Robot control system

Abstract

A robot control system (1) comprises: a robot control device (5) which controls a robot (2); and two operating devices (6, 7) which are connected to the robot control device (5) and are used to manually operate the robot (2), each operating device (6, 7) having a request switch (6b, 7d), the request switch (6b, 7d) being able to switch between a request state for requesting the right to operate the robot (2) and a non-request state for not requesting the right to operate, the robot control device (5) being used to start granting the right to operate to one of the two operating devices (6, 7) only when the request switch of one of the two operating devices (6, 7) is in the request state and the request switch of the other is in the non-request state, allowing one to operate the robot (2) while the right to operate is granted to the other, and prohibiting the other from operating the robot (2), and continuing to grant the right to operate to the other until the request switch of the other changes to the non-request state.

Description

Technical Field

[0001] The invention relates to a robot control system. Background Art

[0002] Conventionally, there are known operating devices that are connected to a control device of an industrial machine such as a machine tool or a robot and manually operate the industrial machine (for example, see Patent Documents 1 to 4). Patent Documents 1 and 2 describe rotary dial type operating devices for machine tools, and Patent Documents 3 and 4 describe teaching pendants for robots.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2015 / 190193

[0006] Patent Document 2: Japanese Patent Application Publication No. 2014-038540

[0007] Patent Document 3: Japanese Patent Application Publication No. 2013-202732

[0008] Patent Document 4: Japanese Patent Application Publication No. 2007-152541 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] Generally, a robot control device includes a teaching pendant. When another operating device, such as a rotary dial type operating device, is added to the robot control device, there is a possibility that two operators may simultaneously operate the robot using their respective operating devices.

[0011] Solutions for solving problems

[0012] One scheme of the present disclosure is a robot control system, comprising: a robot control device, which controls a robot; a first operating device, which is connected to the robot control device and is used to manually operate the robot; and a second operating device, which is connected to the robot control device and is used to manually operate the robot, the first operating device and the second operating device respectively have a request switch, and the request switch can be switched between a request state for requesting the operating right of the robot and a non-request state for not requesting the operating right, and the robot control device is used to start granting the operating right to the first operating device only when the request switch of one of the first operating device and the second operating device is in the request state and the request switch of the other is in the non-request state, during the period when the operating right is granted to the first operating device, the first operating device is allowed to operate the robot and the other operating device is prohibited from operating the robot, and the operating right is continuously granted to the first operating device until the request switch of the first operating device is switched to the non-request state. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an overall configuration diagram of a system including a robot, a machine tool, a machine tool control device, and a robot control system.

[0014] Figure 2 is a block diagram of a system used in an example.

[0015] Figure 3 This is the front view of the robot operating panel.

[0016] Figure 4 This is a front view of the rotary dial type operating device.

[0017] Figure 5 This is a rear view of the rotary dial type operation device. DETAILED DESCRIPTION

[0018] Hereinafter, a robot control system according to an embodiment will be described with reference to the drawings.

[0019] like Figure 1 and Figure 2 As shown, the robot control system 1 is a part of the control system for controlling the robot 2 and the machine tool 3 that cooperate with each other. The control system includes a machine tool control device 4 that controls the machine tool 3, and the robot control system 1. The robot control system 1 includes a robot control device 5 that controls the robot 2 and two operating devices 6 and 7 for manually operating the robot 2 or the machine tool 3.

[0020] The robot 2 is an industrial robot of any type that is arranged outside the machine tool 3 and performs operations by the operation of the driving unit 2a. For example, the robot 2 is a vertical multi-joint robot, and the driving unit 2a is a servo motor provided at each joint. For example, the robot 2 supplies a workpiece to the machine tool 3 and removes a workpiece from the machine tool 3. The machine tool 3 processes the workpiece by the operation of the driving unit 3a. The driving unit 3a is, for example, a rotary motor that rotates the tool and a feed motor that moves the tool and the workpiece relative to each other.

[0021] The two controllers 4 and 5 are connected to each other via a communication network such as Ethernet (registered trademark) so as to be able to communicate with each other, and transmit and receive signals to each other using a communication protocol such as FL-net.

