Teaching pendant, robot system, and robot control device

Abstract

A backup file of a robot control device is not saved using an external storage device, so that a state of software of the robot control device can be surely restored. A teaching pendant is provided with a communication section that receives a backup file of a robot control device that controls a robot, and a storage section that saves the received backup file.

Description

Technical Field

[0001] This invention relates to a teach pendant, a robot system, and a robot control device. Background Technology

[0002] Backup mechanisms are important for the robot control devices of industrial robots and other robots installed in factories, etc., because even if the program is lost due to a malfunction or erroneous operation of the robot control device, it can still be restored to its original normal state.

[0003] Backup of a robot control device refers to the act of saving the robot's motion program, network communication settings, and other related information as electronic files in binary or text format (hereinafter referred to as "backup files"). Since backup files are electronic files, they can be copied to external storage devices such as USB drives or file servers.

[0004] In this way, the software state of the robot control device can be restored to the state at the time of backup, based on the backup file.

[0005] Furthermore, robot control devices such as industrial robots include teach pendants. As a display and operating device attached to the robot control device, the teach pendant has only minimal performance and is equipped with only a small amount of storage. Therefore, it lacks the storage capacity to save backup files of the robot control device.

[0006] In response to this, a known technology involves a remote terminal device that periodically collects and manages the control device data of a robot control device as backup files. The robot control device controls an automatic main wiring device for robots deployed in remote locations such as outlying islands. In the event of a dual-system data failure—that is, a failure in the data stored in both the main storage device and the auxiliary storage device of the robot control device—data recovery is performed from the remote terminal using the collected control device data. For example, see Patent Document 1.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 10-29181 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] However, in cases involving industrial robots, the total size of backup files can sometimes reach several hundred megabytes.

[0012] Patent document 1 is a patent document for managing backup data of a robot control device that controls an automated master wiring device configured remotely. When the backup file size is large, management becomes difficult.

[0013] Furthermore, regarding external storage devices that store backup files, it is necessary to purchase external storage devices or manage the backup files after they are saved (such as loss countermeasures). Also, since it is difficult to return to a normal state when the correspondence between the backup file and the robot control device cannot be identified, it is necessary to manage the copied electronic files (for example, when there are multiple robot control devices, manage which electronic file was the backup file obtained from which robot control device).

[0014] Alternatively, there may be a method that saves the backup file in the robot control device itself without using an external storage device. However, since the saved backup file may not be usable if the robot control device itself malfunctions, this method of saving as a backup is insufficient.

[0015] Furthermore, when multiple backup files exist, it is essential to continuously manage the purpose for which each backup file was saved. Without this continuous management, it will be difficult to determine which backup file should be used when restoring. Restoring backup files also takes time; using the wrong backup file for restoration will result in repeated restoration attempts and further time loss.

[0016] Therefore, it is necessary and indispensable to import and manage large-capacity storage devices for backup files, which incurs monetary and ongoing management costs.

[0017] Therefore, it is desirable to introduce a large-capacity storage device to save backup files of the robot control device, and to easily manage the backup files so as to reliably restore the software state of the robot control device in the event of loss of programs and data due to malfunctions or erroneous operation of the robot control device.

[0018] Methods for solving problems

[0019] (1) One aspect of the teaching operation panel of this disclosure includes: a communication unit that receives a backup file of a robot control device that controls a robot; and a storage unit that stores the received backup file.

[0020] (2) One aspect of the robot system disclosed herein includes a robot control device for controlling the robot and (1) a teaching operation panel.

[0021] (3) One aspect of the robot control device disclosed herein includes the teaching operation panel of (1).

[0022] Invention Effects

[0023] According to one method, a large-capacity storage device is imported to save backup files of the robot control device, and the backup files can be easily managed to reliably restore the software state of the robot control device in the event of loss of programs and data due to malfunctions or erroneous operation of the robot control device. Attached Figure Description

[0024] Figure 1 This is a diagram showing a structural example of the robot system according to the first embodiment.

