WO2009119382A1 - Système de commande de robot - Google Patents

Système de commande de robot Download PDF

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Publication number
WO2009119382A1
WO2009119382A1 PCT/JP2009/055153 JP2009055153W WO2009119382A1 WO 2009119382 A1 WO2009119382 A1 WO 2009119382A1 JP 2009055153 W JP2009055153 W JP 2009055153W WO 2009119382 A1 WO2009119382 A1 WO 2009119382A1
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WO
WIPO (PCT)
Prior art keywords
level
work level
work
controller
program
Prior art date
Application number
PCT/JP2009/055153
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English (en)
Japanese (ja)
Inventor
明雄 澤井
泰宏 神品
Original Assignee
株式会社 ダイヘン
株式会社 不二越
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社 ダイヘン, 株式会社 不二越 filed Critical 株式会社 ダイヘン
Priority to JP2010505553A priority Critical patent/JP5474765B2/ja
Publication of WO2009119382A1 publication Critical patent/WO2009119382A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36542—Cryptography, encrypt, access, authorize with key, code, password
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40099—Graphical user interface for robotics, visual robot user interface

Definitions

  • the present invention relates to a robot control system for connecting a teach pendant and a robot control device (hereinafter referred to as a control device) via a network or non-wired communication means.
  • Patent Document 1 a system for interactive communication between objects in a distributed computing environment, a method thereof, and an interactive distributed component object model have been proposed.
  • the remote desktop (hereinafter referred to as RDP) proposed in Patent Document 1 is a system that remotely operates a remote object that operates on a host computer (hereinafter referred to as a host) from a client terminal via a network.
  • This function is provided by an operating system (OS) or a dedicated program. Therefore, a program that runs on the host can be designed without being aware of direct operation or remote operation. With this technology, a program running on the host can be easily remotely operated from a client terminal via a network.
  • OS operating system
  • a program running on the host can be easily remotely operated from a client terminal via a network.
  • the teach pendant (hereinafter referred to as TP) is a terminal for performing work related to the robot.
  • the tasks related to robots range from simple tasks such as monitoring the state of the robot to tasks that require skill such as operating the robot.
  • the functions of the TP include, for example, monitoring of the state of the robot and simple settings and advanced settings for work related to the robot.
  • the TP has all these functions. These functions can be used by operating a TP GUI (graphical user interface) program.
  • GUI graphical user interface
  • General RDP is a function that allows a client terminal to perform work in a virtual workspace (hereinafter referred to as a session) on a host.
  • RDP manages workers who are users on the host side. Only authorized workers can connect to the RDP host from the client terminal. As shown in FIG. 10, workers A and C input worker name passwords from the terminals 1 and 2 and connect to the RDP host. Worker A. C cannot connect to the RDP host unless the entered password is authenticated.
  • ⁇ Workers connected to the RDP host are allowed to operate the workspace. Thereby, the worker can use all the programs prepared in the workspace. That is, in a general RDP system, it is only necessary to perform connection authentication for a workspace, and it is not related to whether or not each function included in the program can be used.
  • a plurality of workers can share one RDP host. Most of the work is completed in the host PC. Therefore, a single RDP host can be used simultaneously by a plurality of workers.
  • TP using RDP is a method for networking an existing TP. That is, by adding the function of the RDP host to the robot controller and adding the function of the RDP client to the TP, the networking of the TP can be realized.
  • the work by the TP involves the operation of the robot, there is only one session 3 used for the work. Also, only one person can work at the same time. For this reason, when the worker A is working on the terminal 1 and the worker C intends to work on the terminal 2, the worker C must wait until the work of the worker A is completed.
  • one session 3 is exclusively shared by a plurality of workers.
  • the GUI program 4 operating on the session 3 for performing work by the robot is also exclusively shared by a plurality of workers.
  • TP has all the functions in one program.
  • these functions are shared by a plurality of workers whose authority is not the same. For this reason, it is necessary to limit individual functions included in the program according to the authority of the operator.
  • RDP when applied to TP, it is not sufficient to manage RDP workers. Therefore, the following problems may occur.
  • a dangerous situation may occur due to an operator's mistake.
  • (1-1) After an operator having administrator authority connects to a work session and raises the work level of the GUI program, the connection with the work session may be disconnected without returning the work level to the original level.
