Device, teaching device and method for setting safety parameters

Abstract

In the past, when an operator with expertise needs to set safety parameters for safety functions one by one from the beginning, there is a demand for simplifying the setting work of such safety parameters. An apparatus (70) is provided with: a parameter setting section (66) that sets a safety parameter for ensuring safety of work of an industrial machine (36); a storage section (52) that stores a sample of a safety parameter prepared in advance; an input reception section (62) that receives an input for selecting a sample stored in the storage section (52); and an import section (68) that reads out the selected sample from the storage section (52) and inputs it to the parameter setting section (66), the parameter setting section (66) setting the imported sample as a new safety parameter.

Description

Technical Field

[0001] This disclosure relates to apparatus, teaching apparatus, and methods for setting safety parameters. Background Technology

[0002] Systems equipped with safety functions to ensure the safety of robot operations are known (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-157462 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Previously, when building new mechanical systems, skilled operators had to manually set each safety parameter for safety functions from the very beginning. There is a need to simplify this process of setting safety parameters.

[0008] Methods for solving problems

[0009] In one embodiment of this disclosure, the device includes: a parameter setting unit for setting safety parameters to ensure the safe operation of the machinery; a storage unit for storing a sample of pre-prepared safety parameters; an input receiving unit for receiving inputs for selecting a sample stored in the storage unit; and an import unit for reading the sample selected by the input receiving unit from the storage unit and importing it into the parameter setting unit. The parameter setting unit sets the imported sample as a new safety parameter.

[0010] In one aspect of this disclosure, in a method for setting safety parameters to ensure the safety of machine operation, a sample of pre-prepared safety parameters is stored in a storage unit, a processor executes a function to set safety parameters, accepts input for selecting a sample stored in the storage unit, reads the sample selected by the input from the storage unit and imports it into the function, and sets the imported sample as a new safety parameter.

[0011] Invention Effects

[0012] According to this disclosure, the operator can easily construct a framework of safety parameters for the machine simply by selecting desired parameters from a pre-prepared sample based on the actual machine. Therefore, compared to conventional methods that require setting safety parameters one by one from the beginning, the work required for setting safety parameters is significantly simplified. Attached Figure Description

[0013] Figure 1 This is a diagram of a mechanical system implemented in one way.

[0014] Figure 2 yes Figure 1 The diagram shows a block diagram of the mechanical system.

[0015] Figure 3 An example of a restricted area.

[0016] Figure 4 Other examples of restricted areas.

[0017] Figure 5 This represents an example of multiple restricted regions stored in a composite sample.

[0018] Figure 6 This represents an example of selecting images from a sample set.

[0019] Figure 7 This represents an example of a sample selection image.

[0020] Figure 8 This is an example of a sample illustration image.

[0021] Figure 9 This represents an example of importing a sample image.

[0022] Figure 10 This represents an example of a sample image being adjusted.

[0023] Figure 11 Other examples of images illustrating sample descriptions.

[0024] Figure 12 Other examples of importing images into samples.

[0025] Figure 13 Other examples of sample-adjusted images.

[0026] Figure 14 This is another example of a sample image being adjusted.

[0027] Figure 15 This is another example of a sample image being adjusted.

[0028] Figure 16 This represents an example of a sample list image.

[0029] Figure 17 This is a diagram of a network system implemented in one way. Detailed Implementation

[0030] Hereinafter, embodiments of the present disclosure will be described in detail based on the accompanying drawings. Furthermore, in the various embodiments described below, the same elements will be labeled with the same reference numerals, and repeated descriptions will be omitted. First, refer to... Figure 1 as well as Figure 2The mechanical system 10 of one embodiment will be described. The mechanical system 10 performs a prescribed operation (workpiece handling, machining, welding, etc.) on the workpiece.

[0031] Specifically, the mechanical system 10 includes a robot 12, peripheral devices 14, a control device 16, and a teaching device 18. In this embodiment, the robot 12 is a vertical joint robot, having a robot base 20, a rotating body 22, a lower arm 24, an upper arm 26, a wrist 28, and an end effector 30.

[0032] The robot base 20 is fixed to the floor of the work unit. The rotating body 22 is mounted on the robot base 20 so as to be rotatable about a vertical axis. The lower arm 24 is mounted on the rotating body 22 so as to be rotatable about a horizontal axis. The upper arm 26 is rotatably mounted on the front end of the lower arm 24. The wrist 28 is rotatably mounted on the front end of the upper arm 26.

[0033] The end effector 30 can be detachably mounted on the front end (so-called wrist flange) of the wrist 28. The end effector 30 is, for example, a robot hand capable of holding a workpiece, a welding torch or welding gun for welding a workpiece, or a tool for processing a workpiece, and performs operations on the workpiece (workpiece handling, welding, processing).

[0034] Multiple servo motors (not shown) are respectively provided on the robot base 20, the rotating body 22, the lower arm 24, the upper arm 26 and the wrist 28. These servo motors rotate the movable elements of the robot 12 (i.e., the rotating body 22, the lower arm 24, the upper arm 26 and the wrist 28) according to the instructions from the control device 16, thereby causing the end effector 30 to move to any position.

[0035] A robot coordinate system C is established in robot 12. The robot coordinate system C is a coordinate system used for the automatic control of the various movable elements of robot 12. In this embodiment, the robot coordinate system C is set in robot 12 with its origin located at the center of robot base 20 and its z-axis aligned with the rotation axis of rotating body 22.

[0036] Peripheral devices 14 are arranged around the robot 12. Peripheral devices 14 are, for example, a conveyor that moves a workpiece in one direction, or a worktable that moves the workpiece in the xy plane of the robot coordinate system C. The worktable has a base 32 fixed to the work unit, a movable part 34 movably disposed on the base 32, and a servo motor (not shown) that drives the movable part 34.

[0037] Peripheral device 14 drives servo motors according to instructions from control device 16, thereby moving movable part 34 to perform tasks on the workpiece that are different from those of robot 12 (workpiece handling, etc.). In this way, robot 12 and peripheral device 14 cooperate to perform tasks on the workpiece. Therefore, robot 12 and peripheral device 14 constitute a machine 36 (specifically, industrial machinery) for performing tasks on the workpiece.

[0038] The control device 16 controls the movement of the machinery 36 (robot 12 and peripheral devices 14). Specifically, the control device 16 is a computer with a processor (CPU, GPU, etc.) and storage (ROM, RAM, etc.). The processor of the control device 16 generates instructions for each servo motor of the machinery 36 (robot 12 and peripheral devices 14) according to the operation program OP, so that the machinery 36 moves.

[0039] The operation of the teaching device 18 and the teaching machine 36. Specifically, such as... Figure 2 As shown, the teaching device 18 is a computer having a processor 50, a storage unit 52, an I / O interface 54, an input device 56, and a display device 58. The processor 50 has a CPU or GPU, etc., and is communicatively connected to the storage unit 52, the I / O interface 54, the input device 56, and the display device 58 via a bus 60, communicates with these components, and performs calculations for setting security parameters described later.

[0040] The storage unit 52 has RAM or ROM, etc., which temporarily or permanently stores various data used in the arithmetic processing performed by the processor 50, as well as various data generated during the arithmetic processing. The I / O interface 54 has, for example, an Ethernet port, a USB port, a fiber optic connector, or an HDMI terminal, and communicates with external devices via wired or wireless means under the instruction from the processor 50.

[0041] In this embodiment, the control device 16 is communicatively connected to the I / O interface 54. The input device 56 includes buttons, a keyboard, a mouse, or a touch panel, etc., to receive data input from the operator. The display device 58 includes a liquid crystal display or an organic EL display, etc., to display various data in a visually readable manner.

[0042] Here, when machine 36 performs a task, in order to ensure the safety of the task, safety functions that restrict the movement of machine 36 (e.g., robot 12) are sometimes implemented. For such safety functions, safety parameters SP are set for machine 36. Safety parameters SP have limiting parameters RP that determine the limiting area RE and limiting speed V of machine 36 (e.g., robot 12), as well as model data MD of machine 36 (robot 12).

[0043] The following is for reference Figure 3 as well as Figure 4 The limiting parameter RP is explained. Figure 3 This indicates a restricted area RE1 that the robot 12 is permitted to enter during operation. With the restricted area RE1 set for the robot 12, the robot 12 is allowed to move the part designated as the object of monitoring (e.g., the end effector 30) inside the restricted area RE1, but is prohibited from moving outside the restricted area RE1. Suppose that during operation, the robot 12 moves the part of the object of monitoring outside the restricted area RE1, the control device 16 causes the robot 12 to stop abruptly.