[0022] The first operating device 6 is a movable robot operating panel capable of operating only the robot 2 , and is connected to the robot control device 5 .

[0023] The second operating device 7 is a movable rotary dial type operating device capable of operating the robot 2 and the machine tool 3. The control devices 4 and 5 respectively have connectors 4a and 5a for the rotary dial type operating device 7, and the rotary dial type operating device 7 is connected to either of the two control devices 4 and 5. That is, the rotary dial type operating device 7 is directly connected to the robot control device 5, or is indirectly connected to the robot control device 5 via the machine tool control device 4 and the communication network.

[0024] The control system further includes operation object setting units 8 and 9 for setting the operation object of the rotary dial type operation device 7. The operation object setting units 8 and 9 are operated by the operator and selectively set the operation object to the robot 2 and the machine tool 3 according to the operator's operation.

[0025] Examples of the operation object setting parts 8 and 9 are touch buttons displayed on the setting screen of the operation panel of the control device 4 and 5, or hardware keys provided on the operation panel. The operation object setting part 8 may also be provided on the robot operation panel 6. Another example of the operation object setting parts 8 and 9 is an external device connected to the control device 4 and 5, such as a programmable logic controller (PLC) or a switch, and a signal indicating the set operation object may also be input to the control device 4 and 5 from the external device.

[0026] The operation object is set by either of the two operation object setting units 8 and 9. For example, when the rotary dial type operation device 7 is connected to the robot control device 5, only the operation object setting unit 8 on the robot control device 5 side functions, and when the rotary dial type operation device 7 is connected to the machine tool control device 4, only the operation object setting unit 9 on the machine tool control device 4 side functions.

[0027] like Figure 3 As shown, the robot operating panel 6 includes a frame 6a held by the operator's hand and a request switch 6b provided on the frame 6a. The request switch 6b can switch between a request state for requesting the operating right of the robot 2 and a non-request state for not requesting the operating right. For example, the request switch 6b is in a request state when ON and in a non-request state when OFF. An operation screen 6c, a plurality of operation keys 6d, a plurality of numeric keys 6e, an emergency stop switch 6f and an enable switch (not shown) are also provided on the frame 6a. Only when the enable switch is pressed, the operation of the operation object by the robot operating panel 6 is effective. The robot operating panel 6 generates an operation signal indicating the state of the switches 6b, 6f and the operation of the keys 6d, 6e, and inputs the operation signal into the robot control device 5.

[0028] like Figure 4 and Figure 5 As shown, the rotary dial type operating device 7 includes a frame 7a to be grasped by an operator's hand, a pulse handle 7b provided on the frame 7a, and a plurality of switches 7c, 7d, 7e, and 7f.

[0029] The pulse handle 7b is a rotary dial that can be rotated in two directions and is operated by the operator. The rotary dial type operating device 7 is a manual pulse generating device, which generates pulses corresponding to the rotation amount and rotation direction of the pulse handle 7b by using a pulse generating unit (not shown) in the frame 7a. The greater the rotation amount, the greater the number of pulses generated. The action of a predetermined operating part of the robot 2 or the machine tool 3 is controlled by pulses, and the action amount, action speed and action direction of the operating part are respectively specified according to the rotation amount, rotation speed and rotation direction of the pulse handle 7b. The operating part of the machine tool 3 is, for example, the front end of the tool, and the operating part of the robot 2 is, for example, the front end of the tool connected to the front end of the arm.

[0030] The axis selection switch 7c is used to switch the axis that causes the operating part to move among multiple axes. In one example, the axis can be switched between three mutually orthogonal direct-acting axes and three rotation axes, a total of six axes. The operating part moves in the direction along the selected direct-acting axis, or rotates around the selected rotation axis.

[0031] The magnification selection switch 7d is a switch for switching the magnification of the amount of movement of the operating part of each pulse. In one example, the magnification can be switched between OFF (i.e., 0 times), 1 times, 10 times, 100 times, and 1000 times. The pulse generated by the rotation of the pulse handle 7b is multiplied by the magnification set by the magnification selection switch 7d. Therefore, the larger the magnification, the larger the amount of movement of the operating part per unit rotation amount of the pulse handle 7b. When the magnification is set to OFF, the operation object cannot be operated regardless of the rotation operation of the pulse handle 7b.

