two-handed enable switch specification.

Figure 14 is a block diagram showing a robot control system according to a second embodiment of the present invention.

(First embodiment)

Hereinafter, a first embodiment in which the robot control system (hereinafter simply referred to as a system) of the present invention is embodied will be described with reference to Figs. 1 to 13 .

As shown in Fig. 1, the system includes a teach pendant 10 and a robot control device (hereinafter referred to as a controller) 40 that controls the articulated robot R. The robot R is an industrial robot, and a wrist portion to which a tool is attached is provided at the front end of the robot R. When the industrial robot is a welding robot, the tool is a welding torch, and when the industrial robot is a processing robot, the tool is a hand.

The teach pendant 10 includes a CPU (Central Processing Unit) 11, a ROM 12, a RAM 13, a storage unit 14, a communication I/F (communication interface) 15, a keyboard 16, a display 17, and the like. The CPU 11, the ROM 12, the RAM 13, the storage unit 14, the communication I/F 15, the keyboard 16, and the display 17 are connected to each other via the bus bar 19. The memory unit 14 corresponds to a specification switching parameter storage unit.

As shown in Fig. 2(a), a keyboard 16 and a display 17 are provided on the surface of the teach pendant 10. As shown in Fig. 2(b), an energizing switch 20 is provided on the right side of the rear surface of the teach pendant 10, and an energizing switch 21 is provided on the left side of the rear surface of the teach pendant 10. Enable the button of the switch 20 to keep teaching with the left hand When the guide 10 is placed, it is placed at a position where the left finger tip touches. When the button of the enable switch 21 holds the teach pendant 10 with the right hand, it is disposed at a position where the right finger tip touches.

The ROM 12 stores various programs such as a communication processing program for executing the operation and communication of the robot R from the teach pendant 10, a key input monitoring program for monitoring key input of the keyboard 16, a parameter writing program, and a servo state processing program. Further, various programs useful for causing the CPU 11 to function as a personal computer are stored in the ROM 12. The RAM 13 is used as a work area of the CPU 11. The data in the middle of calculation is temporarily stored in the RAM 13. The memory unit 14 can write and read various materials, for example, with a semiconductor memory such as an EEPROM or a hard disk. The memory unit 14 is composed of a non-volatile memory device.

As shown in FIG. 1, the teach pendant 10 is connected to the controller 40 via a cable 22. The communication I/F 15 is a communication mechanism for connecting the teach pendant 10 and the controller 40. The display 17 is constituted by, for example, a liquid crystal display device.

The CPU 11 performs communication between the teach pendant 10 and the controller 40 in accordance with the communication processing program. The CPU 11 includes a key input monitoring unit 24 that executes a key input monitoring program, a parameter write processing unit 25 that executes a parameter writing program, an enable switch input monitoring unit 26 that monitors an input signal from the enable switch, and a servo state processing program. Servo state processing unit 27. The servo state processing unit 27 corresponds to an interpretation unit.

The keyboard 16 is used as an interface for inputting teaching materials. That is, the operator operates the teach pendant 10 to teach the robot R to operate. In addition, the keyboard 16 is used for the specification switching parameter of the enable switch and the transmission of the allowable code. In. The keyboard 16 corresponds to a specification switching parameter input unit and an allowable code input unit.

The energizing switches 20 and 21 are constituted by momentary switches having a switching mechanism of three postures (or states). The switching mechanism can obtain a released state when no operating force is applied, and can obtain a gripping state when an operating force is applied, and can obtain a gripping state when the operating force is more strongly applied from the grasping state. The enable switches 20, 21 output signals corresponding to the respective states of the release state, the catch state, and the grip state to the CPU 11.

The controller 40 includes a CPU 41, a ROM 42, a RAM 43, a hard disk 44, a communication I/F (interface) 45, an operation control unit 46, and the like. The CPU 41, the ROM 42, the RAM 43, the hard disk 44, the communication I/F 45, and the operation control unit 46 are connected to each other via the bus bar 48.