[0044] Alternatively, when the robot 12 moves the part of the monitored object to the outside of the restricted area RE1 during operation, the control device 16 may reduce the movement speed V of the robot 12 (specifically, the part of the monitored object) from the normal speed V0 determined as the required value during operation to a lower restricted speed V1 (<V0), and cause the part of the monitored object to retreat along the prescribed retreat path PT.

[0045] Figure 4 This indicates a restricted area RE2 where robot 12 is prohibited from entering during operation. When a restricted area RE2 is set for robot 12, robot 12 is prohibited from moving the monitored object's part inward into the restricted area RE2, but is allowed to move outward from the restricted area RE2.

[0046] If, during operation, robot 12 moves the monitored object's part inward toward the restricted area RE2, control device 16 causes robot 12 to stop abruptly, or reduces robot 12's movement speed V from its normal speed V0 to a limited speed V1 and causes robot 12 to retreat along the retreat path PT. Furthermore, restricted areas RE1 and RE2 can be determined as a set of coordinates P1(x1, y1, z1), P2(x2, y2, z2), ... P in robot coordinate system C. n (x) n y n , z n ).

[0047] On the other hand, a limit speed V2, which determines the maximum permissible speed during operation, is set for the robot 12 separately from the restricted areas RE (RE1 or RE2). For example, if a part of the robot 12 (end effector 30) designated as the monitoring target exceeds the limit speed V2, the control device 16 causes the robot 12 to stop urgently. Alternatively, the control device 16 may also reduce the movement speed V of the monitored part to below the limit speed V2 if the monitored part exceeds the limit speed V2. These restricted areas RE1 and RE2, the limit speeds V1 and V2, and the retreat path PT constitute the limit parameter RP.

[0048] Model data MD is used to set the machine 36 that is the monitoring object as the limiting parameter RP. It includes machine information MD1 that represents the type, size or specifications of the machine 36, and machine model MD2 that models the machine 36 (robot 12, peripheral device 14).

[0049] Specifically, the mechanical information MD1 of robot 12 includes an identification number ID (product number, etc.) that identifies the type of the main body of robot 12 (the assembly of robot base 20, rotating body 22, lower arm 24, upper arm 26, and wrist 28). Additionally, the mechanical information MD1 of robot 12 includes the distance d from the origin of the robot coordinate system C to the maximum reachable point that the end effector 30 can reach. MAX Specifications for the main body of Robot 12.

[0050] Additionally, the mechanical information MD1 of robot 12 may also include information such as the type, specifications, size, or mounting location of the end effector 30. On the other hand, the mechanical model MD2 includes the mechanical model MD2 of the main body of robot 12. _1 Mechanical model MD2 of end effector 30 _2 The mechanical model MD2 of the main body of Robot 12. _1 Including the drawing data MD2 of the main body of robot 12 _1A (e.g., 3D CAD data), and the monitoring model MD2 representing the monitored object of the subject. _1B At least one of them. Monitoring model MD2 _1B The data is set on the main body in such a way as including a part (e.g., the wrist) of the main body of the robot 12, and is used to roughly represent the part of the main body that is the object of monitoring.

[0051] Additionally, the mechanical model MD2 of the end effector 30 _2 Including the drawing data MD2 of the end effector 30 _2A (e.g., 3D CAD data) and a monitoring model MD2 representing the monitored object of the end effector 30._2B At least one of them. Monitoring model MD2 _2B The data is set on the end effector 30 in such a way that it includes a part (e.g., a finger or a suction part) of the end effector 30 of the robot 12, and is used to roughly represent the part of the end effector 30 that is being monitored.

[0052] The limiting parameter RP and model data MD are set as safety parameters SP for safety functions. In this embodiment, the operator operates the teaching pendant 18 to set these safety parameters SP (limited area RE, limited speed V, model data MD, etc.).

[0053] The method for setting safety parameters SP will now be described. In this embodiment, the storage unit 52 stores multiple pre-prepared sample SP's of safety parameters SP. Specifically, the storage unit 52 pre-stores a sample (limit value sample) RP' of the limit parameter RP, a sample (model sample) MD' of the model data MD, and a composite sample CS as sample SP's.

[0054] The constraint value sample RP' includes samples (constraint value samples) RE1' of constraint region RE1, samples (constraint value samples) RE2' of constraint region RE2, samples (constraint value samples) V' of constraint velocity V1 or V2, and samples (constraint value samples) PT' of retreat path PT. Constraint value samples RE1' and RE2' are a set of coordinates (x, y, y) of the robot coordinate system C that defines constraint regions RE1 and RE2, respectively. n y n , z n The samples (n = 1, 2, 3...) each have distinct coordinate sets (x... n y n , z n Multiple limit value samples RE1' and RE2' are stored in storage unit 52.

[0055] For example, storage unit 52 stores the first limit value sample RE1'. _1 (or RE2') _1 The first set of coordinates (x) 1_1 y 1_1 , z 1_1 )~(x n_1 y n_1 , z n_1 Define the second limit value sample RE1' _2 (or RE2') _2 The second set of coordinates (x) 1_2 y 1_2 , z 1_2 )~(x n_2 yn_2 , z n_2 ..., define the m-th constraint value sample RE1' _m (or RE2') _m The coordinates (x) of the m-th group 1_m y 1_m , z 1_m )~(x n_m y n_m , z n_m ), to serve as multiple limit value samples RE'1 (or RE2').

[0056] In addition, multiple mutually different limit value samples V' are stored as values ​​of velocity V in the storage unit 52. For example, the storage unit 52 stores the first limit value sample V'. _1 =10 [m / sec], second limit value sample V' _2 =20[m / sec], ..., the m-th limit value sample V' _m =100 [m / sec]. Furthermore, storage unit 52 stores the first limit value sample PT'. _1 PT' _2 、···PT' _m The constraint value sample PT' is, for example, represented as the coordinates of coordinate system C.

[0057] In this embodiment, the model sample MD' has mechanical information MD1 of the end effector 30 of the robot 12 and mechanical model MD2 of the end effector 30. _2 (Specifically, drawing data MD2) _2A and monitoring model MD2 _2B Various model samples MD' are stored in the storage unit 52. Model samples MD' include, for example, a set of model samples MD'1 of a robot arm 30A that holds an object with multiple fingers, a set of model samples MD'2 of a robot arm 30B that holds an object with an adsorption part (e.g., an electromagnet, a suction cup, or a vacuum device), a set of model samples MD'3 of a welding torch 30C, and a set of model samples MD'4 of a welding gun 30D.

[0058] For example, storage unit 52 stores a set of model samples MD' of robotic arm 30A. 1_1 MD' 1_2 , ···MD' 1_m A set of model samples MD' of the robotic arm 30B 2_1 MD' 2_2 , ···MD' 2_m A set of model samples MD' of welding torch 30C 3_1 MD' 3_2 , ···MD' 3_m A set of model samples MD' of welding torch 30D4_1 MD' 4_2 , ···MD' 4_m .

[0059] A composite sample (CS) is a sample that combines data storing multiple security parameters (SP). (See reference...) Figure 5 The composite sample CS will be explained. Figure 5 This represents an example of a work unit equipped with robot 12. Figure 5 In the example shown, RE1, which is a restricted area allowing robot 12 to enter, is defined by a first restricted area RE1 indicated by a dashed line in a manner that surrounds robot 12. _1 The second restricted area RE1 is represented by a single-dotted line. _2 The third restricted region RE1 is indicated by a double-dotted line. _3 .

[0060] First restricted area RE1 _1 Define the outermost edge of the permissible range of motion for robot 12 during the operation. For example, throughout the entire operation, this is to prevent robot 12 from moving into the first restricted area RE1. _1 It is set by moving the outer side. Second restriction area RE1 _2 First restricted area RE1 _1 On the inside, viewed from robot 12, it is positioned on the positive y-axis side of the robot coordinate system C. On the other hand, the third restricted region RE1 _3 First restricted area RE1 _1 The inner side, viewed from robot 12, is positioned on the negative y-axis side of the robot coordinate system C.