[0025] Figure 2 This is a functional block diagram illustrating a functional structural example of the robot control device and teach pendant of the first embodiment.

[0026] Figure 3 This is a flowchart illustrating the backup process of a robot system.

[0027] Figure 4 This is a flowchart illustrating the recovery process of the robot system.

[0028] Figure 5 This is a diagram illustrating a structural example of the robot system according to the second embodiment.

[0029] Figure 6 This is a functional block diagram illustrating a functional structural example of the robot control device and teach pendant in the second embodiment.

[0030] Figure 7 This is a flowchart illustrating the backup process of a robot system.

[0031] Figure 8 This is a flowchart illustrating the recovery process of the robot system.

[0032] Figure 9 This is a flowchart illustrating the recovery process of the robot system.

[0033] Figure 10 This is a functional block diagram illustrating a functional structural example of the robot control device and teach pendant in the third embodiment.

[0034] Figure 11 This is a flowchart illustrating the recovery process of the robot system.

[0035] Figure 12 This is a flowchart illustrating the recovery process of the robot system. Detailed Implementation

[0036] The first to third embodiments will be described in detail with reference to the accompanying drawings.

[0037] Here, all embodiments share a common structure in storing backup files of the robot control device on the teach pendant.

[0038] However, regarding the saving of backup files, in the first embodiment, the teach pendant is connected to one robot control device and only saves the backup file of that robot control device, using the saved backup file to restore the software state of the robot control device. In contrast, in the second embodiment, the difference from the first embodiment is that the teach pendant can be connected to each of multiple robot control devices, saving a backup file containing the individual ID of each robot control device, and using the backup file corresponding to the individual ID of the connected robot control device when restoring the software state of the robot control device. Furthermore, in the third embodiment, the following function is added to the first and second embodiments: when restoring the software state of the robot control device based on the backup file, the teach pendant displays a preview of the backup file.

[0039] Hereinafter, the first embodiment will be described in detail first, and then the parts that are particularly different from the first embodiment in the second and third embodiments will be described.

[0040] <First Embodiment>

[0041] Figure 1 This is a diagram showing a structural example of the robot system according to the first embodiment.

[0042] like Figure 1 As shown, the robot system 1 includes a robot control device 10, a teaching operation panel 20, and a robot 30.

[0043] The robot control device 10, the teach pendant 20, and the robot 30 can also be directly connected to each other via a connection interface (not shown) in a wired or wireless manner. Alternatively, the robot control device 10, the teach pendant 20, and the robot 30 can also be connected to each other via a network (not shown) such as a LAN (Local Area Network) or the Internet in a wired or wireless manner. In this case, the robot control device 10, the teach pendant 20, and the robot 30 have a communication unit (not shown) for communicating with each other via this connection.

[0044] <Robot 30>

[0045] Robot 30 is a known robot that performs actions under the control of robot control device 10, which will be described later. Robot 30 has an end effector such as a base for rotating around an axis in the direction of a plumb line, an arm for moving and rotating, or a hand mounted on the arm.

[0046] <Robot Control Device 10>

[0047] The robot control device 10 is a well-known device to those skilled in the art for controlling the movements of the robot 30. The robot control device 10, for example, executes an action program to generate control signals and outputs the generated control signals to the robot 30, thereby causing the robot 30 to move. The action program is generated using orthogonal coordinate values ​​or axis values ​​representing the position of the robot 30's leading edge, which is the position taught by a user using the teach pendant 20 (described later).

[0048] Figure 2 This is a functional block diagram illustrating a functional structural example of the robot control device 10 and the teach pendant 20 according to the first embodiment.

[0049] like Figure 2 As shown, the robot control device 10 includes a CPU 101, a volatile storage device 102, a communication unit 103, a power supply unit 104, and a non-volatile storage device 105 serving as a storage unit.

[0050] The non-volatile storage device 105 is an SSD (Solid State Drive), HDD (hard disk drive), etc., which stores the OS 151, various software 152, various configuration files 153, and other files 154.

[0051] OS151, for example, stores the operating system (OS) and system programs executed by the robot control device 10.