  • (1-1) When another worker without administrator authority connects to a work session in the state (1-1), the work level of the GUI program is set to a high state.
  • (1-1) For this reason, there arises a problem that an operator who does not have administrator authority can use the same functions as those who have administrator authority.
  • the TP is not used as a mere robot operation terminal, but as a general information terminal with higher functionality. For this reason, for example, a GUI program or the like that can use the service of the TP alone even when not connected to the control device that is the RDP host is installed in the TP.
  • a GUI program or the like that can use the service of the TP alone even when not connected to the control device that is the RDP host is installed in the TP.
  • the TP GUI program similar to the GUI program of the control device, considering the safety, the work level is managed by password entry, that is, the functions that can be used are restricted according to the authority of the operator. There is a need to. (2-3) However, in this way, when the operator works by connecting to the control device work session after working with the TP alone, You must enter your password each time you start work.
  • the object of the present invention is to always reduce the work level of the GUI program of the controller to the lowest level when the communication between the portable operation unit to which the RDP is applied and the controller that controls the robot is disconnected or connected.
  • the object is to provide a robot control system capable of safely managing the work level of a program.
  • Another object of the present invention is to automatically reflect the work level of the portable operation unit to the work level of the GUI program when the work level of the portable operation unit alone is set and then connected to the controller to start work. Accordingly, it is an object of the present invention to provide a robot control system capable of safely managing the work level of a GUI program.
  • setting means for setting a work level when a GUI program for robot teaching is executed, and a GUI program for generating GUI screen data A controller including an execution unit, having a session shared exclusively with a plurality of portable operation units, and on a session corresponding to a portable operation unit connected to the controller among the plurality of portable operation units
  • a controller for generating GUI screen data according to the work level an input means for inputting level instruction related data for instructing the work level, and a display means for displaying the GUI screen based on the GUI screen data
  • a robot control system including a portable operation unit including
  • the setting means includes a first means for setting the work level to a minimum level when communication between the controller and the portable operation unit is connected or disconnected, and a level indication when acquiring level indication related data from the portable operation unit.
  • the work level of the GUI program of the controller is always lowered to the lowest level. Therefore, the work level of the GUI program can be managed safely.
  • the controller includes first storage means for storing the password as the level instruction related data and the work level parameter in association with each other, and the second means obtains the password from the portable operation unit.
  • the work level of the GUI program is set according to the work level parameter stored in the first storage means and associated with the password.
  • the second means acquires the password from the portable operation unit
  • the password is stored in the first storage means.
  • the work level of the GUI program is set according to the work level parameter associated with the stored password. From this, it is possible to execute a GUI program whose functions that can be used are expanded or restricted according to the worker who knows the password. Thereby, the work level of the GUI program can be managed safely.
  • a controller including a setting means for setting a first work level when a GUI program for robot teaching is executed and a GUI program execution means for generating GUI screen data, wherein a plurality of possible When a GUI program is executed on a session corresponding to a portable operation unit connected to a controller among a plurality of portable operation units, the session is exclusively shared with the portable operation unit.
  • a portable unit including a controller that generates GUI screen data in response, a display unit that displays a GUI screen based on the GUI screen data, and a program execution unit that executes a program that can be operated independently when not connected to the controller.
  • a robot control system including an operation unit is provided.
  • the portable operation unit includes level instruction related data input means for inputting level instruction related data relating to the second work level of the program execution means, and the program execution means is configured to operate at a level when working alone in a non-connected state with the controller.
  • the program is executed according to the second work level based on the input of the instruction related data, and the setting means sets the first work level to the lowest level when communication between the controller and the portable operation unit is connected or cut off.
  • the work level of the portable operation unit when the work level of the portable operation unit alone is set and then connected to the controller to start work, the work level of the portable operation unit is automatically reflected in the work level of the GUI program. . Therefore, the operator can set the work level of the GUI program with a simple operation. Also, the work level of the GUI program can be managed safely.
  • the third means matches the first work level with the second work level of the program execution means in the unconnected state immediately before being connected to the portable operation unit.
  • the first work level of the GUI program is matched with the second work level of the program execution means in the unconnected state immediately before being connected to the portable operation unit.