[0061] In addition, Figure 5 In the example shown, relative to the first restricted region RE1 _1 Two sensor detection areas, SE1 and SE2, are adjacent to each other on the positive x-axis side of the robot coordinate system C. Sensor detection area SE1 is defined, for example, by a first object detection sensor 38 capable of detecting the entry of an object in a non-contact manner, relative to the second restricted area RE1. _2 They are arranged adjacent to each other on the positive x-axis side of the robot coordinate system C.

[0062] If the first object detection sensor 38 detects that operator A enters (or approaches) the sensor detection area SE1, it sets the safety signal S1 to "ON" (or "1") and sends it to the control device 16. Moreover, if operator A exits (or leaves) the sensor detection area SE1, the first object detection sensor 38 sets the safety signal S1 to "OFF" (or "0").

[0063] On the other hand, the sensor detection area SE2 is adjacent to the negative y-axis side of the robot coordinate system C of the sensor detection area SE1, and is relative to the third restricted area RE1. 32 It is configured adjacent to the positive x-axis side of the robot coordinate system C. The sensor detection area SE2 is defined, for example, by a second object detection sensor 40 capable of detecting the entry of an object in a non-contact manner. If the second object detection sensor 40 detects that operator A enters (or approaches) the sensor detection area SE2, it sets the safety signal S2 to "on" and sends it to the control device 16; if operator A exits (or leaves) the sensor detection area SE1, it sets the safety signal S2 to "off".

[0064] exist Figure 5 In the illustrated work unit, operator A sometimes collaborates with robot 12 to perform tasks (e.g., workpiece handling where operator A and robot 12 exchange workpieces). In such cases, as an example, control device 16 performs the following safety function. Specifically, control device 16 restricts the first restricted area RE1. _1 This setting is active throughout the entire operation, prohibiting robot 12 from moving towards the first restricted area RE1 during the entire operation process. _1 The outer side moves.

[0065] If operator A enters (or approaches) the sensor detection area SE1 during operation, and the safety signal S1 received from the first object detection sensor 38 becomes "open", then the control device 16 will open the third restricted area RE1. _3 Set to active, prohibiting robot 12 from entering the third restricted area RE1. _3 The outer side moves.

[0066] This prevents robot 12 from entering the positive y-axis direction of robot coordinate system C (i.e., the side where operator A is present), thus preventing collision with operator A. Furthermore, if operator A exits (or leaves) the sensor detection area SE1, the safety signal S1 from the first object detection sensor 38 becomes "off," and the control device 16 activates the third restriction area RE1. ＿3 invalid.

[0067] On the other hand, if operator A enters (or approaches) the sensor detection area SE2, the safety signal S2 from the second object detection sensor 40 becomes "on", and the control device 16 activates the second restricted area RE1. ＿2 Effective, robot 12 is prohibited from entering the second restricted area RE1. ＿2The robot moves to the outside. This prevents the robot 12 from entering the negative y-axis direction of the robot coordinate system C (i.e., the side where operator A is present), thus preventing a collision with operator A. Furthermore, if operator A exits (or leaves) the sensor detection area SE2, the safety signal S2 from the second object detection sensor 40 becomes "off," and the control device 16 closes the second restriction area RE1. ＿2 invalid.

[0068] Thus, sometimes multiple safety parameters SP (restricted region RE1) are used in combination. _1 RE1 _2 RE1 _3 The safety functions of the composite sample CS are as follows: Multiple safety parameters SP are stored in combination in the composite sample CS, and the storage unit 52 stores multiple composite samples CS1, CS2, ... CS that respectively store various combinations of safety parameters SP. m .

[0069] Specifically, in composite sample CS m In, for example, combined storage Figure 5 The first restricted area RE1 shown _1 Data (a set of coordinates), second restricted region RE1 _2 Data, third restricted area RE1 _3 The data, and the mechanical model MD2 of robot 12. Composite sample CS m Restricted area RE1 in the middle of the storage _1 RE1 _2 and RE1 _3 The data constitutes the constraint value sample RE1'. Additionally, the composite sample CS... m It may also include restricted area switching information SI, which determines the "on" / "off" state of safety signals S1 and S2 and the second restricted area RE1. _2 and the third restricted area RE1 _3 The valid / invalid relationship.

[0070] In this embodiment, the storage unit 52 stores multiple sample sets SS (sample sets SS1, SS2, ... SS). m Each sample set SS stores a constraint value sample RE1', a constraint value sample RE2', a model sample MD', and a composite sample CS. For example, in a sample set SS m In the above-mentioned limit value sample RE1' _m Limit value sample RE2' _m Model Sample MD' 1_m and composite sample CS mIt can be stored as a set. Alternatively, it is also possible to store only one of the following in the sample set SS: the constraint value sample RE1', the constraint value sample RE2', the model sample MD', and the composite sample CS.

[0071] Thus, the sample set SS stores multiple samples SP' (restricted value sample RE1', restricted value sample RE2', model sample MD', composite sample CS). The storage unit 52 stores multiple sample sets SS1, SS2, ..., SS m Each sample set stores samples SP' in various combinations.

[0072] The various samples SP' (limited value samples RE1', RE2' and V', model sample MD', composite sample CS) and sample set SS mentioned above are pre-generated as data in the first format FM1 (extension: ".abc") using a computer different from the teaching device 18, and stored in the first storage area 52A of the storage unit 52.

[0073] The operator sets the safety parameter SP based on these samples SP' and sample set SS. When starting the setting of the safety parameter SP, the operator operates the input device 56 to provide a setting start command to the processor 50 of the teaching pendant 18. Upon receiving the setting start command through the input device 56, the processor 50 first generates... Figure 6 The sample set shown selects image data of image 100 and displays it on display device 58.

[0074] The sample set selection image 100 is a graphical user interface (GUI) through which the operator can select a sample set SS and generate image data as computer graphics (CG). Figure 6 In the example shown, the sample set selection image 100 includes multiple sample set selection button images 102 and a scroll bar image 104. The multiple sample set selection button images 102 are respectively associated with sample sets SS1, SS2, ... SS stored in the storage unit 52. m Related.

[0075] The operator can select the sample set SS associated with the clicked sample set selection button image 102 by clicking one of the sample set selection button images 102 on the image using the operation input device 56. In addition, the operator can change the displayed sample set SS by sliding the scroll bar image 104 up and down on the image using the operation input device 56.

[0076] In addition, information about the corresponding sample set SS (e.g., a brief description or drawing of the stored samples RE1', RE2', MD', and CS) can also be displayed within the sample set selection button image 102. Hereinafter, the operator clicks on the sample set SS via the operation input device 56. mThe case of the sample set selection button image 102 will be explained.

[0077] In this case, the processor 50 receives a request from the input device 56 to select the sample set SS. m Input IP1. Thus, in this embodiment, the processor 50 serves as the input receiving unit 62 that receives input IP1. Figure 2 The processor 50 generates a function when it receives input IP1. Figure 7 The image data of the sample selection image 110 is shown and displayed on the display device 58. The sample selection image 110 is used by the operator to select from the sample set SS. m The GUI of sample SP' is generated and then used to create CG image data.

[0078] exist Figure 7 In the example shown, the sample selection image 110 has a first image region 112, a second image region 114, and a third image region 116. The first image region 112 displays a mechanical model MD2 of the main body of the robot 12. _1 (For example, drawing data MD2) _1A On the other hand, the third image area 116 displays button images 122 for selecting limit value sample RE1', 124 for selecting limit value sample RE2', 126 for selecting model sample MD' as the monitoring object, and 128 for selecting composite sample CS.

[0079] The operator can select the sample SP' to import from the constraint value sample RE1', constraint value sample RE2', model sample MD', and composite sample CS by clicking one of the button images 122, 124, 126, and 128 on the image via the input device 56. The import of sample SP' will be described later.

[0080] On the other hand, a sample overview image 118 and a detailed setting image 120 are displayed in the second image area 114. For example... Figure 7 As shown, when button images 122, 124, 126 and 128 for selecting sample SP' are displayed in the third image area 116, sample overview image 118 is highlighted.

[0081] When the operator operates the input device 56 to select a limit value sample RE1', a limit value sample RE2', a model sample MD', or a composite sample CS on the image, the processor 50 functions as an input receiving unit 62, receiving the input IP2 of the selection of the limit value sample RE1', the limit value sample RE2', the model sample MD', or the composite sample CS through the input device 56.

[0082] For example, when the operator operates the input device 56 and clicks the button image 126 for selecting model sample MD', the processor 50 generates based on the input IP2 for selecting model sample MD'. Figure 8 The image data of the sample illustration image 130 shown is used as CG and displayed on the display device 58.

