TWI679090B - Robot control apparatus - Google Patents

Abstract

The robot controller RC includes a switching hub 20 and a main CPU 10. The wireless access point 50 for wireless communication with the wireless TP100B is connected to the switching hub 20 via a communication line L1, and the wired TP100A is connected to the switching hub 20 via a communication line L2. The main CPU 10 grants the operation right of the operation robot R to any one of the wired TP100A and the wireless TP100B. By granting the operation right to only one of the wired TP100A and the wireless TP100B, the TP that has been granted the operation right can perform exclusive operations, thereby ensuring the security under the state where the wired TP and wireless TP are shared.

Description

Robot control device

The invention relates to a robot control device, which uses network communication technology to transmit and receive various data to and from a portable operation device.

Patent Documents 1 to 4 disclose a system configured to perform wireless communication between a portable operation device called a teaching pendant and a robot control device.

In the systems disclosed in Patent Literature 1 and Patent Literature 2, a wireless communication section and a wired communication section are provided inside the portable operating device. With the systems disclosed in these documents, a wireless TP (Portable Operating Device) is a controller connected to a robot via a cable. Thereby, the wireless TP is used as a wired TP (portable operating device).

With the system disclosed in Patent Document 3, the wired TP is connected to a wireless device supported around the waist of an operator via a cable. Thereby, a wired TP is used as a wireless TP.

In the system disclosed in Patent Document 4, a wireless communication section and a wired communication section are provided inside the portable operating device. If the system disclosed in this document is used, when the portable operation device is placed on a dedicated placement table provided on the robot control device, the connection terminal of the portable operation device and the connection terminal of the robot control device are electrically connected. . In this way, the portable operating device is used as Line TP is used.

Generally speaking, since wireless TP does not need the traction cable, it is extremely superior in terms of workability or portability. In addition, even from the viewpoint of using one wireless TP for a plurality of robot control devices, wireless TP is still superior to wired TP. On the other hand, wireless TPs are inferior to wired TPs from the standpoint that they are susceptible to the influence of the communication environment or cannot be used due to insufficient charging. As described in Patent Documents 1 to 4, these problems can be solved by adding a wireless communication unit to the wired TP or preparing a wireless device separately. In other words, the portable operating devices described in Patent Documents 1 to 4 can be configured to be used as a wired TP or as a wireless TP.

As for the existing equipment using wired TP, if you want to capture the advantages of wireless TP, you can consider the following two methods. Method (1) replaces the existing wired TP with a wireless TP; and method (2), as described in Patent Documents 1 to 4, adds a wireless function to the wired TP.

However, in the method (1), the disadvantages such as being susceptible to the influence of the communication environment or being unusable due to insufficient charging cannot be solved. In addition, in the method (2), replacing a wired TP with a wireless device requires a large number of components, and therefore increases the weight of the portable operating device. In addition, for the operator, the structure using the wireless device has a burden that the wireless device must be frequently carried. Accordingly, in order to make full use of the advantages of both wired TP and wireless TP, it is not to add wireless functions to wired TP, but to add wireless TP in addition to wired TP, and it is best to use wired TP and wireless TP together.

However, when both wired TP and wireless TP can be operated at the same time, some bad situations will occur. For example, when both wired TP and wireless TP are connected to a robot control When the device is configured to operate the robot from both a wired TP and a wireless TP, a safety problem arises. Therefore, the industrial robot must be configured to perform one-to-one two-way communication between the robot control device and the portable operation device. In addition, the industrial robot must be configured such that it cannot be operated by another portable operation device when it is operated by an operator holding the portable operation device.

However, in the above-mentioned conventional technology, there is no concern about the security when the state of the wired TP and the wireless TP is shared.

Patent Document 1: Japanese Patent Application Laid-Open No. 2008-93743.

Patent Document 2: Japanese Unexamined Patent Publication No. 2006-341356.

Patent Document 3: Japanese Patent Application Laid-Open No. 2011-194504.

Patent Document 4: Japanese Unexamined Patent Publication No. 2006-321014.

An object of the present invention is to provide a robot control device capable of ensuring security in a state where a wired TP and a wireless TP are shared.

In order to solve the above problems, if the first aspect of the present invention is adopted, a robot control device that controls a robot in accordance with the operation of a portable operation device can be provided. The robot control device includes: a relay unit, which is connected to a wireless communication unit and a wired portable operating device via a communication line, and the aforementioned wireless communication unit performs wireless communication with the wireless portable operating device; The right to operate the robot is granted to any one of the wired portable operation device and the wireless portable operation device.