The ROM 42 stores various programs such as a communication processing program for communicating the controller 40 with the teach pendant 10. The RAM 43 is used as a work area of the CPU 41. The data in the middle of calculation is temporarily stored in the RAM 43. A work program or the like including information (teaching materials) for teaching the robot R operation is stored in the hard disk 44.

The communication I/F 45 is a communication mechanism used to connect the controller 40 with the teach pendant 10. The motion control unit 46 is connected to a motor that drives each joint of the robot R. The operation control unit 46 performs servo control of the motor. The operation control unit 46 corresponds to a servo control unit. The CPU 41 includes a communication control unit 50 that executes a communication processing program stored in the ROM 42, an interpreter 51 that interprets the work program, and a movement control unit 52. The movement control unit 52 outputs a drive command to the motion control unit 46 based on various commands interpreted by the interpreter 51.

Second, for the role of the above system, refer to Figure 3 ~ Figure 13 is explained.

For the sake of convenience of explanation, the operation keyboard 16 is set to display the setting input mode of the specification switching parameter on the screen of the display 17. Therefore, the input field of the allowable code and the setting input field of the specification switching parameter are displayed on the screen of the display 17. As long as the correct allowable code is not entered in the input field of the allowable code, it cannot be input to the setting input field of the specification switching parameter.

A specific operator operates the keyboard 16 to input an allowable code. The allowable code is a code that is known to some specific operators who are authorized to set the input specification switching parameters, and is composed of a combination of numbers, symbols, and the like. As the allowable code, for example, there is a password. The specific operator is, for example, an administrator of the operator on the user side, an operator on the maker side of the teach pendant 10, and the like. When the input code matches the allowable code stored in the ROM 12, the key input monitoring unit 24 regards the setting input of the setting input field of the specification switching parameter as valid.

In the setting input field that is displayed on the screen of the display 17, the following six types of enabling switches can be selected:

(1) Two-position right-handed empowerment switch specifications

(2) Two-position left-handed empowerment switch specifications

(3) Three-position right-handed empowerment switch specification

(4) Three-position left-handed empowerment switch specification

(5) Two-position two-handed empowerment switch specifications

(6) Three-position two-handed empowerment switch specification

The specific operator operates the keyboard 16 and inputs any of the above (1) to (6) energizing switch specifications. Then, the parameter of the CPU 11 is written to the processing unit. The memory switching parameter of the input enable switch is stored in the memory unit 14. Thereby, the specification of the energizing switch of the teach pendant 10 is set.

Next, the servo state processing program executed by the servo state processing unit 27 in a state in which the specification switching parameter of the enable switch is set will be described with reference to FIG.

When the servo state processing program is started, the servo state processing unit 27 sets the S state of the situation to the initial state in S10. Here, S3 is set as the initial state. This flow chart is executed in a short period of several msec. Therefore, in the later-described steps, the initial state S3 is rewritten.

At S20, the servo state processing unit 27 confirms the specification of the enable switch. Specifically, the servo state processing unit 27 confirms the specification switching parameter of the enable switch stored in the memory unit 14.

In S30, the servo state processing unit 27 inputs the monitoring unit 26 via the enable switch in accordance with the specification of the enable switch, and acquires the current state of the left, right, or left and right enable switches. That is, the enable switch input monitoring unit 26 determines a signal indicating the state of the enable switches 20 and 21 every predetermined detection cycle. Specifically, the enable switch input monitoring unit 26 determines whether or not there is an input indicating a signal corresponding to the release state, the grip state, or the grip state. Hereinafter, signals indicating a release state, a catch state, or a grip state are referred to as a release state signal, a catch state signal, and a grip state signal, respectively.

In S40, the servo state processing unit 27 executes the "determination of the presence or absence of the state condition" in accordance with the state of the enable switch (hereinafter also referred to as this time) and the previous state, and compares the current state of the enable switch acquired in S30. , "Setting process for S status status" is executed. At S40 The "determination of the presence or absence of the conditional condition" and the "setting process of the S state" are different in each of the energization switch specifications, so the details will be described later.