[0083] Sample illustration image 130 is used to illustrate in Figure 7 The GUI for selecting sample SP' from image 110. Figure 8 In the sample illustration image 130 shown, the processor 50 displays the mechanical model MD2 contained in the selected model sample MD' in the first image region 112. _2 (Specifically, drawing data MD2) _2A and monitoring model MD2 _2B ).

[0084] Thus, in this embodiment, the processor 50 serves as the generator for displaying the mechanical model MD2. _2 Image generation unit 64 of image 130 Figure 2 ) to perform its function. Furthermore, in this embodiment, in Figure 6 The sample set SS was selected. m Therefore, the model sample MD' is displayed in the first image region 112. 1_m Includes mechanical model MD2 _2 Furthermore, in the first image region 112, only the monitored model MD2 can be displayed. _2B (or drawing data MD2) _2A ).

[0085] On the other hand, in the third image region 116, with model sample MD' 1_m The mechanical information MD1 is displayed along with the description text 132, which includes an image of a decision button 134 and an image of a stop button 136. By observing the description text 132, the operator can confirm the selected model sample MD'. 1_m Mechanical information MD1 and configurable items.

[0086] Additionally, the operator can operate the input device 56 to click the confirm button image 134 or the stop button image 136 on the image. When input IP3 is received indicating that the stop button image 136 has been clicked, the processor 50 will... Figure 7 The sample selection image 110 shown is displayed again on the display device 58.

[0087] On the other hand, when the input IP4 of the clicked decision button image 134 is received, the processor 50 functions as the image generation unit 64 to generate an image. Figure 9The image data of the sample import image 140 shown is displayed as a CG on the display device 58. The sample import image 140 is a GUI for importing the selected sample SP' into the function FC for setting the safety parameter SP. Here, the function FC for setting the safety parameter SP is installed as an application on the teaching pendant 18 and stored as application software in the storage unit 52.

[0088] The processor 50 sets the safety parameter FP by executing the function FC. Therefore, the processor 50 serves as the parameter setting unit 66 for setting the safety parameter FP. Figure 2 ) to perform its function. Furthermore, regarding the function FC for setting the safety parameter SP (i.e., the function of the parameter setting unit 66), please refer to... Figure 10 To be described later.

[0089] exist Figure 9 The sample shown is imported into image 140, and... Figure 8 Similarly, the mechanical model MD2 is shown in the first image region 112 in the illustrated sample image 130. _2 On the other hand, the monitoring object setting image 142, the import button image 144, and the stop button image 136 are displayed in the third image area 116.

[0090] The monitoring object setting image 142 is used to monitor the selected model sample MD' 1_m The identification number (or the address number of the destination) N is assigned when the monitored object is imported into the function FC. Specifically, the monitored object setting image 142 has a number input image 146 for inputting the identification number N. The operator can operate the input device 56 to input the identification number N into the number input image 146. Figure 9 In the example shown, the identification number N: "1" is entered in the numbered input image 146.

[0091] Import button image 144 is used to import the selected sample SP' (in Figure 9 In the model sample MD' 1_m The function FC imports the settings into the safety parameter SP. The operator can operate the input device 56 and click the import button on the image 144.

[0092] When input IP5 is received via input device 56 after clicking the import button image 144, processor 50 reads the selected sample SP' from storage unit 52 and imports it into function FC. Therefore, in this embodiment, processor 50 serves as import unit 68 for importing sample SP'. Figure 2 It can perform its functions.

[0093] Then, the processor 50 functions as a parameter setting unit 66, setting the imported sample SP' as a new security parameter SP" in function FC and storing it in the second storage area 52B of the storage unit 52. This second storage area 52B is a storage area of ​​the storage unit 52 that is different from the first storage area 52A used to store the sample SP' and the sample set SS.

[0094] For example, when the processor 50 receives the input IP5, it functions as an import unit 68 and reads the sample SP' from the first storage area 52A of the storage unit 52. Then, the processor 50 can also convert the data format of the read sample SP' from the first format FM1 to the second format FM2 (extension: ".efg") suitable for the function FC and import it into the function FC, and store it as a temporary security parameter SP" in the second storage area 52B.

[0095] exist Figure 9 In the example shown, when processor 50 receives input IP5 from clicking the import button image 144, it selects the model sample MD'. 1_m The monitored object, identified as "1", is imported into function FC and stored in the second storage area 52B as a new security parameter "SP".

[0096] Furthermore, the processor 50 functions as the image generation unit 64, generating... Figure 10 The image data of the sample adjusted image 150 shown is used as CG and displayed on the display device 58. On the other hand, when the processor 50 receives input IP3 indicating that the stop button image 136 has been clicked, it will... Figure 7 The sample selection image 110 shown is displayed again on the display device 58.

[0097] Figure 10 The sample adjustment image 150 shown is a GUI for the function FC used to set the safety parameter SP through operator input. Figure 10 In the example shown, the imported model sample MD' is displayed in the first image region 112. 1_m MD2 mechanical model _2 Additionally, in the second image area 114, detailed setting image 120 is prominently displayed.

[0098] On the other hand, in the third image area 116, parameter display image 152 and parameter adjustment image 154 are displayed. Parameter display image 152 shows a list of the newly set safety parameters "SP" via function FC. In addition, the initial safety parameters "SP" before the adjustment described later are the same as the imported sample SP'.

[0099] The parameter display image 152 includes a restricted area display image 156 and a monitored object display image 158. The restricted area display image 156 represents the restricted area RE that has been set to the safety parameter SP (i.e., imported). The restricted area display image 156 will be described later.

[0100] The monitored object display image 158 represents the model sample MD' set as the monitored object in the "Safety Parameter SP". For example, in Figure 9 In the middle, the model sample MD' 1_m Imported as the monitoring object with identification number "1", therefore this model sample MD' 1_m It is set as the monitoring object with identification number "1" in the security parameter SP, and is displayed as the monitoring object "No.1" in the monitoring object display image 158.

[0101] Operator through Figures 7-9 The method described herein allows multiple model samples MD' to be assigned identification numbers N and imported into function FC. Each time a model sample MD' is imported, the number of monitored objects displayed in the monitored object display image 158, such as "No.1", "No.2", "No.3", ..., increases. In this way, the operator can import multiple model samples MD' and set them into the safety parameter SP in a form that can be identified by the identification number N.

[0102] Parameter adjustment image 154 is used to adjust the set temporary safety parameter SP. Figure 10 In the example shown, parameter adjustment image 154 includes size adjustment image 160 and mounting position adjustment image 162. Size adjustment image 160 is used to adjust the mechanical information MD1 of model sample MD', which is set to safety parameter SP".

[0103] In this embodiment, the size of the model sample MD' included in the mechanical information MD1 can be adjusted in the size adjustment image 160 (for example, the size of the fingers of the robot 30A, the suction part of the robot 30B, and the arm of the welding torch 30C or welding gun 30D).

[0104] exist Figure 10 In the example shown, the monitored object "No.1" was selected in the monitored object display image 158, so in the size adjustment image 160, the model sample MD', which is monitored object No.1, can be adjusted. 1_m The size. Specifically, in the resized image 160, MD' is used as the model sample. 1_m The dimensions are displayed, showing the values ​​of "length", "width" and "height", and displaying the value increase button image 164 and the value decrease button image 166.

[0105] The operator operates the input device 56 to select the "length," "width," or "height" of the image 160 for size adjustment. By clicking the increase button image 164 or the decrease button image 166 on the image, the operator can increase or decrease the selected "length," "width," or "height" value. Alternatively, the operator can directly input the "length," "width," or "height" value without operating the input device 56 and clicking the increase button image 164 or the decrease button image 166.

[0106] On the other hand, the mounting position adjustment image 162 is used to adjust the end effector mounting position contained in the mechanical information MD1 of the model sample MD'. Specifically, in the mounting position adjustment image 162, "wrist," "upper arm," and "lower arm" are displayed as end effector mounting positions, and the operator can operate the input device 56 to select the end effector mounting position from "wrist," "upper arm," and "lower arm" on the image. For example, in Figure 10 In the example shown, "wrist" was selected, therefore the selected model sample MD' 1_m The end effector is installed at the wrist 28 of the robot 12.