1‧‧‧ robot control system

10‧‧‧Main CPU / Operation Right Granting Department

20‧‧‧Switching Hub / Relay

21 ~ 24‧‧‧Port

30‧‧‧Receiving unit

31, 32‧‧‧CPU

33, 34‧‧‧Enable output circuit

35, 36‧‧‧ Emergency stop output circuit

37, 38, 39‧‧‧ connecting terminal

40‧‧‧Sequence Control Unit

42‧‧‧Connection terminal

50‧‧‧Wireless Access Point / Wireless Communication Department

100A‧‧‧Wired TP (Portable Operating Device)

100B‧‧‧Wireless TP (Portable Operating Device)

120‧‧‧ROM

130‧‧‧ keyboard

140‧‧‧ display device

150‧‧‧Wired LAN I / F

160‧‧‧Wireless LAN I / F

170‧‧‧Enable switch

180‧‧‧Emergency stop switch

190‧‧‧Bus

C1 ~ C4‧‧‧Circuit

L1, L2‧‧‧ communication line

L3‧‧‧ signal cable

R‧‧‧ Robot

RC‧‧‧Robot control device

RY1 ~ RY4‧‧‧ Relay

S1 ~ S8‧‧‧‧Relay contacts

S13, S14‧‧‧Normally closed contact

T1 ~ T8‧‧‧Connecting terminal

T11 ~ T18‧‧‧Connecting terminal

T21 ~ T28‧‧‧Connecting terminal

T31 ~ T38‧‧‧Connecting terminal

FIG. 1 is a schematic diagram showing a configuration of a robot control system including a robot control device according to the present invention.

Figure 2 (a) shows a block diagram of a robot control system.

Figure 2 (b) shows a block diagram of a wired TP.

Figure 2 (c) shows a block diagram of a wireless TP.

Fig. 3 is a block diagram showing a receiving unit constituting a robot control device.

FIG. 4 is a block diagram showing a state in which a wired TP and a wireless TP are connected to a receiving unit at the same time.

FIG. 5 shows a flowchart of the operation right granting process.

Hereinafter, an embodiment of a robot control device according to the present invention will be described in detail with reference to FIGS. 1 to 5.

As shown in FIG. 1, the robot control system 1 includes a robot R, a wired TP100A and a wireless TP100B, and a robot control device RC that controls the operation of the robot R. The robot R is a work robot that performs operations such as arc welding and spot welding. At the tip of the wrist of the robot R, working tools such as an arc torch and a spot welding gun are mounted. In addition, wired TP100A refers to a wired portable operating device, and wireless TP100B refers to a wireless portable operating device.

The wired TP100A and wireless TP100B are equipped with a microcomputer on which an operating system such as Windows (registered trademark) is installed. The wired TP100A and wireless TP100B further include a keyboard 130, a display device 140, an emergency stop switch 180, and the like. The operator operates the keyboard 130 and performs teaching tasks of the robot R. The display device 140 displays teaching data input through teaching operations. When homework When the operator operates the emergency stop switch 180, the robot R is brought to an emergency stop. On the back of the wired TP100A and wireless TP100B, an enable switch (not shown) is installed. When the operator operates the energizing switch in the teaching mode, the servo motor of the robot R can be supplied with power or the power supply can be cut off.

The teaching operation signal from the wired TP100A is transmitted to the robot control device RC via wired communication. Teaching operation signals from the wireless TP100B are transmitted to the robot controller RC via wireless communication. The teaching operation signals include: a jog feed signal for moving the robot R by manual operation, a teaching signal for inputting teaching data, an emergency stop signal for emergency stopping the robot R in an emergency, and an enabling signal Wait. When these teaching operation signals are transmitted by the wired TP100A or wireless TP100B, the robot control device RC will perform various operations such as the jog feed operation of the robot R, the production of teaching materials, and the emergency stop.

As shown in FIG. 2 (a), the robot controller RC includes a main CPU (Central Processing Unit) 10 as a control center, a switching hub 20 as a relay unit, a receiving unit 30, and a connection to the receiving unit 30 The sequence control unit 40. The switching hub 20 relays the communication data from the wired TP100A and the wireless TP100B, and then transmits them to the main CPU 10 and the receiving unit 30, respectively.