In S50, the servo state processing unit 27 determines whether or not the S state is S1 based on the result of the "S state setting process" executed in S40. When the situation S state = S1, the servo state processing unit 27 shifts to S60, and when the state S state ≠ S1, the servo state processing unit 27 shifts to S70.

In S60, the servo state processing unit 27 outputs the ON signal of the servo output to the controller 40 via the communication I/F 15 and the cable 22, and then returns to S20. The controller 40 continues the servo control operation of the control unit 46 based on the ON signal of the servo output, and causes the robot R to operate.

In S70, the servo state processing unit 27 outputs the OFF signal of the servo output to the controller 40 via the communication I/F 15 and the cable 22, and then returns to S20. The controller 40 interrupts the servo control operation of the control unit 46 based on the OFF signal of the servo output, and stops the robot R.

In this way, after returning to S20, the servo state processing unit 27 repeats the processing of S20 to S70.

Next, in each of the specifications of the energization switch specifications (1) to (6), the "determination of the presence or absence of the state condition" performed in S40 and the "setting process of the S state condition" performed in accordance with the above determination will be described. In the following description, it is assumed that an enable switch specification has been input.

First, the case where (1) two-position right-handed enable switch specifications and (2) two-position left-handed enable switch specifications are input will be described with reference to FIGS. 3 and 4. Two posture right hand empowerment switch specifications and two posture left The hand-made switch specifications are only different from left to right, and the servo output ON signal or OFF signal can be output according to the state of one of the energizing switches. Therefore, only the two-post left hand enable switch specifications are described. In the following description, the description of the two-hand right-handed enable switch specification, if "left" is "right", the enable switch 20 is the enable switch 21, and the two-post left hand enable switch specification The description is the same.

The S40 in the case of the above (1) will be described. In the third drawing, the enable switch 20 is described as the left SW, and the enable switch 21 is described as the right SW. In the following description, the energizing switch 20 is referred to as the left SW and the energizing switch 21 is referred to as the right SW. In addition, in the third figure, the case where the servo output is turned on is described as the servo ON, and the case where the servo output is turned off is described as the servo OFF. In the left SW aspect of Fig. 3, the status number 1 means the release state, and the status number 2 means the capture state. The status number X means any state (it can also be released or grabbed).

Since the two energizing switches are in two posture specifications, the servo state processing unit 27 regards the input signal when each of the energizing switches is in the gripping state as the same as the input signal in the gripping state. Therefore, in Fig. 3, (1, X) → (2, X) indicates that any signal input from the right SW is ignored. In this case, the left SW shows the last release state, this time to grasp the state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on. The "X" in the following example is also the same as the "X" in the case of Fig. 3. The state condition in which the servo output is ON is the case where the state of the previous S state is S2 (only the first time S3), and it is determined in this S30 that the state in which the energization switch state is the grasp state. This situation In this case, the current situation S state is updated to S1 as the "setting process of the situation S state".

Further, in Fig. 3, (2, X) → (1, X) indicates that the left SW was in the catch state last time, and this time it is in the release state. In this case, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off. The state condition in which the servo output is OFF is the case where the previous S state is S1, and it is determined in this S30 that the energizing switch state is the released state. In this case, the current situation S state is updated to S2 as the "setting process of the situation S state".

Next, the case where the (3) three-position right-handed enable switch specification and the (4) three-position left-handed enable switch specification are input will be described with reference to FIGS. 4 to 7 . The three-position right-handed enable switch specification and the three-position left-handed enable switch specification are only different from left to right, and the servo output ON signal or the OFF signal can be output according to the state of one of the energizing switches. Therefore, only the three-post left hand enable switch specification will be described. In addition, in the following description, if the "left" is "right" and the energizing switch 20 is the energizing switch 21, it is the same as the three-position left-handed enabling switch.

The S40 of the case of the above (3) will be described. Fig. 5 shows the state conditions in which the servo output is ON and the state in which the servo output is OFF. In the left SW of Fig. 5, the state number 1 means that the release state is obtained, the state number 2 means that the grip state is obtained, and the state number 3 means that the grip state is obtained. The status number X means any state (it can also be any state of release, grab, and grip).