[0107] Furthermore, the processor 50 can also be configured to accept the end effector mounting position as coordinates representing the relative positions of the "wrist," "upper arm," and "lower arm" shown in the mounting position adjustment image 162. For example, the processor 50 can also display a coordinate input image in the mounting position adjustment image 162 for inputting coordinates (x, y, z) in the robot coordinate system C representing the relative positions of the "wrist," "upper arm," and "lower arm." The operator inputs the coordinates (x, y, z) through the coordinate input image, thereby setting the end effector mounting position at a position away from the selected "wrist," "upper arm," or "lower arm" in the mounting position adjustment image 162 at those coordinates (x, y, z). According to this configuration, the operator can set the end effector mounting position in greater detail.

[0108] Thus, the operator operates the input device 56 to adjust the model sample MD' set as a temporary safety parameter SP". 1_m The mechanical information MD1 (dimensions, end effector mounting position) is input IP6 to the processor 50. The processor 50 functions as a parameter setting unit, adjusting the safety parameter SP (here, model sample MD') based on the received input IP6. 1_m (the dimensions and end effector installation location) are used to update the safety parameter SP.

[0109] Next, refer to Figure 7The import of composite sample CS is explained. When the operator operates input device 56 and clicks to select composite sample CS... m When button image 128 is displayed, processor 50 functions as input receiving unit 62, receiving input for selecting composite sample CS. m The input IP2 functions as the image generation unit 64 to generate... Figure 11 The image data of the sample illustration image 130 is shown on the display device 58.

[0110] exist Figure 11 In the example shown, in the first image region 112, a composite sample CS is displayed together with the mechanical model MD2 of the robot 12. m The first restricted area RE1 in the storage _1 Second restricted area RE1 _2 and the third restricted area RE1 _3 (That is, the limit value sample RE1'). Additionally, sensor detection areas SE1 and SE2 are displayed in the first image region 112. The data from these sensor detection areas SE1 and SE2 (specifically, the coordinates of coordinate system C) can also be stored as limit value samples in the composite sample CS. m .

[0111] By observing the first image region 112, the operator can easily identify the composite sample CS. m The first restricted area RE1 in the storage _1 Second restricted area RE1 _2 Third Restricted Area RE1 _3 The positional relationship between sensor detection areas SE1 and SE2 and the robot 12. On the other hand, in the third image area 116, with... Figure 8 Similarly, the sample illustration image 130 shown is the same as the composite sample CS. m The description text 132 shows together with the image of the confirm button 134 and the image of the stop button 136.

[0112] When the input device 56 receives the input IP4 of the clicked confirmation button image 134, the processor 50 functions as the image generation unit 64 and generates an image. Figure 12 The sample image data of imported image 140 is used as CG and displayed on display device 58. Figure 12 The sample shown is imported into image 140, and in the first image region 112, with Figure 11 Similarly, the sample illustration image 130 shown also displays the restricted area RE1. _1 RE1 _2 and RE1 _3 Sensor detection areas SE1 and SE2, and mechanical model MD2.

[0113] On the other hand, in the third image area 116, a restriction area setting image 170, a monitored object setting image 142, an import button image 144, and a stop button image 136 are displayed. The restriction area setting image 170 is used to assign a specific setting to the composite sample CS. m The first restricted area RE1 in the storage _1 Second restricted area RE1 _2 and the third restricted area RE1 _3 The identification number (or the address number of the destination) when importing into the function FC.

[0114] Specifically, the restricted area setting image 170 includes a method for inputting a first restricted area RE1. _1 The identification number N is input to image 172, and the second restricted area RE1 is used for input. _2 The identification number N is input to image 174, and the third restricted area RE1 is used for input. _3 The identification number N is the input image 176.

[0115] Furthermore, in this embodiment, the first restricted area RE1 is explained in the restricted area setting image 170. _1 The accompanying text, such as "Operator not nearby," and the description of the second restricted area RE1, are examples of such text. _2 The explanatory text such as "Operator approaches the right side of the robot" and the description of the third restricted area RE1 _3 The description "Operator approaching the left side of the robot" is also recorded on the left side of input images numbered 172, 174, and 176.

[0116] The operator can operate the input device 56 to input the identification number N into the number input images 172, 174, and 176. Figure 12 In the example shown, the identification number N is input as "1" to the number input image 172, "2" to the number input image 174, and "3" to the number input image 176. On the other hand, in the number input image 146 of the monitored object setting image 142, the identification number N is input as "3". Figure 9 Similarly, enter the identification number N: "1".

[0117] When the operator clicks the import button image 144 on the input device 56, the processor 50 accepts the input IP5 of the clicked import button image 144, functions as the import unit 68, and reads the composite sample CS from the storage unit 52. m The first restricted area RE1 in the storage _1 Second restricted area RE1 _2Third Restricted Area RE1 _3 The data is then imported into the function FC.

[0118] At this time, the processor 50 can also read the composite sample CS from the first storage area 52A. m (Restricted Area RE1) _1 RE1 _2 and RE1 _3 (data), composite sample CS m The data format is transformed from the first format FM1 to the second format FM2 and imported into the function FC, and stored in the second storage area 52B. Then, the processor 50 functions as the parameter setting unit 66, and loads the imported composite sample CS. m (Restricted Area RE1) _1 RE1 _2 and RE1 _3 The data) is set as a new safety parameter SP in function FC.

[0119] exist Figure 12 In the example shown, if processor 50 accepts input IP5, it will restrict the first restriction area RE1. _1 Set the restricted area as identification number "1" (restricted area No. 1), and set the second restricted area RE1. _2 Set the restricted area as identification number "2" (restricted area No. 2), and set the third restricted area RE1. _3 Set it as the restricted area for identification number "3" (restricted area No.3), and import it into function FC.

[0120] At the same time, processor 50 will be set as the No.1 monitoring object for security parameter SP. Figure 10 Set as the imported restricted area No.1 (i.e., the first restricted area RE1) _1 Restricted Area No. 2 (i.e., the second restricted area RE1) _2 ) and restricted area No. 3 (i.e., the third restricted area RE1) _3 The objects being monitored.

[0121] Thus, processor 50 monitors the imported monitoring object No.1 (model sample MD'). 1_m Set the imported restriction region No.1~No.3 (that is, the restriction region RE1 as the restriction value sample RE1'). _1 RE1 _2 RE1 _3The data is used as the new safety parameter SP. In this way, the operator can designate the monitored object No. N (N=1, 2, 3...) that has been imported into the function FC and whose dimensions have been edited as the monitored object for the restricted areas No.1, No.2 and No.3 imported into the function FC.

[0122] In addition, Figure 12 If the identification number N (e.g., N=16) of the monitored object that has not been imported into the function FC is entered in the input image 146, and the import button in image 144 is clicked, the processor 50 can also import the sample set SS. m The model samples MD' stored in 1_m As a new import function FC for monitored object No.16. In this case, image 158 is displayed on the monitored object. Figure 10 In the new monitoring object No.16, it is set as the monitoring object of the imported restricted areas No.1, No.2 and No.3.

[0123] Next, the processor 50 functions as the image generation unit 64, generating... Figure 13 The image data of the sample adjusted image 150 shown is used as CG and displayed on the display device 58. Figure 13 In the sample adjusted image 150 shown, in the first image region 112 and Figure 11 Similarly, the imported composite sample CS is displayed. m (Restricted Area RE1) _1 RE1 _2 and RE1 _3 (and sensor detection areas SE1 and SE2), and mechanical model MD2.

[0124] On the other hand, in the parameter display image 152 of the third image area 116, the imported monitoring objects No.1, No.2, No.3, ... are displayed in the monitoring object display image 158, and the imported restricted area No.1 (first restricted area RE1) is displayed in the restricted area display image 156. _1 Restricted Area No. 2 (Second Restricted Area RE1) _2 ), and Restricted Area No. 3 (Third Restricted Area RE1) _3 ).

[0125] Furthermore, although not illustrated, the processor 50 can also, in the same manner as the restricted areas No.1 to No.3, detect sensor areas SE1 and SE2 using [the same method]. Figure 12 The sample import image 140 shown accepts the input of identification number N and imports it into the sensor detection areas SE1 and SE2 of function FC, which are displayed in the restricted area display image 156.

[0126] The region adjustment image 180 is displayed in the parameter adjustment image 154 of the third image region 116. The region adjustment image 180 is used to adjust the parameters (specifically, the coordinates of coordinate system C) of the restricted regions No.1, No.2, or No.3 that are set as temporary safety parameters "SP", and includes a value increase button image 182 and a value decrease button image 184. The function of the region adjustment image 180 will be explained below.