  • the operator can work by setting the work level of the GUI program to the same work level as the program executed by the portable operation unit alone.
  • FIG. 1 is a block diagram of a controller and teach pendant of a robot control system according to a first embodiment of the present invention.
  • the flowchart when a teach pendant is RDP-connected to a controller.
  • the flowchart of a work level management program The flowchart when a teach pendant is RDP disconnected from a controller.
  • the flowchart when the teach pendant which concerns on the modification of 1st Embodiment is RDP-connected to a controller.
  • the block diagram of the controller and teach pendant of the robot control system which concerns on 2nd Embodiment of this invention.
  • the flowchart when changing a 2nd work level The flowchart when a teach pendant is RDP-connected to the controller and when the first work level is changed. Explanatory drawing which shows the relationship between the user of TP and the function which can be used.
  • the schematic diagram explaining the structure for the worker management of a general RDP system The schematic diagram explaining the structure for the worker management in robot control.
  • the robot control system of the present invention is embodied in a robot control system 30 in which communication between the teach pendant 10 and the controller 20 is performed via a wireless LAN (local area network).
  • a plurality of teach pendants 10 can be connected to the controller 20.
  • FIG. 1 shows only one teach pendant 10.
  • the robot R controlled by the controller 20 is a welding robot.
  • the robot may be another robot such as a transfer robot.
  • a teach pendant 10 as a portable operation unit includes a CPU (Central Processing Unit) 11, a ROM 12, a RAM 13, a hard disk 14, a wireless LAN I / F 15 as a LAN I / F, a keyboard 16, and a liquid crystal display 17. Etc. These are connected to each other via a bus 19.
  • CPU Central Processing Unit
  • the ROM 12 stores an RDP client program 12a for operating the robot by the teach pendant 10 and executing communication from the teach pendant 10.
  • the programs stored in the ROM 12 include, for example, a GUI display processing program 12b, a communication processing program 12c, and a connection / disconnection processing program 12d.
  • the GUI display processing program 12 b controls display of the GUI screen data acquired from the controller 20 on the liquid crystal display 17.
  • the ROM 12 stores various programs for causing the CPU 11 to function as a personal computer.
  • the RAM 13 is used as a working area for the CPU 11.
  • the RAM 13 temporarily stores data being calculated.
  • the hard disk 14 stores execution variables of the control program.
  • the wireless LAN I / F 15 is a communication device used for connection with the controller 20.
  • the keyboard 16 is used as an interface for inputting data for the operator of the teach pendant 10 to operate the robot.
  • the liquid crystal display 17 is used as a display for the operator of the teach pendant 10 to confirm the operation conditions and operation state of the robot.
  • a controller 20 as a robot control device includes a CPU 21, a ROM 22, a RAM 23, a hard disk 24, a wireless LAN I / F 25, a timer 26, a servo driver 27, a video RAM (not shown), and the like. These are connected to each other via a bus 31.
  • the ROM 22 stores various programs such as a control program for controlling the operation of the robot R and its control constants, a GUI program 22a, and an RDP host program 22b.
  • the GUI program 22a includes a work level management program 22f.
  • the RDP host program 22b includes a screen monitoring processing program 22c, a communication processing program 22d, a connection / disconnection processing program 22e, and the like.
  • the RAM 23 is used as a working area for the CPU 21.
  • the RAM 23 temporarily stores data being calculated.
  • the hard disk 24 stores a password associated with the work level parameter, a current work level parameter, and the like. The password is set for each data in which the work of the robot R is taught, control program execution conditions, various control variables, and work levels.
  • the controller 20 may include a storage device such as a semiconductor memory instead of the hard disk 24. In the first embodiment, the hard disk 24 corresponds to first storage means.
  • the wireless LAN I / F 25 is a communication device used for connection with the teach pendant 10.
  • the servo driver 27 is connected to a motor (not shown) that drives each joint of the robot R, and controls the current flowing through the motor.
  • the timer 26 generates a synchronization signal at regular intervals.
  • the synchronization signal is used as the update timing of the command value to the servo driver 27.
  • a video RAM (not shown), GUI screen data to be displayed on the liquid crystal display 17 of the teach pendant 10 is temporarily stored.