[0032] The magnification selection switch 7d is also a request switch that can be switched between a request state for requesting the operation right and a non-request state for not requesting the operation right. That is, the magnification selection switch 7d is in the non-request state when the magnification is OFF, and is in the request state when the magnification is other than OFF.

[0033] The enabling switch 7e is used to switch between valid and invalid operation of the operation object by the rotary dial type operating device 7. The enabling switch 7e is a push-button switch like a three-position switch, and is provided at a position pressed by the hand holding the frame 7a. Only when the enabling switch 7e is pressed, the operation of the operation object by the rotary dial type operating device 7 becomes valid.

[0034] The emergency stop switch 7f generates an emergency stop signal for stopping the operation object.

[0035] The rotary dial operating device 7 generates an operating signal and inputs the operating signal to the control device 4 or 5 connected to the rotary dial operating device 7. The operating signal includes a pulse generated by the rotation of the pulse handle 7b and a signal indicating the status of switches 7c, 7d, 7e, and 7f.

[0036] like Figure 2 As shown, the robot control device 5 includes receiving units 51a, 51b, a signal processing unit 52, an operation right setting unit 53, a target position calculation unit 54, a drive instruction conversion unit 55, and a sending unit 56. The robot control device 5 has a processor and a memory, and the signal processing unit 52, the operation right setting unit 53, the target position calculation unit 54, and the drive instruction conversion unit 55 are implemented by the processor.

[0037] The signal processing unit 52 receives the operation signal from the rotary dial type operation device 7 via the connector 5a and the receiving unit 51a, receives the information of the set operation object from the operation object setting unit 8, and transmits the operation signal to either the operation right setting unit 53 or the transmitting unit 56 according to the set operation object. Specifically, the signal processing unit 52 transmits the operation signal to the operation right setting unit 53 when the operation object is set to the robot 2, and transmits the operation signal to the transmitting unit 56 when the operation object is set to the machine tool 3. The transmitting unit 56 transmits the transmitted operation signal to the receiving unit 41 of the machine tool control device 4 via the communication network at regular intervals.

[0038] Furthermore, the signal processing unit 52 receives an operation signal from the machine tool control device 4 via the receiving unit 51 a , and transmits the operation signal to the operation right setting unit 53 .

[0039] The operation right setting unit 53 receives an operation signal from the robot operation panel 6 via the receiving unit 51b, and receives an operation signal from the rotary dial type operating device 7 from the signal processing unit 52. Each operation signal also includes a signal indicating the state of the request switch 6b or 7d. The operation right setting unit 53 assigns the operation right of the robot 2 to either the robot operation panel 6 or the rotary dial type operating device 7 according to the state of the two request switches 6b and 7d, and switches the operation right between the robot operation panel 6 and the rotary dial type operating device 7 according to the change in the state of the request switches 6b and 7d.

[0040] Specifically, the operation right setting unit 53 starts granting the operation right to the robot operating panel 6 only when the request switch 6b is in the request state and the request switch 7d is in the non-request state. In addition, the operation right setting unit 53 starts granting the operation right to the rotary dial type operating device 7 only when the request switch 6b is in the non-request state and the request switch 7d is in the request state.

[0041] The operation right setting unit 53 allows operation of the robot 2 by one of the robot operation panel 6 and the rotary dial type operating device 7, and prohibits operation of the robot 2 by the other while the operation right is granted to one of the robot operation panel 6 and the rotary dial type operating device 7. For example, the operation right setting unit 53 receives an operation signal only from the one of the robot operation panel 6 and the rotary dial type operating device 7 to which the operation right is granted, and sends the received operation signal to the target position calculation unit 54.