[0127] The operator can arbitrarily edit restricted areas No.1, No.2, or No.3 by adjusting the area of ​​image 180. For example, when the operator operates the input device 56 to select restricted area No.1 in the image 156, the processor 50 generates... Figure 14 The sample adjusted image 150 shown is displayed on the display device 58. Figure 14 In the example shown, in the restricted area display image 156, the restricted area No.1 is highlighted in a way that visually indicates that the restricted area is selected.

[0128] Additionally, in the first image region 112, only the selected restricted region No.1 (i.e., the first restricted region RE1) _1 Displayed together with the mechanical model MD2, the restricted area No.1 (first restricted area RE1) is defined. _1 The vertices P1, P2, P3, and P4 of the restricted region No.1 are displayed in a visually recognizable manner. In addition, the coordinates (x, y, z) of the "position P1", "position P2", "position P3", and "position P4" corresponding to the vertices P1, P2, P3, and P4 of the restricted region No.1 are displayed in the parameter adjustment image 154.

[0129] The operator operates the input device 56 to select the coordinates (x, y, z) of positions P1 to P4 on the image. By clicking the increment button (image 182) or decrement button (image 184) on the image, the operator can increase or decrease the coordinate value of the selected coordinates (x, y, z). Alternatively, the operator can directly input the coordinate values ​​(x, y, z) without operating the input device 56 and clicking the increment button (image 182) or decrement button (image 184). This adjusts the parameters (coordinates) of restricted area No. 1.

[0130] On the other hand, when the operator operates the input device 56 to select the restricted area No. 2 shown in the image 156, the processor 50 generates... Figure 15 The sample adjustment image 150 shown is displayed on the display device 58. Similarly, the operator can operate the input device 56 to adjust the parameters of the restricted area No. 1. Figure 15The coordinates (x, y, z) of each vertex P1~P5 in the restricted region No.2 of the sample adjusted image 150 are shown.

[0131] In this way, the operator operates the input device 56 to provide the processor 50 with the input IP6, which is used to adjust the restricted areas No.1 to No.3 of the "temporary safety parameter SP". The processor 50 functions as a parameter setting unit and adjusts the temporary safety parameter SP (here, the coordinates of the restricted areas No.1 to No.3) according to the received input IP6, thereby updating the safety parameter SP.

[0132] Furthermore, the processor 50 can also adjust the coordinates of the sensor detection areas SE1 and SE2 according to the operator's input from the input device 56, similar to the adjustment of restricted areas No.1 to No.3. Additionally, the processor 50 can also adjust the restricted area switching information SI according to the operator's input from the input device 56. This restricted area switching information SI determines the "on" / "off" state of safety signals S1 and S2 and the second restricted area RE1. ＿2 and the third restricted area RE1 ＿3 The relationship between validity and invalidity. In this case, the processor 50 may also display the coordinates of the sensor detection areas SE1 and SE2, or the image used to adjust the limiting area switching information SI, on the parameter adjustment image 154.

[0133] Refer again Figure 7 , and the composite sample CS mentioned above m Similarly, by clicking button images 122 or 124 on the operation input device 56, the operator can select the sample set SS. m The limit value sample RE1' stored in _m or RE2' _m And import it into the function FC.

[0134] For example, when selecting the limit value sample RE1' _m or RE2' _m In the case of, Figure 12 The sample imported into image 140 shown is displayed in the third image region 116, which is used to specify the limit value sample RE1'. _m or RE2' _m The identification number N is an input image 172 and an input image 146.

[0135] Then, when the import button image 144 is clicked, the processor 50 functions as the import unit 68, processing the limit value sample RE1'. _m or RE2' _mAssign an identification number N to the input image 172, and set it as the new security parameter SP as the restricted area No. N.

[0136] In this way, the operator can import pre-prepared sample SP' (specifically, a sample set SS storing multiple sample SP') into the function FC, and set the safety parameter SP through the function FC based on the imported sample SP'.

[0137] If the setting and adjustment of the safety parameter "SP" are completed, the operator inputs an instruction to apply the safety parameter "SP" set by function FC to the operating condition OC used to make the machine 36 move in actual operation. For example, the processor 50 displays an application button image (not shown) for applying the safety parameter "SP" to the operating condition OC in the sample adjustment image 150.

[0138] When the operator clicks the application button image on the image using the input device 56, the processor 50 accepts the input IP7 of the application button image through the input device 56 and registers the safety parameter SP set at that time as the formal safety parameter SP into the action condition OC.

[0139] In this operating condition OC, the conditions required for the machine 36 to operate during actual operation can also be registered together with the safety parameter SP. The processor 50 can also store the operating condition OC as data in the second format FM2 in the second storage area 52B of the storage unit 52 (or, the third storage area 52C for the operating condition OC).

[0140] Alternatively, processor 50 may store the action condition OC as data in the third format FM3 (extension: ".xyz") in the second storage area 52B (or the third storage area 52C). In this case, processor 50 may also, upon receiving input IP7, change the data format of the safety parameter SP from the second format FM2 to the third format FM3 and register it as the formal safety parameter SP in the action condition OC. This allows the operator to set the safety parameter SP using function FC.

[0141] As described above, the processor 50 functions as the input receiving unit 62, the image generating unit 64, the parameter setting unit 66, and the import unit 68, setting the security parameter SP based on the sample SP' stored in the storage unit 52. Therefore, the processor 50 (input receiving unit 62, image generating unit 64, parameter setting unit 66, import unit 68) and the storage unit 52 constitute a device 70 for setting the security parameter SP. Figure 2 ).

[0142] In this device 70, the storage unit 52 stores at least one pre-prepared sample SP', the input receiving unit 62 receives the input IP2 for selecting the sample SP' stored in the storage unit 52, and the import unit 68 reads the sample SP' (model sample MD, composite sample CS) selected by the input receiving unit 62 from the storage unit 52. m The sample SP' is then imported into the parameter setting unit 66 (function FC), which sets the imported sample SP' as the new safety parameter SP.

[0143] According to the device 70, the operator can simply select the desired sample SP' from the pre-prepared sample SP' based on the actual machine 36, thereby easily constructing a framework for the safety parameters SP (restricted area RE, etc.) for the machine 36. Therefore, compared to the conventional method of setting the safety parameters SP one by one from the beginning, the work required to set the safety parameters SP can be greatly simplified.

[0144] Furthermore, in device 70, parameter setting unit 66 adjusts the set safety parameter SP (model sample MD) based on the input IP6 received by input receiving unit 62. 1＿m (Dimensions and installation location of the end effector, and coordinates of restricted areas No.1 to No.3).

[0145] According to this structure, the operator can set the imported sample SP' as the formal safety parameter SP by properly adjusting it to correspond to the mechanical 36 of the actual machine, thus making it easier to set the safety parameter SP for various types of mechanical 36.

[0146] Furthermore, in device 70, input receiving unit 62 receives input IP1 for selecting a sample set SS stored in storage unit 52 and input IP2 for selecting a sample SP' stored in the selected sample set SS. According to this structure, the operator can use a sample set SS, which stores multiple samples SP in a set manner, to set the safety parameter SP, thus making the setting of the safety parameter SP simpler.

[0147] Additionally, in device 70, data of multiple security parameters SP (first restriction region RE1) are stored in combination in a composite sample CS, which serves as a single sample. _1 Second restricted area RE1 _2 Third Restricted Area RE1 _3 The parameter setting unit 66 sets the data stored in the imported composite sample CS as a new safety parameter SP. Based on this structure, it is possible to easily set the parameters for implementing the reference. Figure 5 The safety parameters SP of the described safety functions.

[0148] Additionally, in device 70, the import unit 68 reads from the storage unit 52 the restriction value sample (restriction area RE1 stored in the composite sample CS) selected by the input receiving unit 62. _1 RE1 _2 and RE1 _3 (data) and model sample MD' 1_m The parameter setting unit 66 imports the imported model sample MD' into the parameter setting unit 66. 1_m Set the imported limit value sample RE1 _1 RE1 _2 and RE1 _3 "To serve as the new safety parameter SP". Based on this structure, operators can easily import the model sample MD'. 1_m Set to the imported limit value sample RE1 _1 RE1 _2 and RE1 _3 The objects being monitored.