The main CPU 10 calculates various processes corresponding to the teaching operation signals from the wired TP100A or the wireless TP100B, and specifically, calculates the input of teaching data or the setting of control parameters. In addition, the main CPU 10 calculates a current command of a drive motor provided in each joint of the robot R, and outputs the current command to a servo amplifier (not shown). Thereby, the drive motor of each joint is driven. In addition, the main CPU 10 grants an operation right to the operation robot R to any one of the wired TP100A and the wireless TP100B. That is, the main CPU 10 is an operation right granting unit that controls the wired TP100A Exclusive use with any of the wireless TP100B.

The switching hub 20 has ports 21 to 24 for LAN connection. The so-called LAN connection may be, for example, a communication connection via Ethernet (registered trademark), but it is not limited to this. At port 21, a communication line L1 of the wireless access point 50 is attached and detached. At port 22, a communication line L2 having a line TP100A is loaded and unloaded. Port 23 is connected to the main CPU 10, and port 24 is connected to the receiving unit 30. The wireless access point 50 performs wireless communication with the wireless TP100B using a known communication protocol. The wireless access point 50 corresponds to a wireless communication unit.

As shown in FIG. 3, the receiving unit 30 includes: a pair of CPUs 31 and 32; relays RY1 and RY3 operated by the CPU 31; relays RY2 and RY4 operated by the CPU 32; enable output circuits 33 and 34; and emergency stop Output circuits 35, 36; and connection terminal portions 37, 38, 39. The emergency stop signal and the enable signal from the wireless TP100B are input to the CPUs 31 and 32 from the switching hub 20 through the connection terminal 37.

As shown in FIG. 4, the enabling signals from the wired TP100A are input to the CPUs 31 and 32 via the connection terminals T21 to T24 of the connection terminal section 38. Regardless of the presence or absence of other CPU input signals, the CPUs 31 and 32 individually actuate the relays RY1 to RY4 based on the input signals received.

The energizing output circuits 33 and 34 are dual safety circuits. The energizing output circuit 33 is a circuit in which relay contacts S1 and S2 formed by a contact (normally open contact) are connected in series, and the output circuit 33 is connection terminals T1 and T2 connected to the connection terminal portion 39. The connection terminals T1 and T2 are electrically connected to the connection terminals T11 and T12 of the sequence control unit 40, respectively. The energizing output circuit 34 is a circuit formed by connecting in series to the relay contacts S3 and S4 formed by a contact (normally open contact), and the energizing output circuit 34 is a connection terminal T3 connected to the connection terminal portion 39, T4. The connection terminals T3 and T4 are Connected to the connection terminals T13 and T14 of the sequence control unit 40. When the relay RY1 is activated (excitation), the relay contacts S1 and S3 are closed. When the relay RY2 is activated (excitation), the relay contacts S2 and S4 are closed.

The emergency stop output circuits 35 and 36 are double safety circuits. The emergency stop output circuit 35 is formed by a connection circuit that short-circuits the connection terminal T5 of the connection terminal portion 39 and the connection terminal T25 of the connection terminal portion 38, and a series circuit of the relay contacts S5 and S6. Each end of the series circuit of the relay contacts S5 and S6 is a connection terminal T6 connected to the connection terminal portion 39 and a connection terminal T26 of the connection terminal portion 38, respectively. The connection terminals T5 and T6 are electrically connected to the connection terminals T15 and T16 of the sequence control unit 40, respectively. The emergency stop output circuit 36 is formed by a connection circuit that short-circuits the connection terminal T7 of the connection terminal portion 39 and the connection terminal T27 of the connection terminal portion 38, and a series circuit of the relay contacts S7 and S8. Each end of the series circuit of the relay contacts S7 and S8 is a connection terminal T8 connected to the connection terminal portion 39 and a connection terminal T28 of the connection terminal portion 38, respectively. The connection terminals T7 and T8 are electrically connected to the connection terminals T17 and T18 of the sequence control unit 40, respectively. The relay contacts S5 and S7 are formed by the b contact (normally closed contact). When the relay RY3 is activated (excitation), the relay contacts S5 and S7 are opened. In addition, the relay contacts S6 and S8 are formed by b contacts (normally closed contacts). When the relay RY4 is activated (excitation), the relay contacts S6 and S8 are opened.

When the relay contacts S1 to S4 of the energizing output circuits 33 and 34 are switched from the fully closed state to at least one of the relay contacts, the energizing output circuits 33 and 34 of the opened relay contacts are sequentially controlled. The unit 40 inputs a blocking signal according to the enabling signal. As a result, the sequence control unit 40 operates an interrupter (not shown) and interrupts power supply to the servo amplifier. That is, the power supply to the servo motor which is the driving source of the robot R is interrupted.