  • the wireless LAN I / F 15 of the teach pendant 10 and the wireless LAN I / F 25 of the controller 20 constitute a network means including a wireless LAN.
  • communication between the wireless LAN I / Fs 15 and 25 is performed by communication packets.
  • the wireless LAN I / F 25 corresponds to a second communication unit.
  • the CPU 21 of the controller 20 corresponds to a setting unit including a first unit and a second unit, and a GUI program execution unit.
  • RDP Connection by Teach Pendant 10 As shown in FIG. 2, the CPU 11 of the teach pendant 10 detects the start of “RDP connection processing” by the operation of the keyboard 16 by the operator. Then, the CPU 11 executes the “connect” function in the connection / disconnection processing program 12d of the RDP client program 12a (S10). When the “connect” function is executed, the CPU 11 sends an “RDP connection request” to the controller 20 that is RDP connected via the wireless LAN I / F 15 of the teach pendant 10.
  • the controller 20 When the controller 20 receives the “RDP connection request” from the teach pendant 10, it executes the “connection” function in the connection / disconnection processing program 22e of the RDP host program 22b. Thus, when the “connection” function is executed, the CPU 21 refers to the content of the “RDP connection request” (S20), and if there is no problem with the content, the teach pendant is transmitted via the wireless LAN I / F 25 of the controller 20. 10 sends “RDP connection permission”.
  • the CPU 21 of the controller 20 performs a GUI program operation on a virtual work space (session) in the RAM 23.
  • This session is also shared for a teach pendant other than the teach pendant 10.
  • the controller 20 makes an RDP connection with the teach pendant 10
  • this session is exclusive to the teach pendant other than the teach pendant 10 connected with the RDP.
  • the work level “1”, the work level “2”, and the work level “3” are set in order from the lowest level to the highest level.
  • the work level “1” is a level for a beginner teaching the robot, and corresponds to the lowest level.
  • the work level “2” is a level for an advanced worker teaching the robot.
  • the work level “2” is a level at which the robot can teach that the beginner cannot teach.
  • the work level “3” is a level for the manager.
  • the work level “3” is a level at which the robot can be taught with respect to all items including contents that are not allowed for advanced workers.
  • the operator When changing to work level “2” and work level “3”, the operator is required to input a password corresponding to work level “2” and work level “3”. For example, the worker inputs “fghij” when changing to the work level “2”, and inputs “kimno” when changing to the work level “3”.
  • the password is not limited to these examples.
  • the number of work levels is limited to three, but may be changed to two, or four or more.
  • a password may be associated with each level.
  • the password corresponds to level instruction related data.
  • the work level parameter of the GUI program 22a is set to the lowest level in the initial state. For this reason, when the worker is a beginner, it is not necessary to change the work level of the GUI program 22a. Therefore, when the worker is a beginner, the worker is not required to input a password with the controller 20 connected to the teach pendant 10 by RDP. Therefore, the operator can perform teaching work by looking at the GUI screen displayed on the liquid crystal display 17 without inputting a password.
  • the controller 20 executes the GUI program with the work level set to the lowest level.
  • GUI screen data is generated and the GUI screen data is sent to the teach pendant 10.
  • the GUI screen is displayed on the liquid crystal display 17 of the teach pendant 10 based on the GUI screen data when the function of the GUI program is set to the lowest level.
  • teaching data for teaching the robot R is sent from the teach pendant 10 to the controller 20 by the operator.
  • the controller 20 controls the robot R based on the teaching data from the teach pendant 10.
  • the CPU 21 of the controller 20 receives a signal indicating the change of the work level from the teach pendant 10. Thereby, the CPU 21 detects that the worker having the teach pendant 10 has started “changing the work level”. Then, the CPU 21 executes the work level management program 22f of the GUI program 22a.
  • a function realized by executing the work level management program 22f is referred to as a “work level management” function.
  • FIG. 3 shows a flowchart of the work level management program 22f.
  • the CPU 21 realizing the “work level management” function detects that a password has been input by an operator having the teach pendant 10
  • the CPU 21 acquires the password (S50).
  • the CPU 21 collates the acquired password with the “password” stored in the hard disk 24 of the controller 20 (S60).
  • the CPU 21 sets the work level of the GUI program 22a based on the work level parameter associated with the password (S70).