[0052] Various software 152, such as software that stores the motion program of robot 30 and application programs that implement various functions of robot control device 10.

[0053] Various configuration files 153 include, for example, configuration files for software stored in various software 152, configuration files related to network communication of the communication unit 103 described later, etc.

[0054] Other files 154 include, for example, log data related to the actions of the robot control device 10 and the robot 30.

[0055] CPU 101 is the processor that controls the robot control device 10 as a whole. CPU 101 reads the system program of OS 151 and various application programs of software 152 stored in non-volatile memory 105 via the bus, and controls the robot control device 10 as a whole according to the system program and application programs. Thus, as... Figure 2 As shown, the CPU 101 is configured to implement the function of the recovery unit 111.

[0056] The restoration unit 111 uses the backup file received from the teach pendant 20 (described later) to restore the state of the software of the robot control device 10 to the state when the backup file was saved.

[0057] The volatile storage device 102 is, for example, RAM (Random Access Memory), and various files stored in the non-volatile storage device 105 are loaded as needed for computational processing performed by the CPU 101.

[0058] The communication unit 103 controls the transmission and reception of data between itself and the teaching pendant 20 and the robot 30, which will be described later. Additionally, the communication unit 103 can also control network communication with other devices via a network including the Internet (not shown).

[0059] Additionally, the communication unit 103 can also, upon receiving a request to send backup files from the teach pendant 20, send backup files of all or part of the OS 151, various software 152, various setting files 153, and other files 154 stored in the non-volatile storage device 105 to the teach pendant 20, based on control instructions from the CPU 101. Furthermore, the communication unit 103 can also, upon receiving a request to switch to recovery mode from the teach pendant 20, receive backup files from the teach pendant 20, based on control instructions from the CPU 101.

[0060] The power supply unit 104 supplies power to the robot control device 10, for example. In addition, the power supply unit 104 can also supply power to the teach pendant 20 described later in a wired or wireless manner.

[0061] <Teaching Control Panel 20>

[0062] The teaching control panel 20 is a device for teaching the robot 30. It can be a computer designed specifically for the robot control device 10, or a tablet computer or other computer.

[0063] like Figure 2 As shown, the teach pendant 20 includes a CPU 201, a volatile storage device 202, a communication unit 205, a power supply unit 206, a non-volatile storage device 207, a display unit 208, and an input unit 209. Furthermore, the CPU 201 includes a backup processing unit 210, a recovery mode request unit 211, and a display control unit 212.

[0064] The non-volatile storage device 207 is a ROM (Read Only Memory), SSD, HDD, etc., which stores the OS 271, various software 272, various setting files 273, other files 274 and backup files 275.

[0065] OS271 stores, for example, the operating system (OS) and system programs that are executed via the teach pendant disk 20.

[0066] Various software 272, such as applications that store and implement various functions of the teaching operation disk 20.

[0067] Various configuration files 273 include, for example, configuration files for software stored in various software 272, and configuration files related to communication with the communication unit 205 described later.

[0068] Other files 274 include, for example, records related to the operator's operational history on the teaching control panel 20.

[0069] Backup file 275 is a backup file of all or part of the OS 151, various software 152, various setting files 153 and other files 154 stored in the non-volatile storage device 105 of the robot control device 10.

[0070] Additionally, backup files 275 can be stored in different storage locations, for example, depending on the date and time of the backup.

[0071] CPU 201 is the processor that comprehensively controls the teaching pendant 20. CPU 201 reads the system program of OS 271 stored in non-volatile storage device 207 and the application programs stored in various software 272 via the bus, and controls the entire teaching pendant 20 according to the system program and application programs. Thus, as... Figure 2 As shown, the CPU 201 is configured to perform the functions of the backup processing unit 210, the recovery mode request unit 211, and the display control unit 212.

[0072] For example, when the backup processing unit 210 receives a save start instruction for the backup file 275 from the input unit 209 (described later) based on the input operation of the operator as the user, it requests the robot control device 10 to download the backup file to the teaching operation disk 20 in order to save the backup file to the teaching operation disk 20.