In addition, when at least one of the connection terminals T25 and T26 and between the connection terminals T27 and T28 is formed from a short circuit state to a non-short circuit state, or at least one of the relay contacts S5 to S8 of the emergency stop output circuits 35 and 36 is opened In the case of a relay contact, the sequence control unit 40 operates a circuit breaker (not shown) to interrupt the power supply to a servo amplifier (not shown). In addition, in the following description, the power supply to the servo motor is referred to as "ON servo power", and the power supply to the servo motor is interrupted as "OFF servo power".

The connection terminals T21 to T24 of the connection terminal portion 38 are connection terminals T31 to T34 which are electrically connected to the connection terminal portion 42 of the robot control device RC, respectively. The connection terminals T25 to T28 of the connection terminal portion 38 are connection terminals T35 to T38 that are electrically connected to the connection terminal portion 42 of the robot control device RC, respectively.

First, the wired TP100A will be described with reference to FIG. 2 (b).

As shown in FIG. 2 (b), the wired TP100A includes a CPU (Central Processing Unit) 110, a ROM 120, a keyboard 130, a display device 140, and a wired LAN I / F (Interface) 150. The CPU (Central Processing Unit) 110, ROM 120, keyboard 130, display device 140, and wired LAN I / F (Interface) 150 are connected to each other via a bus 190. The wired LAN I / F 150 is attached to and removed from port 22 of the switching hub 20 via the communication line L2. The wired TP100A is connected to the switching hub 20 via the communication line L2, and can communicate with the main CPU 10 of the robot control device RC in a wired state. As the communication data in this case, various data such as key information generated in response to the operation of the keyboard 130 of the wired TP100A, or screen information of the display device 140 are listed.

The wired TP100A includes an enable switch 170 and an emergency stop switch 180. As shown in FIG. 4, when the enabling switch 170 is turned on, the normally open contacts S11 and S12 respectively provided in a pair of circuits C1 and C2 are closed, and when the enabling switch 170 is turned off Normally open during operation Contacts S11, S12. When the wired TP100A is used, the circuits C1 and C2 are connected to the connection terminals T31 to T34 of the connection terminal portion 42 of the robot controller RC via the signal line L3 and a connector (not shown). When the signal line L3 is connected to the connection terminal portion 42 and the states of the normally open contacts S11 and S12 are changed from closed to open, the energizing signals from the circuits C1 and C2 are output to the robot control device RC, respectively.

When the emergency stop switch 180 is turned off, the normally-closed contacts S13 and S14 provided at the pair of circuits C3 and C4 are turned on, respectively. The circuits C3 and C4 are connection terminals T35 to T38 connected to the connection terminal portion 42 of the robot control device RC via the signal line L3 and a connector (not shown). When the circuits C3 and C4 are connected to the robot controller RC, when the emergency stop switch 180 is turned OFF, the two normally closed contacts S13 and S14 will be opened, so that the emergency stop signals are sent by the circuits C3 and C4 respectively Output to robot controller RC.

Next, the wireless TP100B will be described with reference to FIG. 2 (c). Regarding the same parts of the wireless TP100B as those of the wired TP100A, detailed explanations are omitted.

As shown in Fig. 2 (c), the wireless TP100B is different from the wired TP100A in that the wireless LAN I / F160 replaces the wired LAN I / F150. As shown in FIG. 2 (a), the wireless TP100B can communicate with the main CPU 10 of the robot control device RC wirelessly through the wireless access point 50, the communication line L1, and the switching hub 20. As the communication data in this case, various data such as key information generated in response to the operation of the keyboard 130 of the wireless TP100B or screen information of the display device 140 are listed.

Although not shown in the figure, the wireless TP100B has a structure corresponding to the circuits C1 to C4, the normally open contacts S11 and S12, and the normally closed contacts S13 and S14. In wireless TP100B, unlike wired TP100A, when a pair of normally open contacts S11 and S12 is closed by operating the enable switch 170, The energy signal will be output wirelessly via the wireless LAN I / F160. In addition, when the emergency stop switch 180 of the wireless TP100B is operated and a pair of normally closed contacts S13 and S14 are turned on, the emergency stop signal will be output wirelessly through the wireless LAN I / F160.

The operation of the robot control device RC will be described with reference to a flowchart of FIG. 5. The details are described when the main CPU 10 grants the operation right to only one of the wired TP100A and the wireless TP100B. In the description, the wired TP100A is referred to as a wired TP, and the wireless TP100B is referred to as a wireless TP.