  • the CPU 21 overwrites the newly set work level parameter on the work level parameter stored in the hard disk 24 and registers it.
  • the CPU 21 changes the usable range for the functions included in the GUI program 22a according to the overwritten work level parameter, and sends “work level change permission” to the teach pendant 10.
  • the CPU 11 of the teach pendant 10 receives “work level change permission” from the controller 20, the teach pendant 10 can operate the GUI program of the controller 20 by the RDP function.
  • the function of the GUI program 22a is changed according to the changed work level.
  • the GUI program 22a is executed within the changed function range.
  • GUI screen data is generated and the GUI screen data is sent to the teach pendant 10.
  • the GUI screen is displayed on the liquid crystal display 17 of the teach pendant 10 based on the GUI screen data in which the function of the GUI program is expanded.
  • teaching data for teaching the robot is sent from the teach pendant 10 to the controller 20 within the range provided by the GUI screen.
  • the controller 20 controls the robot R based on the teaching data from the teach pendant 10.
  • RDP connection disconnection processing will be described.
  • the CPU 11 of the teach pendant 10 detects that the “RDP cutting process” is started by the operation of the keyboard 16 by the operator. Then, as shown in FIG. 4, the CPU 11 executes a “disconnect” function in the connection / disconnection processing program 12d of the RDP client program 12a (S100). When the “disconnect” function is executed, the CPU 11 sends a “RDP disconnect request” from the teach pendant 10 to the controller 20 connected by RDP.
  • the controller 20 executes the “disconnect” function in the connection / disconnection processing program 22e of the RDP host program 22b.
  • the CPU 21 refers to the content of the “RDP disconnect request” (S110), and if there is no problem with the content, sends “RDP disconnect permission” to the teach pendant 10.
  • the teach pendant 10 receives “RDP disconnection permission”, the “disconnection of RDP connection” is completed.
  • the operator cannot operate the controller 20 from the teach pendant 10.
  • the work on the robot R of the operator of the teach pendant 10 is performed through the above four steps. Thereby, the work on the robot R is always started from the lowest work level. For this reason, it is possible to reliably avoid “occurrence of a dangerous situation due to an operator's operation error”, which is the first problem, which has been a conventional problem.
  • the controller 20 of the robot control system 30 includes a CPU 21 that sets a work level when a robot teaching GUI program is executed.
  • the controller 20 can include a session that is exclusively shared with a plurality of portable operation units.
  • the CPU 21 executes the GUI program 22a on the session with the teach pendant 10 connected to the controller 20, the CPU 21 generates GUI screen data according to the set work level.
  • the teach pendant 10 includes a keyboard 16 for inputting a password for specifying a work level when executing the robot teaching GUI program.
  • the teach pendant 10 includes a liquid crystal display 17 that displays a GUI screen based on GUI screen data for robot teaching.
  • the CPU 21 functions as a first means for setting the work level to the lowest level when communication with the teach pendant 10 is interrupted. Further, when the CPU 21 acquires a password from the teach pendant 10, the CPU 21 also functions as a second means for changing the work level of the GUI program 22a from the work level set to the lowest level based on the password.
  • the controller 20 includes a hard disk 24 that stores a password as level instruction related data and a work level parameter in association with each other. Further, when the CPU 21 obtains the password from the teach pendant 10, the CPU 21 sets the work level of the GUI program 22a according to the work level parameter stored in the hard disk 24 and associated with the password. As a result, the CPU 21 can execute the GUI program 22a whose function is expanded or restricted according to the worker who knows the password. Therefore, the work level of the GUI program 22a can be managed safely.
  • the work level of the GUI program 22a of the controller 20 is always lowered to the lowest level.
  • the work level of the GUI program 22a may be always lowered to the lowest level when the RDT connection between the teach pendant 10 and the controller 20 is established.
  • the controller 20 executes the GUI program 22a in S30. Reduce the working level to the lowest level. In this case, the process of S120 in the flowchart of FIG. 4 is omitted.
  • the work level of the GUI program 22a of the controller 20 is always lowered to the lowest level when the RDP connection between the teach pendant 10 and the controller 20 is established, the work level of the GUI program 22a can be managed safely. can do.