As shown in Fig. 5, (1, X) → (2, X) indicates that the left SW has changed from the released state to the grasped state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on.

(2, X) → (3, X) indicates that the left SW has changed from the grasped state to the gripped state. In this case, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off.

(3, X) → (2, X) indicates that the left SW has changed from the gripping state to the gripping state. In this case, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off.

(2, X) → (1, X) indicates that the left SW has changed from the grasped state to the released state. In this case, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off.

Next, the setting process of the situation S state will be described with reference to FIGS. 6 and 7.

As shown in Fig. 6, in the case of the S state in S3, the initial state or the enable switch 20 (left SW) is in the grip state. In this state, the servo output is OFF. In the case where the S state is S3, if the signal acquired by the state of the energizing switch in S30 is not the release state signal, since the condition B (release condition) is not satisfied, the state S2 indicating the release state is not migrated. Here, the condition B is an enable switch 20 (left SW) in a released state.

When the signal obtained by the state of the energizing switch is the release state signal, since the condition B is satisfied, the state S state is rewritten to S2, and as shown in Fig. 7, the state S2 is shifted. Furthermore, when the signal obtained by the state of the energizing switch in S30 does not satisfy the condition B, the situation will be S. The state remains at S3. In Fig. 7, the so-called left-hold state means that the left SW is in the grab state, and the so-called left-release state means that the left SW is in the released state.

As shown in FIGS. 6 and 7, the S state is in the case of S2, and the enable switch 20 (left SW) is in the released state. In this state, the servo output is OFF. When the S state is S2, when the signal acquired in the state in which the switch is energized in S30 is the hold state signal, the condition S is satisfied (the catch condition), so the state S state is rewritten to S1, as shown in Fig. 7. Show, move to state S1. Here, the condition A is that the enable switch 20 (left SW) is in the grip state.

When the signals obtained by the state in which the switch is energized in S30 do not satisfy the condition A and the condition B, the state S state is rewritten to S3, and as shown in Fig. 7, the state transitions to the state S3. Further, when the signal obtained by the state in which the switch is energized in S30 satisfies the condition B, the state S state is held at S2.

The S state is in the case of S1, and the enable switch 20 is in the catch state. In this state, the servo output is ON. When the S state is S1, when the signal obtained by the state in which the switch is energized in S30 is the release state signal, since the condition B is satisfied, the state S state is rewritten to S2, and as shown in FIG. 7, the state S2 is shifted. .

When the signals obtained by the state in which the switch is energized in S30 do not satisfy the condition A and the condition B, the state S state is rewritten to S3, and as shown in Fig. 7, the state transitions to the state S3. Further, when the signal obtained by the state in which the switch is energized in S30 satisfies the condition A, the state S state is held at S1.

Next, the case of inputting (5) two-handed two-handed enable switch specifications will be described with reference to Figs. 8 to 10 .

The S40 in the case of the above (5) will be described. Fig. 8 shows the state conditions in the case where the servo output is ON and the state condition in the case where the servo output is OFF. In the left SW aspect of Fig. 8, the state number 1 means the release state, the state number 2 means the catch state, and the state number X means an arbitrary state. Since the two energizing switches are in two posture specifications, the servo state processing unit 27 regards the input signal when each of the energizing switches is in the gripping state as the same as the input signal in the gripping state.

In Fig. 8, (1, 1) → (1, 2) indicates that the left SW was released last time and this time, and the right SW was released last time, this time for grasping the state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on.

(1,1)→(2,1) indicates that the right SW was released last time and this time, and the left SW was released last time, this time to grasp the state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on.

As described above, as long as either or both of the left and right SWs are in the released state, the other SW is in the released state, and this time, in the state of grasping the state, the servo is turned on.

(2, X) → (1, X) indicates that the last time and the current state of the right SW are irrelevant, and the left SW is in the catch state last time, this time in the release state. (X, 2) → (X, 1) indicates that the last time and the current time are independent of the state of the left SW, and the right SW is in the catch state last time, and this time it is the release state. In these cases, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off.