(1. Neither wired TP or wireless TP has established communication with the robot controller RC, and has not been granted the right to operate the robot R)

First, a description will be given of a processing method when the wired TP outputs a connection request in a state in which neither of the wired TP and the wireless TP is authorized to operate.

As shown in FIG. 5, in step ST1, the main CPU 10 confirms whether or not a connection is requested. When the main CPU 10 confirms that a connection is requested by the wired TP (step ST1: Yes), it moves to step ST2.

In step ST2, the main CPU 10 is in a state of confirming the grant of the operation right. When the operation right is granted to either the wired TP or the wireless TP, for example, identification information such as a MAC address is stored (memorized) in a RAM (not shown) of the robot controller RC. In this case, the role of the main CPU 10 is to read identification information from the RAM and confirm the grant status of the operation right. Here, since the operation right is not granted to either the wired TP or the wireless TP, the identification information shows a NULL value.

In step ST3, the main CPU 10 determines which of the wired TP and the wireless TP is granted the operation right based on the identification information read from the RAM. Here, since the identification information is displayed as a NULL value, the main CPU 10 judges that the operation right has not been granted to any of the wired TP and wireless TP. After one party (step ST3: No), the process proceeds to step ST8.

In step ST8, the main CPU 10 outputs a wired TP that requires a connection to grant the operation right. In addition, the main CPU 10 stores identification information of the wired TP to which the operation right has been granted in a RAM (not shown) of the robot control device RC.

In step ST9, the main CPU 10 performs processing for establishing communication with the wired TP. After the communication is established, the main CPU 10 notifies the wired TP of a message indicating that the operation right has been granted to the wired TP. As a result, a message indicating that the operation right has been granted is displayed on the display device 140 of the wired TP.

(2. In the state where the operation right is granted to either the wired TP or the wireless TP, the TP output of the other party who has not been granted the operation right may require a connection)

Next, a description will be given of a processing method when a connection is requested from the TP of the other party who has not been granted the operation right in a state where the operation right is granted to either the wired TP or the wireless TP. Here, a description will be given of a processing method when the wireless TP outputs a connection request when the operation right is granted to the wired TP.

In step ST1, the main CPU 10 confirms the presence or absence of a connection request. After confirming the connection request from the wireless TP (step ST1: Yes), the main CPU 10 moves to step ST2.

In step ST2, the main CPU 10 reads the identification information from the RAM in order to confirm the grant status of the operation right. Here, the identification information of the wired TP is read from the RAM.

In step ST3, the main CPU 10 determines which of the wired TP and the wireless TP is to be granted the operation right based on the identification information read by the RAM. Here, when the main CPU 10 determines that the operation right is granted to the wired TP (step ST3: No), it moves to step ST4. At this time, the main CPU 10 notifies a message that the operation right has been granted to the wired TP, and notifies that the wireless TP requesting connection has been output.

In step ST4, the main CPU 10 confirms the transfer condition of the operation right. That is, the main CPU 10 determines whether the current status can be authorized by the wired TP to the wireless TP. In order to judge whether the operation right transfer operation can be performed, the main CPU 10 reads information such as internal variables or flags, and confirms the current state of the robot R or the robot controller RC. For example, when the current state of the robot R or the robot control device RC satisfies the following conditions, the main CPU 10 determines that the operation right cannot be transferred. However, the conditions described below are only examples and are not limited to the following conditions.

• The teaching power of the robot R is in the teach mode.

• It is in teach mode and power is supplied to the servo amplifier.

‧Access (read) an external memory device in the TP.

‧The locking function is set by the operator so that the operation right will not be transferred to other TPs.

In step ST5, the main CPU 10 determines whether it is in a state of transferable operation right. Here, it is assumed that the current state of the robot R or the robot control device RC does not satisfy the above conditions. In this case, the main CPU 10 determines that the operation right is transferable (step ST5: Yes), and moves to step ST6. In addition, when the current state of the robot R or the robot control device RC satisfies any of the above conditions, the main CPU 10 determines that the operation right cannot be transferred (step ST5: No), and ends the present process.

In step ST6, the main CPU 10 releases the operation right of the wired TP which is currently connected to the robot controller RC, and cuts off the communication with the wired TP at the same time. In addition, releasing the operation right means clearing the identification information written in the RAM of the robot controller RC.