[0149] Furthermore, in device 70, when input receiving unit 62 receives input IP2 for selecting model sample MD', image generation unit 64 generates and displays mechanical models MD2 and MD2 included in model sample MD'. _2 Image 140. Based on this structure, the operator can easily confirm the type and construction of the selected model sample MD'.

[0150] Furthermore, in device 70, parameter setting unit 66 sets safety parameter SP” into operation condition OC based on input IP7 received by input receiving unit 62. According to this structure, the operator can easily register safety parameter SP” set based on sample SP’ as formal safety parameter SP into operation condition OC.

[0151] Furthermore, in the above embodiment, it is described that the storage unit 52 stores the sample set SS, and the processor 50 passes through... Figure 6 The sample set selection image 100 shown accepts the input IP1 of the sample set SS. However, it is not limited to this, the storage unit 52 may not store the sample set SS, but only the sample SP' (limited value samples RE1', RE2', V' and PT', model sample MD' and composite sample CS).

[0152] The following describes this method. In this embodiment, when the processor 50 receives a setting start command, it generates... Figure 7The sample selection image 110 is shown and displayed on the display device 58. Furthermore, the processor 50 functions as an input receiving unit 62; if it receives input IP2 from the input device 56 indicating a click on button images 122, 124, 126, or 128, it generates... Figure 16 The image data of the sample list image 190 shown is displayed on the display device 58.

[0153] Figure 16 This indicates that the operator clicked. Figure 7 The example of sample list image 190 in the case of button image 122 (limit value sample RE1') is shown. Sample list image 190 includes multiple sample selection button images 192 and scroll bar image 104. The multiple sample selection button images 192 are respectively associated with the first limit value sample RE1' stored in storage unit 52. _1 Second limit value sample RE1' _2 ...the m-th constraint value sample RE1' _m Related. Additionally, the operator can change the displayed limit value sample RE1' by sliding the scroll bar image 104 on the image.

[0154] For example, when the operator operates the input device 56, they click on the image with the m-th limit value sample RE1'. _m When the corresponding sample selection button image is 192, processor 50 generates, as shown below. Figure 12 The sample RE1' shown is for the m-th limit value _m Imported image 140.

[0155] In the sample import image 140, the selected m-th limit value sample RE1' is displayed in the first image region 112. _m And in the third image region 116, the sample RE1' used for inputting the m-th constraint value is displayed. _m The identification number N is assigned to input image 172 and input image 146.

[0156] Suppose the operator inputs N=5 in input image 172, inputs N=6 in input image 146, and clicks the import button image 144. Then, the processor 50, based on the input IP5 from clicking the import button image 144, will import the m-th limit value sample RE1'. _m As restricted area No. 5, it is imported into function FC, and monitoring object No. 6, which is set as the safety parameter SP, is set as the monitoring object of the imported restricted area No. 5. In this way, the m-th restriction value sample RE1' can be imported. _m And set it as the safety parameter SP.

[0157] Additionally, when the operator selects Figure 7In the case of other button images 124 (limit value sample RE2'), 126 (model sample MD') or 128 (composite sample CS) shown, the processor 50 is also able to import the selected sample SP' (RE2', MD', CS).

[0158] Furthermore, the processor 50 can also function as a parameter setting unit 66, automatically adjusting the imported limit value sample RP' based on the mechanical information MD1 contained in the model sample MD' imported into the function FC. Specifically, the mechanical information MD1 of the model sample MD' also includes an identification number ID that identifies the type of the robot 12's main body, or the maximum reachable distance d of the robot 12. MAX .

[0159] Then, after importing the model sample MD', the processor 50, through... Figure 12 When the sample import image 140 shown imports a limit value sample RE1' or RE2' (containing data stored in the composite sample CS), it is based on the identification number ID or the maximum reach distance d. MAX Automatically adjust the coordinates of the limit value sample RE1' or RE2'.

[0160] As an example, processor 50, for the coordinates of the imported limit value sample RE1' or RE2', bases the coordinates on the maximum reach distance d. MAX Automatic adjustment ensures that the restricted regions RE1 or RE2, represented by the restricted value samples RE1' or RE2', converge to the maximum reach distance d. MAX Within the range.

[0161] As another example, the storage unit 52 also stores a data table DT, which stores the identification number ID in association with the coordinates of the restricted area RE1 or RE2 suitable for the robot 12 identified by the identification number. Then, when the model sample MD' is imported, the processor 50 obtains the identification number ID and reads the coordinates of the restricted area RE1 or RE2 corresponding to the identification number ID from the data table DT.

[0162] Then, the processor 50 automatically adjusts the coordinates of the imported limit value samples RE1' or RE2' based on the read coordinates (e.g., in a consistent manner). In this way, the processor 50 (parameter setting unit 66) can automatically adjust the imported limit value samples RE1' and RE2' according to the machine information MD1. This structure further simplifies the operations involved in setting the safety parameter SP.

[0163] Furthermore, in the above-described embodiment, the processor 50 can also automatically retrieve from the storage unit 52 the appropriate identification number ID or maximum reach distance d when the model sample MD' is imported. MAXThe limiting value sample RP', composite sample CS, or sample set SS. Then, the processor 50 can also, upon receiving input IP1 or IP2, in Figure 6 The sample set shown selects image 100 or Figure 16 The sample list image 190 shows the retrieved restricted value samples RP', composite samples CS, or sample sets SS.

[0164] Next, refer to Figure 17 A network system 200 according to one embodiment is described. The network system 200 includes a mechanical system 10, an external device 202, and a network 204. The external device 202 is, for example, an external server, which is a computer equipped with a processor and storage devices.

[0165] Network 204, such as a LAN (internal network) or the Internet, connects external device 202 to teaching device 18 (specifically, I / O interface 54) in a communicative manner. Furthermore, external device 202 can also be connected to control device 16 via network 204, and teaching device 18 is connected to external device 202 via control device 16 and network 204.

[0166] For example, external device 202 is located in the first facility, while mechanical system 10 is located in a second facility located away from the first facility. The aforementioned sample SP' or sample set SS is generated by external device 202. Then, according to a request from control device 16 or teaching device 18, external device 202 sends the sample SP' or sample set SS to teaching device 18 via network 204.

[0167] The processor 50 of the teaching device 18 obtains the sample SP' or sample set SS through the I / O interface 54 and stores it in the storage unit 52. In this way, the sample SP' or sample set SS is prepared before setting the safety parameter SP. According to this structure, if the operator of the external device 202 updates the sample SP' or sample set SS sequentially, the operator of the mechanical system 10 can obtain the latest sample SP' or sample set SS suitable for the actual machine from the external device 202 at any time via the network 204.

[0168] Furthermore, the external device 202 is not limited to an external server, but can also be an external storage device (such as flash memory). In this case, the external storage device stores the sample SP' or sample set SS and is connected to the I / O interface 54. Then, the processor 50 retrieves the sample SP' or sample set SS from the external device 202, which is the external storage device, based on input from the operator, and stores it in the storage unit 52.

[0169] Furthermore, in the above-described embodiment, the processor 50 can also use the new safety parameter SP” to simulate the action of the machine 36 when a new safety parameter SP” is set based on the sample SP’. Specifically, the processor 50 generates, for example, in a three-dimensional virtual space based on input from the operator. Figure 13 The first image area 112 shows the mechanical model MD2 (e.g., drawing data) and the restriction area RE1. _1 RE1 _2 and RE1 _3 .

[0170] On the other hand, the processor 50 obtains the motion program OP of the machine 36 and simulates the operation of the machine model MD2 in the virtual space according to the motion program OP. At this time, the limit parameter RP set as the safety parameter SP” is applied to the operation of the machine 36. Through such simulation, the operator can determine whether the newly set safety parameter SP” is appropriate based on the sample SP’.

[0171] Furthermore, in the above embodiment, the case where the model sample MD' of the end effector 30 is set as the monitoring object is described. However, it is not limited to this, and any part of the main body of the robot 12 (robot base 20, rotating body 22, lower arm 24, upper arm 26 or wrist 28) can also be set as the monitoring object.

[0172] In this case, for example, it is also possible to Figure 10 or Figure 13 The sample adjustment image 150 shown displays an image used to select a part of the main body of the robot 12 as the monitoring object. Additionally, in Figures 11-15 In the mechanical model MD2 shown in the first image area 112, the parts set as monitoring objects (robot base 20, rotating body 22, lower arm 24, upper arm 26, wrist 28 or end effector 30) can also be highlighted in a visually recognizable way (coloring, etc.).