(1, 2) → (2, 2) indicates that the right SW is in the grab state last time and this time, and the left SW is in the grab state from the release state. (2,1)→(2,2) indicates that the left SW is in the grab state last time and this time, and the right SW becomes the grab state from the release state. In this case, the state in which the servo output is OFF is also established, and in S70 of Fig. 4, the servo output is turned off. In this manner, even if the SW of either the left SW or the right SW is in the grasped state from the released state, and the other SW is in the grasped state, the state in which the servo output is OFF is established, and the servo output is turned off.

Next, the setting process of the situation S state will be described with reference to FIGS. 9 , 10 , and 13 .

As shown in Fig. 9, in the case of the S state in S3, it is the initial state or "servo OFF, servo ON inhibit state". The "servo OFF and servo ON prohibition states" mean a state in which the servo is OFF and cannot be immediately moved to the servo ON state. In this case, when the signal obtained by the states of the two energizing switches 20 and 21 in S30 is not the release state signal, since the condition D (servo ON permission condition) is not satisfied, the state S2 is not transferred to the state indicating the release state. . In this case, the S state is maintained in the S3 case. Here, the condition D is that both the left SW and the right SW are in a released state.

When the signals obtained by the states of the enable switches 20 and 21 are all the release state signals, the condition D is satisfied, so the state of the S state is rewritten to S2, and as shown in FIG. 10, the state transitions to the state S2. In FIGS. 10 and 13, the left grip state means that the left SW is in the grip state, and the left release state means that the left SW is in the release state. In addition, the so-called right-hold state means that the right SW is in the catch state, the so-called right release Putting the state means that the right SW is in the right release state.

As shown in Fig. 9 and Fig. 10, when the S state is S2, the servo output is OFF, and the servo OFF and servo ON permission states are set. The servo OFF and servo ON permission states mean that the servo is OFF and can be moved to the state of the servo ON state. In this case, when either of the signals acquired in the state of the two energizing switches of S30 is the catching state signal, and the other is the release state signal, since the condition C (servo-on condition) is satisfied, the state S state is rewritten to S1, as shown in Fig. 10, migrates to state S1. Here, the condition C is one of the signals obtained by the state of the two energization switches, and the other is the release state signal.

When none of the signals obtained in the state of the two energizing switches of S30 satisfy the condition C and the condition D, the state S is rewritten to S3, and as shown in Fig. 10, the state transitions to the state S3. Furthermore, when the signal obtained by the state of the two energizing switches in S30 satisfies the condition D, the state S state is held at S2.

In the case where the S state is in the case of S1, it is the servo ON state. Therefore, the servo output is ON. In this case, when the signal acquired in the state of the two energizing switches in S30 satisfies the condition C, the state S state is held at S1 and does not migrate to another state.

When the signal obtained by the state of the two energizing switches in S30 satisfies the condition D, the state S state is rewritten to S2, and as shown in Fig. 10, the state transitions to the state S2. When the signals acquired in the state of the energizing switch of S30 do not satisfy the condition C and the condition D, the state S state is rewritten to S3, and as shown in Fig. 10, the state transitions to the state S3.

Finally, the case where the (6) three-position two-handed enable switch specification is input will be described with reference to Figs. 11 to 13 .

The S40 in the case of the above (6) will be described. Fig. 11 shows the state condition in the case where the servo output is ON and the state condition in the case where the servo output is OFF. In the left SW aspect of Fig. 11, the state number 1 means the release state, and the state number 2 means the catch state.

In Fig. 11, (1, 1) → (1, 2) indicates that the left SW was released last time and this time, and the right SW was released last time, this time for grasping the state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on.

(1,1)→(2,1) indicates that the right SW was released last time and this time, and the left SW was released last time, this time to grasp the state. In this case, the state condition in which the servo output is ON is established, and in S60 of Fig. 4, the servo output is turned on.