In step ST7, the main CPU 10 turns OFF the servo power of the robot R. In this case, it is preferable that the servo power cannot be turned on immediately by cutting off the power supply to the servo amplifier. With this, even if the enabling switch 170, the guide is mistakenly touched in the TP immediately after the operation right is granted. The ON operation can still prevent the servo power from being turned ON.

In step ST8, the main CPU 10 grants the operation right to the wireless TP that has output the connection request. That is, the main CPU 10 stores identification information of the wireless TP to which the operation right has been granted in a RAM (not shown) of the robot control device RC.

In step ST9, the main CPU 10 performs processing for establishing communication with the wireless TP. After the communication is established, the main CPU 10 notifies the wireless TP of a message intended to grant the operation right to the wireless TP. As a result, the display device 140 of the wireless TP displays a message indicating that the operation right has been granted.

(3. Processing after granting operation rights)

The main CPU 10 executes various processes based only on the teaching operation signal from the TP that has been granted the operation right. That is, the main CPU 10 analyzes and interprets only the teaching operation signal from the TP to which the operation right has been granted, and ignores the teaching operation signal from the TP to which the operation right has not been granted. In this embodiment, the wired TP is always connected to the robot controller RC. Therefore, as shown in FIGS. 3 and 4, the emergency stop signal sent by the emergency stop switch 180 of the wired TP is transmitted to the sequence control unit 40 through the signal line L3 and the receiving unit. That is, only the emergency stop signal from the wired TP can be input to the sequence control unit 40 without regard to the operation right. This means that although the operation signal from the wired TP cannot be input when the operation right is granted to the wireless TP, it can still be input only by the emergency stop switch 180 of the wired TP. That is, the wired TP can function only as an emergency stop switch.

With this structure, a skilled person can hold the wired TP as an emergency stop switch while letting a newcomer unfamiliar with the operation procedure operate the wireless TP. In this case, even if the novice accidentally makes the robot R feed the feed in the wrong direction, the skilled hand can still use his own wired TP stops the robot R in an emergency.

In addition, in the present embodiment, the operation right may be forcibly released if the TP that has been granted the operation right has not been operated for more than a specified time, for example, 10 minutes. Thereby, even after the operator sets the locking function in order not to transfer the operation right from the TP, and after leaving the site, the operation right can be transferred after a specified time has elapsed.

Thus, with this embodiment, in a state where the wired TP and the wireless TP are shared, only the operation right is granted to either of the wired TP and the wireless TP, and the exclusive operation has been granted to the TP with the operation right. Thereby, security can be ensured in a state where wired TP and wireless TP are shared.

Claims (6)

A robot control device controls a robot in response to the operation of a portable operating device, and is characterized in that it includes: a relay section, which is connected to a wireless communication section and a wired portable operating device via a communication line, respectively, and the aforementioned wireless communication A wireless communication operation unit with a wireless portable operating device; an operation right granting unit, which grants the operation right to operate the robot, to any one of the wired portable operation device and the wireless portable operation device During the period when the wireless portable operating device is granted the operation right, the wired portable operating device can be connected to the robot control device constantly, and can only input an emergency stop signal to the robot control device, and only serves as an emergency stop switch. Instead, the emergency stop signal is not transmitted through the communication line and the relay section, but is transmitted through an additional signal line. The robot control device according to claim 1, wherein the operation right granting unit grants the operation right to the portable portable operating device that first outputs a connection request among the wired portable operating device and the wireless portable operating device. Operating device. The robot control device according to claim 1 or 2, wherein when the operation right is granted to any one of the wired portable operation device and the wireless portable operation device, the operation is not granted. When the portable operation device of the other party outputs a connection request, the operation right granting unit confirms whether the current status of the robot or the robot control device has satisfied a specified condition, and when the foregoing current status meets the specified condition In the case of the above, the aforementioned operation right is granted to the portable operating device of the other party. The robot control device according to claim 3, wherein when the operation right is granted to the portable operation device of the other party, the operation right granting unit cuts off the servo power supply of the robot. The robot control device according to claim 1 or 2, wherein when the operation right is granted to any one of the wired portable operation device and the wireless portable operation device, when the operation right is not granted to the other When the portable operation device of one party outputs a connection request, the aforementioned operation right granting unit will notify the portable operation device of the other party by a message that there is a portable operation device to which the operation right has been granted. The robot control device according to claim 1 or 2, wherein the operation right granting unit releases the operation right on the condition that a specified period of time has elapsed since the portable operation device that has granted the operation right has not been operated.