[0042] Once the operation right setting unit 53 grants the operation right to one of the operating devices 6 and 7, the operation right will continue to be granted to one of the operating devices 6 and 7, regardless of how the state of the request switch of the other operating device 6 and 7 changes, until the request switch of one of the operating devices 6 and 7 is switched to the non-request state. That is, even if the request switch 7d is switched to the request state during the period when the operation right is granted to the robot operating panel 6, the operation right will not be transferred to the rotary dial type operating device 7, but will continue to be granted to the robot operating panel 6, and the robot operating panel 6 will continue to operate the robot 2. Similarly, even if the request switch 6b is switched to the request state during the period when the operation right is granted to the rotary dial type operating device 7, the operation right will not be transferred to the robot operating panel 6, but will continue to be granted to the rotary dial type operating device 7, and the rotary dial type operating device 7 will continue to operate the robot 2.

[0043] The target position calculation unit 54 calculates the target position of the operating part of the robot 2 based on the operation signal. Specifically, the movement amount per pulse of the operating part of the robot 2 is preset for each axis. The target position calculation unit 54 samples the number of pulses generated by the pulse generation unit at a predetermined time interval, and calculates the number of pulses by multiplying the number of sampled pulses by the magnification set by the magnification selection switch 7d. The target position calculation unit 54 calculates the target position when the operating part is moved from the current position along the linear axis selected by the axis selection switch 7c or around the rotation axis by the movement amount corresponding to the calculated number of pulses.

[0044] The drive command conversion unit 55 calculates a drive command signal for causing the operating part to move toward the target position by the drive unit 2a based on the target position calculated by the target position calculation unit 54, and sends the drive command signal to the drive unit 2a. The drive unit 2a moves according to the drive command signal, and the operating part moves toward the target position along the selected linear axis or around the rotation axis according to the rotation amount and rotation direction of the pulse handle 7b.

[0045] like Figure 2 As shown, the machine tool control device 4 includes a receiving unit 41, a signal processing unit 42, a target position calculation unit 43, a drive instruction conversion unit 44, and a sending unit 45. The machine tool control device 4 includes a processor and a storage device, and the signal processing unit 42, the target position calculation unit 43, and the drive instruction conversion unit 44 are implemented by the processor.

[0046] The signal processing unit 42 transmits the operation signal received from the rotary dial type operating device 7 via the connector 4a and the receiving unit 41 to either the target position calculating unit 43 or the transmitting unit 45 according to the operation object set by the operation object setting unit 9. Specifically, the signal processing unit 42 transmits the operation signal to the target position calculating unit 43 when the operation object is set to the machine tool 3, and transmits the operation signal to the transmitting unit 45 when the operation object is set to the robot 2. The transmitting unit 45 is connected to the receiving unit 51a of the robot control device 5 via the communication network, and transmits the transmitted operation signal to the receiving unit 51a at regular intervals.

[0047] Furthermore, the signal processing unit 42 transmits the operation signal received from the robot control device 5 via the receiving unit 41 to the target position calculating unit 43 .

[0048] The target position calculation unit 43 calculates the target position of the operating part of the machine tool 3 based on the operation signal. Specifically, the movement amount per pulse of the operating part of the machine tool 3 is preset for each axis. The target position calculation unit 43 samples the number of pulses generated by the pulse generation unit at a predetermined time interval, and calculates the number of pulses by multiplying the number of sampled pulses by the magnification set by the magnification selection switch 7d. The target position calculation unit 43 calculates the target position when the operating part is moved from the current position along the linear axis selected by the axis selection switch 7c or around the rotation axis by the movement amount corresponding to the calculated number of pulses.

[0049] The drive command conversion unit 44 calculates a drive command signal for causing the operating part to move toward the target position by the drive unit 3a based on the target position calculated by the target position calculation unit 43, and sends the drive command signal to the drive unit 3a. The drive unit 3a operates according to the drive command signal, and the operating part moves toward the target position along the selected linear axis or around the rotation axis according to the rotation amount and rotation direction of the pulse handle 7b.

[0050] Next, the robot control system 1 and the operation of the control system will be described.