All of the examples other than the above-described servo ON are in the case of the servo OFF. Fig. 11 illustrates the case of (1, 3) → (1, 2) and (2, 2) → (1, 2).

(1,3)→(1,2) indicates that the left SW was released last time and this time, and the right SW was in the grip state last time, this time to grasp the state. (2, 2) → (1, 2) means that the right SW is in the catch state last time and this time, and the left SW is the catch state last time, this time it is the release state. In these cases, the state condition in which the servo output is OFF is established, and in S70 of Fig. 4, the servo output is turned off.

Next, regarding the setting process of the situation S state, refer to the 12th. The figure and Fig. 13 are explained.

As shown in Fig. 12, when the S state is in the case of S3, it is the initial state, the servo OFF, and the servo ON inhibit state. In this case, when the signals acquired by the states of the two energizing switches 20 and 21 in S30 are not the release state signals, the condition F (the servo ON permission condition) is not satisfied, so the state S2 indicating the release state is not shifted. In this case, the S state is maintained in the S3 case. Here, both of the condition F energizing switches 20 and 21 are in a released state.

When the signals obtained by the states of the enable switches 20 and 21 are all release state signals, since the condition F is satisfied, the S state is rewritten to S2, and as shown in FIG. 13, the state S2 is shifted.

As shown in Fig. 12 and Fig. 13, when the S state is S2, the servo output is OFF, and the servo OFF and servo ON permission states are set. In this state, when either of the signals obtained by the two energizing switches in S30 is the grab state signal, and the other is the release state signal, since the condition E (servo-on condition) is satisfied, the S state is rewritten to The S1 case, as shown in Fig. 13, migrates to state S1. Here, the condition E is one of the signals obtained by the state of the two energization switches, and the other is the release state signal.

When the signals acquired in the state of the two energizing switches in S30 do not satisfy the condition E and the condition F, the S state is rewritten to the S3 state, and as shown in Fig. 13, the state transitions to the state S3. Further, when the signal obtained in the state of the two energizing switches of S30 satisfies the condition F, the S state is maintained in the case of S2.

In the case where the S state is in S1, it is in the servo ON state. therefore, The servo output is ON. In this case, when the signal acquired in the state of the two energization switches of S30 satisfies the condition E, the S state is maintained at S1 and does not migrate to another state.

When the signals acquired in the state of the two energizing switches in S30 do not satisfy the condition E and the condition F, the S state is rewritten to the S3 state, and as shown in Fig. 13, the state transitions to the state S3. When the signal obtained in the state of the two energizing switches of S30 satisfies the condition F, the S state is rewritten to the S2 state, and as shown in Fig. 13, the state transitions to the state S2.

Therefore, the robot control system of the first embodiment can obtain the following effects:

(1) The robot control system includes a controller 40 and a teacher 10. The controller 40 is provided with an operation control unit 46 of the servo control robot R. The teach pendant 10 is provided with energizing switches 20 and 21 that can acquire three postures of a released state, a grasped state, and a gripped state. Further, the teach pendant 10 includes a keyboard 16, a storage unit 14, and a servo state processing unit 27. The keyboard 16 is operated when a specification switching parameter is input, and the specification switching parameter switches at least one of the enable switches 20, 21 to a release state, a two-position specification of a grasp state, or a switch to a release state, and captures The state and the three posture specifications of the grip state. The memory unit 14 memorizes the specification switching parameters. The servo state processing unit 27 interprets the input states of the enable switches 20 and 21 based on the input states of the two postures or the three postures under the input specification switching parameters. The motion control unit 46 performs stop or execution of the servo control based on the interpretation result of the servo state processing unit 27. With this configuration, it is not necessary to modify the hardware of the teach pendant, and the specification of the energizing switch can be easily changed at the job site. In other words, it is easy to change the specifications of the energizing switch by using the software.

(2) The keyboard 16 is used when the allowable code is input to allow the setting input of the specification switching parameter. When the allowable code is input, the memory unit 14 memorizes the specification switching parameter. The allowable code is a code known to a specific operator who can only set the input specification switching parameter. Therefore, only the specific operator can easily change the specification switching parameters. The specific operator may be an operator who has an operator qualification, an administrator of the operator on the user side, an operator on the maker side of the teach pendant 10, and the like. Only those qualified individuals can easily change the specification switching parameters.