  • the same or similar components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the ROM 12 of the teach pendant 10 constituting the first embodiment stores the second work level management in addition to the RDP client program 12a for executing the operation and communication of the robot R from the teach pendant 10.
  • a program 12e is stored.
  • the hard disk 14 of the teach pendant 10 stores execution variables of various control programs used by the CPU 11, passwords set for each work level, current work level parameters when working with the teach pendant 10 alone, and the like. ing.
  • the work level mentioned here means the work level when working with the teach pendant 10 alone.
  • the hard disk 14 may be another rewritable storage device such as a semiconductor memory. In the second embodiment, the hard disk 14 corresponds to second storage means.
  • the work level of the program used when working with the teach pendant 10 alone is The work level of the GUI program.
  • the second work level when the worker works alone with the teach pendant 10 without being connected to the controller 20 by RDP can be changed according to whether or not a password is entered. .
  • the teach pendant 10 As a case where the teach pendant 10 is operated alone, there is a case where a new program is created using various programs stored in the ROM 12 in order to exhibit the personal computer function of the CPU 11.
  • the work level at that time that is, the second work level can be changed depending on the presence or absence of a password.
  • the CPU 21 of the controller 20 corresponds to a setting unit including a first unit and a third unit, and a GUI program execution unit.
  • the CPU 11 of the teach pendant 10 corresponds to program execution means
  • the liquid crystal display 17 corresponds to display means
  • the keyboard 16 corresponds to level instruction related data input means.
  • the CPU 11 of the teach pendant 10 detects that “change of the second work level” is started by the operation of the keyboard 16 by the operator. To do. Then, the CPU 11 executes the second work level management program 12e stored in the ROM 12 of the teach pendant 10. When the CPU 11 executing the second work level management program 12e detects that a password has been input by the worker, the CPU 11 acquires the password (S200). Then, the CPU 11 refers to the “password” stored in the hard disk 14 of the teach pendant 10 (S210).
  • the CPU 11 selects the “second work level” when working with the teach pendant 10 alone according to the “second work level” associated with the password. "Is set. Then, the CPU 11 overwrites the newly set second work level parameter on the second work level parameter stored in the hard disk 14 of the teach pendant 10 and registers it.
  • the second work level is set from the lowest level to the highest level in the order of the second work level “1”, the second work level “2”, and the second work level “3”.
  • the second work level “1” is a level when a beginner works with the teach pendant 10 alone, and corresponds to the lowest level.
  • the second work level “2” is a level when an advanced worker works with the teach pendant 10 alone and includes items that a beginner cannot work on.
  • the second work level “3” is a level for managers, and is a level at which not only items permitted for beginners and advanced workers but also all work including items not permitted for advanced workers can be performed. It is.
  • the worker When changing from the second work level “1” to the second work level “2” or the second work level “3”, the worker is given a second work level “2” and a second work level “3”. ”Is required to enter the password. For example, the worker inputs “fghij” when changing to the second work level “2”, and inputs “kimno” when changing to the second work level “3”.
  • the password is not limited to these examples. In the second embodiment, the number of second work levels is limited to three, but may be changed to two, or four or more. When changing the level, a password may be associated with each level.
  • the second work level parameter of various control programs when working with the teach pendant 10 alone is set to the lowest level in the initial state. For this reason, when the worker is a beginner, it is not necessary to change the second work level of the control program of the teach pendant 10.
  • the worker works by looking at the screen generated by the control program displayed on the liquid crystal display 17.
  • various control programs are executed in a state where the second work level is set to the lowest level.
  • the worker is not a beginner, that is, the advanced worker or the manager inputs a password from the keyboard 16 according to the requested second work level in order to change the work level.
  • RDP connection by the teach pendant 10 is substantially the same as the first embodiment except for the following points.
  • the teach pendant 10 receives “RDP connection permission” from the controller 20, and when the “RDP connection establishment” is completed, the operation of the GUI program 22 a of the controller 20 from the teach pendant 10 by the RDP function. Is not possible.
  • the “work level setting request” includes the current second work level parameter of the teach pendant 10 or a password associated with the current second work level. For this reason, when the password is input by the operator, the current second work level parameter or the password associated with the second work level parameter is sent from the teach pendant 10 to the controller 20. If the operator is a beginner, the current second work level parameter is sent from the teach pendant 10 to the controller 20 because no password has been entered. Instead of this, the current second work level parameter stored in the hard disk 14 may be sent to the controller 20 regardless of whether the operator is a beginner, an advanced operator, or an administrator.