[0051] When the operator wishes to use the rotary dial type operating device 7 connected to the robot control device 5 to perform fine movement operation on the robot 2, the operator switches the request switch 6b of the robot operating panel 6 to the non-request state and switches the request switch 7d of the rotary dial type operating device 7 to a position other than the request state, i.e., OFF. The robot operating panel 6 and the rotary dial type operating device 7 transmit operation signals indicating the states of the request switches 6b and 7d to the robot control device 5, and the operation right setting unit 53 grants the operation right to the rotary dial type operating device 7.

[0052] Next, the operator sets the operation object to the robot 2 by operating the operation object setting unit 8, selects a desired axis and a desired magnification by operating the switches 7c and 7d, and presses the enable switch 7e with the hand holding the frame 7a. An operation signal indicating the selected operation object, magnification, axis, and pressing of the enable switch 7e is transmitted from the rotary dial type operation device 7 to the robot control device 5.

[0053] Next, the operator rotates the pulse handle 7 b in a desired direction and by a desired amount. An operation signal including a pulse generated by the rotation of the pulse handle 7 b is transmitted from the rotary dial type operation device 7 to the robot control device 5 .

[0054] In the robot control device 5, an operation signal is input from the receiving unit 51a to the signal processing unit 52. Since the operation object is set to the robot 2 and the operation right is given to the rotary dial type operation device 7, the operation signal is transmitted from the signal processing unit 52 to the operation right setting unit 53 and to the target position calculation unit 54. Then, in the target position calculation unit 54, the target position of the operation part of the robot 2 is calculated based on the operation signal, and in the drive command conversion unit 55, a drive command signal for causing the operation part of the robot 2 to move to the target position is calculated. The drive command signal is sent from the robot control device 5 to the drive unit 2a of the robot 2. As the drive unit 2a operates according to the drive command signal, the operation part of the robot 2 moves to the target position in the direction along the selected linear axis or rotates to the target position around the selected rotation axis.

[0055] Here, even if the robot operating panel 6 is operated and an operating signal is input from the robot operating panel 6 to the robot control device 5 , the robot 2 does not operate according to the operation of the robot operating panel 6 because the operation right setting unit 53 prohibits the robot 2 from being operated.

[0056] When another operator wants to use the robot operating panel 6 to operate the robot 2, the other operator switches the request switch 6b to the request state and waits for the request switch 7d to switch to the non-request state. When the request switch 7d is switched to the non-request state, the operation right is transferred from the rotary dial type operating device 7 to the robot operating panel 6, and the robot 2 can be operated using the robot operating panel 6.

[0057] When the operator wants to manually perform micro-operation on the machine tool 3, the operator sets the operation object to the machine tool 3 by operating the operation object setting unit 8, and then, in the same way as when performing micro-operation on the robot 2, the operator selects the desired axis and the desired magnification by operating the switches 7c and 7d, and presses the enabling switch 7e with the hand holding the frame 7a to rotate the pulse handle 7b in the desired direction and by the desired amount. Thus, the operation signal is sent from the rotary dial type operating device 7 to the robot control device 5.

[0058] In the robot control device 5, an operation signal is input from the receiving unit 51a to the signal processing unit 52. Since the operation object is set to the machine tool 3, the operation signal is transmitted from the signal processing unit 52 to the transmitting unit 56, and then transmitted from the transmitting unit 56 to the machine tool control device 4. In the machine tool control device 4, the operation signal is transmitted from the receiving unit 41 to the target position calculation unit 43 via the signal processing unit 42. Then, in the target position calculation unit 43, the target position of the operating part of the machine tool 3 is calculated based on the operation signal, and in the drive command conversion unit 44, a drive command signal for causing the operating part of the machine tool 3 to move to the target position is calculated. The drive command signal is transmitted from the machine tool control device 4 to the drive unit 3a of the machine tool 3. As the drive unit 3a operates according to the drive command signal, the operating part of the machine tool 3 moves to the target position in the direction along the selected linear axis, or rotates to the target position around the selected rotation axis.

[0059] When the operator wishes to use the robot operating panel 6 to perform fine movement operation on the robot 2, the operator switches the request switch 7d of the rotary dial type operating device 7 to the non-request state, i.e., OFF, and switches the request switch 6b of the robot operating panel 6 to the request state. The robot operating panel 6 and the rotary dial type operating device 7 transmit operation signals indicating the states of the request switches 6b and 7d to the robot control device 5, and the operation right setting unit 53 switches the operation right from the rotary dial type operating device 7 to the robot operating panel 6.