(3) The teach pendant 10 is provided with a keyboard 16, a memory unit 14, and a servo state processing unit 27. With this configuration, the effects of the above (1) can be obtained by the respective portions constituting the teacher.

(4) The specification switching parameter indicates that one of the enable switches 20 and 21 is used as the two posture specifications or the three posture specifications. With this configuration, either one of the energizing switches 20 and 21 can be used in two posture specifications or three posture specifications.

(5) The specification switching parameter indicates that the input signal from either of the pair of energizing switches is ignored. With this configuration, one of the pair of energizing switches can be disabled, and only the other energizing switch can be made effective. Thereby, it can be used as a teacher who operates with one hand.

(Second embodiment)

Next, a second embodiment in which the robot control system of the present invention is embodied will be described with reference to Fig. 14. In the second embodiment, the same portions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and the structure different from the first embodiment will be mainly described.

As shown in Fig. 14, the energizing switches 20 and 21 are composed of the same hardware as that of the first embodiment. In the second embodiment, the key input monitoring unit 24, the parameter write processing unit 25, the enable switch input monitoring unit 26, and the servo state processing unit 27 of the first embodiment are omitted. However, the controller 40 is provided with a key input monitoring unit 54, a parameter writing processing unit 55, an enable switch input monitoring unit 56, and a servo state processing unit 57 in the CPU 41. The key input monitoring unit 54 executes a key input monitoring program stored in the ROM 42, and the parameter write processing unit 55 executes a parameter writing program stored in the ROM 42. The enable switch input monitoring unit 56 monitors the input signal from the enable switch, and the servo state processing unit 57 executes the servo state processing program. The hard disk 44 of the controller 40 is a specification switching parameter storage unit. That is, the specification switching parameters input by the keyboard 16 of the teach pendant 10 are memorized on the hard disk 44. The release status signal, the capture status signal, and the grip status signal of the enable switches 20, 21 are transmitted from the teach pendant 10 to the controller 40 via the cable 22. The signal transmitted by the teach pendant 10 is input to the energizing switch input monitoring portion 56.

The functions of the key input monitoring unit 54, the parameter write processing unit 55, the enable switch input monitoring unit 56, and the servo state processing unit 57, and the key input monitoring unit 24, the parameter write processing unit 25, and the enable switch of the first embodiment. The input monitoring unit 26 and the servo state processing unit 27 are the same. The servo state processing unit 57 outputs an ON signal or an OFF signal of the servo output to the operation control unit 46. Since the processing of the servo state processing unit 57 is the same as the processing of the servo state processing unit 27 of the first embodiment, the description thereof will be omitted.

Therefore, the robot control system of the second embodiment is in addition to the In addition to (1), (2), (4), and (5) of the embodiment, the following effects can be obtained:

(1) The keyboard 16 is a specification switching parameter input unit and is an allowable code input unit. Further, the controller 40 is provided with a hard disk 44 as a specification switching parameter storage unit and a servo state processing unit 57 as an interpretation unit. With this configuration, the load of the CPU in the teach pendant 10 can be alleviated.

Furthermore, each of the above embodiments may be modified as follows:

‧ In each of the above embodiments, the input of the specification switching parameter is allowed by the input of the allowable code, but the input of the allowable code may be omitted. In this case, even an operator other than the specific operator can input the specification switching parameter. Therefore, the operator can operate the energizing switch according to the desired specifications.

In the above embodiments, the allowable code input unit is the keyboard 16, but may be a biometric input unit that performs biometric authentication such as fingerprints and irises. In this case, as a result of the biometric authentication, only the operator registered in the storage unit 14 can input the specification switching parameter.

‧ In each of the above embodiments, the pair of energizing switches 20 and 21 are provided on the teach pendant, but either one of the energizing switches 20 and 21 may be omitted. In this case, the input specification switching parameter is also available, and an energizing switch of the three postures can be used in any of the two posture specifications or the three posture specifications.