  • the CPU 21 refers to the “work level setting request” from the teach pendant 10 in S250.
  • the CPU 21 acquires the password or the second work level parameter sent from the teach pendant 10, and obtains the acquired password or the second work level parameter and the “password” or “first work level parameter” stored in the hard disk 24. Are matched.
  • the relationship between the password stored in the hard disk 24 and the first work level parameter is associated in the same manner as the password from the teach pendant 10 and the second work level parameter. Further, since the second work level parameter is sent, the second work level parameter and the password (or the first work level parameter) stored in the hard disk 24 are associated with each other.
  • the CPU 21 determines the first work level of the GUI program 22a based on the first work level parameter associated with the password (or the first work level parameter associated with the second work level). Set. Then, the CPU 21 overwrites the newly set first work level parameter on the first work level parameter stored in the hard disk 24 of the controller 20, and registers it.
  • “no problem” means that when the acquired password matches the password stored in the hard disk 24, or there is a password (or first work level parameter) associated with the second work level parameter. This is the case.
  • the CPU 21 that executes the GUI program 22a changes the range of use restriction of the function included in the GUI program 22a according to the overwritten first work level parameter.
  • the second work level parameter and the password correspond to level instruction related data.
  • the first work level of the GUI program 22a is changed. That is, in the second embodiment, the first work level matches the second work level.
  • the CPU 21 sends “work level change permission” to the teach pendant 10.
  • the CPU 11 of the teach pendant 10 receives “work level change permission”, it performs a work level operation enabling process of the GUI program.
  • the GUI program operation of the controller 20 can be performed from the teach pendant 10 by the RDP function (S260).
  • the function of the GUI program 22a is expanded according to the newly set first work level, and the GUI program 22a is executed within the range of the expanded function. Thereby, GUI screen data is generated and the GUI screen data is sent to the teach pendant 10.
  • the GUI screen is displayed on the liquid crystal display 17 of the teach pendant 10 based on the GUI screen data in which the function of the GUI program is expanded.
  • teaching data for teaching the robot is sent from the teach pendant 10 to the controller 20 within the range provided by the GUI screen.
  • the controller 20 controls the robot R based on the teaching data from the teach pendant 10.
  • RDP cutting by the teach pendant 10 is the same as that in the first embodiment, and the description thereof is omitted (see FIG. 4). Further, after the completion of the RDP disconnection, the CPU 21 executes the work level management program 22f of the GUI program 22a as in the first embodiment. Then, the CPU 21 returns the work level parameter of the GUI program to the lowest level. Then, the CPU 21 overwrites the work level parameter stored in the hard disk 24 with the lowest level and registers it.
  • the teach pendant 10 is provided with the keyboard 16 for inputting the password regarding the 2nd work level of CPU11.
  • the CPU 11 executes the program at the second operation level based on the input of the password.
  • the CPU 21 of the controller 20 functions as a first means for setting the first work level to the lowest level when communication with the teach pendant 10 is interrupted.
  • the CPU 21 also functions as a third means for changing the second work level set to the lowest level based on the password or the second work level parameter when the password or the second work level parameter is acquired from the teach pendant 10. .
  • the CPU 21 matches the first work level of the GUI program 22 a with the second work level of the CPU 11 immediately before being connected to the teach pendant 10.
  • the worker can work by setting the first work level of the GUI program 22a to the same work level as the program executed by the teach pendant 10 alone.
  • a network is configured using a wireless LAN, but a wired LAN may be used instead of the wireless LAN.
  • the teach pendant 10 and a plurality of controllers may communicate wirelessly.
  • wireless transmission type non-wired communication means such as infrared communication, optical communication, or magnetic communication may be used.
  • the liquid crystal display 17 as a display unit may be changed to a plasma display, an organic EL display, or a CRT display.
  • the password is input as the level instruction related data.
  • a combination of numbers and symbols may be input.
  • the user ID of the worker may be level instruction related data associated with the work level parameter.