[0060] Next, the operator can perform fine movement operation on the robot 2 or set control parameters by pressing the operation key 6 d or the numeric key 6 e while pressing the enable switch.

[0061] Here, even if the rotary dial operating device 7 is operated and an operating signal is input from the rotary dial operating device 7 to the robot control device 5, since the operating right setting unit 53 prohibits the rotary dial operating device 7 from operating the robot 2, the operating robot 2 will not act according to the operation of the rotary dial operating device 7.

[0062] When another operator wants to operate the robot 2 using the rotary dial type operating device 7, the other operator switches the request switch 7d to the request state and waits for the request switch 6b to switch to the non-request state. When the request switch 6b is switched to the non-request state, the operating right is transferred from the robot operating panel 6 to the rotary dial type operating device 7, and the robot 2 can be operated using the rotary dial type operating device 7.

[0063] Thus, according to the present embodiment, once the operation right is granted to the rotary operating device 7, the rotary dial operating device 7 continues to have the operation right until the request switch 7d is switched to the non-request state. During the period when the rotary dial operating device 7 has the operation right, the operation of the robot 2 by the robot operating panel 6 is prohibited by the robot control device 5. In addition, even if the request switch 6b is switched to the request state or the enable switch of the robot operating panel 6 is pressed, the rotary dial operating device 7 will not be deprived of the operation right by the robot operating panel 6 or will not be able to operate the robot 2. Therefore, the operator can continue to operate the robot 2 exclusively using the rotary dial operating device 7 until the request switch 7d is switched to the non-request state.

[0064] Similarly, once the operation right is granted to the robot operating panel 6, the robot operating panel 6 continues to have the operation right until the request switch 6b is switched to the non-request state. During the period when the robot operating panel 6 has the operation right, the operation of the robot 2 by the rotary dial type operating device 7 is prohibited by the robot control device 5. In addition, even if the request switch 7d is switched to the request state or the enable switch 7e of the rotary dial type operating device 7 is pressed, the robot operating panel 6 will not be deprived of the operation right by the rotary dial type operating device 7 or the operation of the robot 2 will not be made impossible. Therefore, the operator can continue to operate the robot 2 exclusively using the robot operating panel 6 until the request switch 6b is switched to the non-request state.

[0065] In addition, according to the present embodiment, it is prevented that the robot 2 is operated simultaneously using the two operating devices 6 and 7. Furthermore, it is prevented that, while an operator is operating the robot 2 using one of the operating devices 6 and 7, for example, another operator operates the other operating device 6 and 7, thereby preventing the operating right from being taken away by the other operating device.

[0066] If another operator can operate the robot 2 using the robot operating panel 6 while the operator is operating the robot 2 using the rotary dial type operating device 7, the robot 2 may perform an unexpected action different from the expected action for the operator of the rotary dial type operating device 7. This embodiment can prevent this from happening.

[0067] In addition, when an operating device dedicated to the machine tool 3 is provided instead of the operating device 7 used for both the robot 2 and the machine tool 3, the operator needs to learn how to use both the operating device 6 dedicated to the robot 2 and the operating device dedicated to the machine tool 3. In particular, for an operator who has handled the robot 2 until now, newly learning how to operate the machine tool 3 is a great burden, and similarly, for an operator who has handled the machine tool 3 until now, newly learning how to operate the robot 2 is a great burden. According to the present embodiment, the operator can easily master the method of micro-operation of both the robot 2 and the machine tool 3 by learning how to use the operating device 7.

[0068] In this embodiment, the robot operating panel 6 may further include a notification unit that notifies the operator whether the robot operating panel 6 is granted the operating right. Similarly, the rotary dial type operating device 7 may also include a notification unit that notifies the operator whether the rotary dial type operating device 7 is granted the operating right.