[0173] Furthermore, in the above embodiments, it is described that in Figure 7 The sample selection image 110 shown illustrates the case where a constraint value sample RE1', a constraint value sample RE2', a model sample MD', or a composite sample CS is selected. However, the processor 50 can also be configured to add a constraint value sample V' or PT' to the sample selection image 110 and import the constraint value sample V' or PT' into the function FC. It should be understood that the constraint value sample V' or PT' can also be imported using the same method as the constraint value samples RE1' and RE2' and the composite sample CS.

[0174] Furthermore, in the above embodiment, the case of importing the model sample MD' of the end effector 30 was described, but it is desirable to understand that the model sample MD' of the main body or peripheral device 14 of the robot 12 can also be imported using the above method. In this case, the storage unit 52 stores a plurality of model samples MD' of the main body or peripheral device 14 of the robot 12, as well as limit value samples RP' or composite samples CS for the model samples MD' of the main body or peripheral device 14 of the robot 12.

[0175] Then, based on the input from the operator, the processor 50 imports the model sample MD' and the limit value sample RP' or the composite sample CS, and sets the imported limit value sample RP' or the composite sample CS as a new safety parameter SP for the imported model sample MD' of the main body or peripheral device 14 of the robot 12.

[0176] Additionally, to prevent interference between the robot 12 and the peripheral device 14, the processor 50 can also set the area of ​​the imported peripheral device 14 model sample MD' as a restricted area RE2 in the safety parameter SP, based on input from the operator. In this case, for example in Figure 13 The sample adjustment image 150 shown may also display a setting image for setting the area of ​​the model sample MD' of the peripheral device 14 as the restricted area RE2.

[0177] Additionally, in the above embodiment, data of the restricted area RE2, which prevents the robot 12 from entering, can also be stored in the composite sample CS. Furthermore, data can also be obtained from the above... Figures 7-15 The first image region 112 is omitted from the images 110, 130, 140, and 150 shown. In this case, the operator can also select sample SP' and import it into function FC. That is, in this case, the image generation unit 64 can be omitted from the device 70.

[0178] Furthermore, in the above embodiment, the case where the parameter setting unit 66 adjusts the newly set safety parameter SP” based on the input IP6 is described. However, it is not limited to this; it is also possible to adjust the new safety parameter SP” for devices different from the device 70. In this case, the device 70 sends the newly set safety parameter SP” to the other device. Alternatively, it is also possible to use the sample SP’ imported as the safety parameter SP without adjusting it.

[0179] Furthermore, in the above embodiment, the case where the parameter setting unit 66 sets the new safety parameter "SP" to the operation condition OC based on the input IP7 received by the input receiving unit 62 is described. However, it is not limited to this, and the function of setting the new safety parameter "SP" to the operation condition OC can also be applied to devices different from the device 70.

[0180] Furthermore, in the above embodiment, the case where the safety parameter SP includes model data MD was described. However, the model data MD may not necessarily be included in the safety parameter SP. Therefore, the storage unit 52 may not store the model sample MD'. In addition, the safety parameter SP is not limited to parameters used to limit the movement of the machine 36 (e.g., robot 12) such as the limit parameter RP; for example, it may also include parameters used to ensure the security of communication of the control device 14.

[0181] In addition, in the above-described embodiments, the processor 30 may also function as an input unit 68, inputting the sample SP' as data in the same format as the formal safety parameter SP registered in the operation condition OC (specifically, the second format FM2 or the third format FM3) into the function FC.

[0182] In addition, it used Figures 6-16 The method for setting the security parameter SP in the GUI shown is merely one example, and this disclosure is not limited to it. For example, it can be omitted. Figure 9 or Figure 12 The process of assigning identification numbers to the imported sample in image 140, and the process of setting the imported model sample MD' as the monitoring object of the imported restricted sample RP' or composite sample CS, can be arbitrary.

[0183] Furthermore, in the above embodiment, the case where device 70 is assembled with teaching device 18 has been described. However, it is not limited to this; device 70 may also be assembled with control device 16, or it may be assembled with any other computer (desktop or tablet PC). In this case, the processor and storage unit of control device 16 or other computer constitute device 70.

[0184] Furthermore, in the above embodiments, the case where the robot coordinate system C is used as the reference for the limit value sample RP' is described. However, it is not limited to this; for example, any coordinate system such as the peripheral device coordinate system C set in the peripheral device 14 for controlling the peripheral device 14, the workpiece coordinate system set for the workpiece, or the world coordinate system defining the three-dimensional space of the work unit can be used as the reference for the limit value sample RP'. The present disclosure has been described above through embodiments, but the above embodiments do not limit the invention to the scope of the claimed patent protection.

[0185] Symbol Explanation

[0186] 10 Mechanical Systems

[0187] 12 robots

[0188] 14 Peripheral Devices

[0189] 16 control devices

[0190] 18 Teaching Devices

[0191] 30 end effector

[0192] 50 processors

[0193] 52 Storage Unit

[0194] 62 Input Acceptance Department

[0195] 64 Image Generation Unit

[0196] 66 Parameter Setting Section

[0197] 68 Import Department

[0198] 70 device.

Claims

1. A device for setting safety parameters, characterized in that, The device includes: The parameter setting unit sets safety parameters to ensure the safe operation of the machine. The storage unit stores a sample of limit values ​​restricting the operation of the machine and a sample of the model of the machine as samples of the safety parameters. The model sample contains machine information indicating the type or specification of the machine, including an identification number for identifying the type of the machine or the maximum reach distance of the machine. The input receiving unit accepts inputs for importing the model samples and the limit value samples stored in the storage unit; as well as The import unit reads the model sample and the limit value sample from the storage unit based on the input and imports them into the parameter setting unit. When the limit value sample is imported into the import unit, the parameter setting unit automatically adjusts the limit value sample according to the mechanical information contained in the imported model sample, and sets the imported model sample and the adjusted limit value sample as the new safety parameters.

2. The apparatus according to claim 1, characterized in that, The input receiving unit also accepts inputs for adjusting the new security parameters. The parameter setting unit adjusts the new safety parameters based on the input received by the input receiving unit.

3. The apparatus according to claim 1 or 2, characterized in that, The storage unit stores a sample set, which contains samples of the first type of security parameter and samples of the second type of security parameter. The input receiving unit accepts inputs for importing the sample set stored in the storage unit and inputs for importing samples of the security parameters stored in the imported sample set.

4. The apparatus according to claim 1, characterized in that, The storage unit also stores composite samples, in which data of multiple security parameters are stored in combination. When the importing unit imports the composite sample, the parameter setting unit sets the data stored in the imported composite sample as the new security parameter.

5. The apparatus according to claim 1, characterized in that, The safety parameters include limiting parameters and model data of the machinery. The limiting parameters determine the restricted areas where the machinery is allowed or prohibited from entering during the operation, or the limited speed of the machinery during the operation. The storage unit stores the samples of the limiting parameters as the limiting value samples, and stores the samples of the model data as the model samples.

6. The apparatus according to claim 5, characterized in that, The model sample includes a mechanical model obtained by modeling the aforementioned machinery. The device further includes an image generation unit that generates an image displaying the mechanical model when the input receiving unit receives input for importing the model sample.

7. The apparatus according to claim 1, characterized in that, The input receiving unit also accepts input for applications. The input for application is used to apply the new safety parameters set by the parameter setting unit to the operating conditions, which are used to cause the machine to operate during the operation. The parameter setting unit sets the new safety parameters into the action conditions based on the input for application received by the input receiving unit.

8. A teaching device for a machine, characterized in that, The teaching device of the machine comprises the apparatus according to any one of claims 1 to 7.

9. A method for setting safety parameters to ensure the safe operation of machinery, characterized in that, The limit value samples restricting the movement of the machinery and the model samples of the machinery are stored in the storage unit as samples of the safety parameters. The model samples contain machinery information indicating the type or specifications of the machinery, including an identification number for identifying the type of machinery or the maximum reach distance of the machinery. The processor performs the following processing: Perform the function to set the aforementioned security parameters; Accepts input for importing the model samples and limit value samples stored in the storage unit; Based on the input, the model sample and the limit value sample are read from the storage unit and imported into the function for setting the security parameters; When the limit value sample is imported, the limit value sample is automatically adjusted according to the mechanical information contained in the imported model sample; as well as Set the imported model sample and the adjusted limit value sample as the new security parameters.

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