  • the first work level is matched with the second work level, but it is not always necessary to match, and the second work level and the first work level may be matched. In this case, it is changed to the first work level corresponding to the second work level.
  • the first work level when the communication between the teach pendant 10 and the controller 20 is interrupted, the first work level is returned to the lowest level, but instead, when the connection with the teach pendant 10 is completed, That is, after the “RDP connection permission” is sent from the controller 20 to the teach pendant 10, the first work level may be returned to the lowest level.

Abstract

L'invention porte sur un boîtier d'apprentissage (10) qui comprend : un clavier (16) par lequel un mot de passe est entré ; et un dispositif d'affichage à cristaux liquides (17) qui affiche un écran d'interface graphique. Le mot de passe est utilisé pour identifier un niveau de travail lors de l'exécution d'un programme d'interface graphique pour enseigner à un robot. Si une communication avec le boîtier d'apprentissage (10) est interrompue, une unité centrale (21) d'un dispositif de commande (20) définit le niveau de travail au niveau le plus bas. Lorsqu'un mot de passe est acquis à partir du boîtier d'apprentissage (10), l'unité centrale (21) modifie le niveau de travail du programme d'interface graphique (22a) qui était défini au niveau le plus bas, conformément au mot de passe.
PCT/JP2009/055153 2008-03-28 2009-03-17 Système de commande de robot WO2009119382A1 (fr)

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JP2008-087538 2008-03-28
JP2008087538 2008-03-28

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WO2009119382A1 true WO2009119382A1 (fr) 2009-10-01

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CN102126099A (zh) * 2011-03-16 2011-07-20 东南大学 一种用于焊接机器人的安全控制器及其控制方法
JP2014094436A (ja) * 2012-11-12 2014-05-22 Yaskawa Electric Corp ロボットシステム
CN111923046A (zh) * 2020-08-10 2020-11-13 东莞市李群自动化技术有限公司 一种上位机对下位机示教方法、存储介质、示教装置
CN112989296A (zh) * 2019-12-16 2021-06-18 电装波动株式会社 机器人操作终端
JP7424030B2 (ja) 2019-12-17 2024-01-30 株式会社デンソーウェーブ ロボットの動作ログデータ記録装置、及び動作ログデータ記録プログラム

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JP7283205B2 (ja) * 2019-04-25 2023-05-30 株式会社デンソーウェーブ ロボットシステム、及び操作権限設定プログラム

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JP2004355195A (ja) * 2003-05-28 2004-12-16 Yaskawa Electric Corp ロボット用教示操作装置
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JP2008059017A (ja) * 2006-08-29 2008-03-13 Daihen Corp ロボット制御システム
JP2008080475A (ja) * 2006-08-29 2008-04-10 Daihen Corp ロボット制御システム

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JP2004299049A (ja) * 2003-03-28 2004-10-28 Kuka Roboter Gmbh 複数のマニピュレータを制御するための方法および装置
JP2004355195A (ja) * 2003-05-28 2004-12-16 Yaskawa Electric Corp ロボット用教示操作装置
JP2005131747A (ja) * 2003-10-31 2005-05-26 Yaskawa Electric Corp ロボットシステム
JP2008059017A (ja) * 2006-08-29 2008-03-13 Daihen Corp ロボット制御システム
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126099A (zh) * 2011-03-16 2011-07-20 东南大学 一种用于焊接机器人的安全控制器及其控制方法
JP2014094436A (ja) * 2012-11-12 2014-05-22 Yaskawa Electric Corp ロボットシステム
CN112989296A (zh) * 2019-12-16 2021-06-18 电装波动株式会社 机器人操作终端
JP7424028B2 (ja) 2019-12-16 2024-01-30 株式会社デンソーウェーブ ロボット操作端末
JP7424030B2 (ja) 2019-12-17 2024-01-30 株式会社デンソーウェーブ ロボットの動作ログデータ記録装置、及び動作ログデータ記録プログラム
CN111923046A (zh) * 2020-08-10 2020-11-13 东莞市李群自动化技术有限公司 一种上位机对下位机示教方法、存储介质、示教装置
CN111923046B (zh) * 2020-08-10 2024-02-27 东莞市李群自动化技术有限公司 一种上位机对下位机示教方法、存储介质、示教装置

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