[0069] In this case, when the operating right is granted or not granted to the rotary dial operating device 7, the operating right setting unit 53 transmits a signal to the rotary dial operating device 7 via a transmitting unit (not shown) connected to the rotary dial operating device 7. The notifying unit of the rotary dial operating device 7 notifies the operator in response to the signal.

[0070] Furthermore, the operation right setting unit 53 transmits a signal to the robot operating panel 6 via a transmission unit (not shown) connected to the robot operating panel 6 when the operation right is granted or not granted to the robot operating panel 6. The notification unit of the robot operating panel 6 notifies the operator in response to the signal.

[0071] An example of the notification unit of the robot operating panel 6 is an operation screen 6c that displays whether the operation right is granted. Another example of the notification unit of the robot operating panel 6 is an LED lamp that lights up or flashes to notify that the robot operating panel 6 has been granted the operation right.

[0072] An example of the notification unit of the rotary dial type operating device 7 is, for example, an LED lamp 7g which lights up or flashes to notify that the rotary dial type operating device 7 is given the operating right.

[0073] In the present embodiment, the magnification selection switch 7 d is provided to function as a request switch, but instead, a request switch of any type may be provided separately from the magnification selection switch 7 d on the rotary dial type operating device 7 .

[0074] In the present embodiment, the second operating device 7 is configured to be connectable to the machine tool control device 4 and the robot control device 5, but instead, it may be connectable to only one of the machine tool control device 4 and the robot control device 5. That is, the machine tool control device 4 may not have the connector 4a, or the robot control device 5 may not have the connector 5a.

[0075] In the present embodiment, the rotary dial type operating device 7 is provided so as to be able to operate the robot 2 and the machine tool 3 , but instead, only the robot 2 may be able to be operated.

[0076] In the present embodiment, the robot control system 1 is configured as a part of the control system including the machine tool control device 4 , but instead, the robot control system 1 may be implemented alone.

[0077] In this embodiment, the first operating device 6 is a robot operating panel, and the second operating device 7 is a rotary dial operating device, but the specific form of each operating device 6, 7 is not limited to this, and can be any type of manual operating device that can perform manual operation of the robot 2.

[0078] Description of reference numerals:

[0079] 1: Robot control system

[0080] 2: Robot

[0081] 3: Machine tools

[0082] 4: Machine tool control device

[0083] 5: Robot control device

[0084] 6: First operating device, robot operating panel

[0085] 7: Second operating device, rotary dial type operating device

[0086] 6b, 7d: Request switch

[0087] 6c: Notification section, operation screen

[0088] 7g: Notification unit, LED light

Claims

1. A robot control system, characterized in that: have: a robot control device, which controls the robot; A first operating device, connected to the robot control device, for manually operating the robot; and A second operating device, connected to the robot control device, is used to manually operate the robot. The first operating device and the second operating device each have a request switch, and the request switch can be switched between a request state for requesting the right to operate the robot and a non-request state for not requesting the right to operate the robot. The robot control device is used to: Only when the request switch of one of the first operating device and the second operating device is in the request state and the request switch of the other is in the non-request state, the operation right is granted to the first operating device, During the period in which the operation right is granted to the one, the one is allowed to operate the robot, and the other is prohibited from operating the robot, The operation right is continuously granted to the one until the request switch of the one is switched to the non-request state.

2. The robot control system according to claim 1, characterized in that: The robot control device is connected to a machine tool control device for controlling the machine tool in a communicative manner, The first operating device is a robot operating panel capable of operating only the robot. The second operating device is a rotary dial type operating device capable of operating the robot and the machine tool.

3. The robot control system according to claim 1 or 2, characterized in that: The first operating device includes a notification unit configured to notify an operator whether the operating right is granted to the first operating device.

4. The robot control system according to claim 1 or 2, characterized in that: The second operating device includes a notification unit configured to notify an operator whether the operating right is granted to the second operating device.

5. The robot control system according to claim 3, characterized in that: The second operating device includes a notification unit configured to notify an operator whether the operating right is granted to the second operating device.

6. The robot control system according to claim 3, characterized in that: The notification unit is a lamp or an operation screen.

7. The robot control system according to claim 4, characterized in that: The notification unit is a lamp or an operation screen.

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