In this case, since it is an energizing switch that is operated by one hand, in the case of the two posture specifications, for example, based on the same state condition as the two-handed one-handed enable switch (left) of FIG. 3, the servo ON or the like is determined, and the S state is set. The situation can be. In this case, since there is no right SW, it is only necessary to determine the servo ON or the like and the S state in accordance with the state of the left SW. The same applies to the two-handed one-handed enable switch (right), and it is only necessary to determine the servo ON or the like and the S state in accordance with the state of the right SW.

In the case of the three-handed specification of the one-hand operation, the servo ON or the like is determined based on the same state condition as the three-position one-handed enable switch (left) of FIG. 5, and the S state may be set. In this case, since there is no right SW, it is only necessary to determine the servo ON or the like and the S state in accordance with the state of the left SW. In the case of the three-position one-handed enable switch (right), the servo ON and the like may be determined only in accordance with the state of the right SW. In this case, the hardware of the teacher is not required to be modified, and the specification of the energizing switch can be easily changed at the job site.

10‧‧‧Teacher

40‧‧‧ Controller

20‧‧‧Energy switch

21‧‧‧Energy switch

14‧‧‧Memory Department

11‧‧‧CPU

24‧‧‧Key input monitoring unit 27

25‧‧‧Parameter Write Processing Department

26‧‧‧Energy switch input monitoring unit

22‧‧‧ cable

27‧‧‧Serval Status Processing Department

19‧‧‧ Busbar

12‧‧‧ROM

13‧‧‧RAM

15‧‧‧Communication I/F

16‧‧‧ keyboard

17‧‧‧Monitor

42‧‧‧ROM

43‧‧‧RAM

45‧‧‧Communication I/F

46‧‧‧Action Control Department

48‧‧‧ Busbar

44‧‧‧Memory Department

50‧‧‧Communication Control Department

41‧‧‧CPU

51‧‧‧Interpreter

52‧‧‧Mobile Control Department

Claims (6)

A robot control system is provided in a robot system including a robot control device and a teacher, wherein the robot control device includes a servo control unit of a servo control robot, and the teacher is provided with a release state, a grasp state, and a grip. And outputting one or two energizing switches of the three postures of the signals corresponding to the states of the release state, the grasping state, and the grip state, respectively, characterized by: a specification switching parameter input unit, which is used for The specification switching parameter is used to indicate that the one or both of the energizing switches are in a three-pose specification of a released state and a grasped state, or a three-position specification of a released state, a grasped state, and a gripped state. a specification switching parameter storage unit that memorizes the specification switching parameter; and an interpretation unit that interprets an input state of the energizing switch based on an input state of the two postures or the three postures under the specification switching parameter; the servo The control unit performs the stop or execution of the aforementioned servo control based on the interpretation result of the foregoing explanation unit; Same input signal when the input signal in the case where the two switches forming the posture specification, the interpretation section forming the switch is regarded as the state and the gripped state of the catch. The robot control system according to the first aspect of the patent application, comprising: an allowable code input unit for inputting an allowable code that allows input of the specification switching parameter, When the allowable code is input, the specification switching parameter storage unit stores the specification switching parameter. The robot control system according to claim 2, wherein the specification switching parameter input unit, the specification switching parameter storage unit, the allowable code input unit, and the interpretation unit are provided in the teaching device. The robot control system according to claim 2, wherein the specification switching parameter input unit and the permission code input unit are provided in the teaching device, and the specification switching parameter storage unit and the interpretation unit are provided in the robot control device. on. The robot control system according to any one of claims 1 to 4, wherein, when two energizing switches are provided on the aforementioned teacher, the specification switching parameter indicates that one of the two energizing switches is energized. The switch is used in two posture specifications or three posture specifications. The robot control system according to any one of claims 1 to 4, wherein when the two energizing switches are provided on the aforementioned teacher, the specification switching parameter indicates that the signal from one of the two energizing switches is ignored. Input.