[0073] For example, when the recovery mode request unit 211 receives a recovery instruction for backup file 275 from the input unit 209 (described later) based on input operations by the user (operator), it requests a transfer to recovery mode to the robot control device 10 via the communication unit 205 (described later). Then, when the request to transfer to recovery mode is received from the teach pendant 20, the robot control device 10 uses the backup file received from the teach pendant 20 to restore the software state.

[0074] For example, when the display control unit 212 receives a restoration instruction for the backup file 275 from the input unit 209 (described later) based on the operator's input operation, it displays a screen on the display unit 208 (described later) asking the operator to input the storage location of the backup file.

[0075] Specifically, when the display control unit 212 receives a restoration instruction for backup file 275, and multiple backup files 275 are located in different storage locations, it displays a screen on the display unit 208 prompting the operator to input the storage location of the backup file. The operator then inputs the storage location of the backup file 275 to be restored via the input unit 209.

[0076] In addition, the display control unit 212 can also display the generated date and time for each backup file 275.

[0077] The volatile storage device 202 is, for example, RAM, which loads various files stored in the non-volatile storage device 207 as needed for computational processing by the CPU 201.

[0078] Furthermore, this embodiment illustrates the case where the backup file 275 is stored in the non-volatile storage device 207, but it is not limited thereto. For example, the teach pendant 20 may also have an external external storage device 203 or an internal external storage device 204, thereby storing the backup file 275 in the external external storage device 203 or the internal external storage device 204.

[0079] Here, the external storage device 203 is, for example, a USB memory, etc. Since the connection terminals are located outside the housing of the teaching disk 20, it is a storage device that is relatively easy to install / remove.

[0080] Built-in external storage devices 204, such as microSD cards, are relatively difficult to install / remove because their connection terminals are located on the electronic board inside the housing of the teach pendant 20. Furthermore, specifications for built-in external storage devices 204 include, for example, eSD (embedded SD).

[0081] The communication unit 205 controls the transmission and reception of data with the robot control device 10, for example. Additionally, the communication unit 205 can also control network communication with other devices via a network including the Internet (not shown).

[0082] In addition, the communication unit 205 can also request the robot control device 10 to switch to recovery mode according to the control instructions from the CPU 201. When the storage location of the backup file is entered, the backup file 275 stored in the non-volatile storage device 207 is sent to the teaching operation disk 20.

[0083] The power supply unit 206, for example, supplies power to the teach pendant 20. In addition, the power supply unit 206 can also receive power from the robot control device 10 in a wired or wireless manner.

[0084] The display unit 208 is a display device such as an LCD (Liquid Crystal Display), and displays a display screen that requests the storage location of a backup file according to the display instructions from the display control unit 212.

[0085] The input unit 209 may be a keyboard, a touch panel disposed on the display unit 208, etc., and accepts input from the operator.

[0086] <Backup processing of Robot System 1>

[0087] Next, refer to Figure 3 Explain the backup process for robot system 1.

[0088] Figure 3 This is a flowchart illustrating the backup process of robot system 1. The process shown here is executed whenever the operator receives a backup saving instruction on the teach pendant 20.

[0089] In step S101, the teaching operation panel 20 (input unit 209) indicates that the backup of the robot control device 10 is saved from the operator's acceptance.

[0090] In step S102, the teach operation disk 20 (backup processing unit 210) requests the transmission of the backup file to the robot control device 10 according to the backup save start instruction received in step S101.

[0091] In step S103, when the robot control device 10 (communication unit 103) receives the backup file transmission request from the teach pendant 20 (backup processing unit 210) in step S102, it sends the backup file to the teach pendant 20 according to the control instructions of the CPU 101. Furthermore, the backup file can be one or more files stored in the non-volatile storage device 105 within the robot control device 10, or it can be a disk image file within the robot control device 10.

[0092] In step S104, the teach pendant 20 (backup processing unit 210) stores the received backup file in the non-volatile storage device 207. Alternatively, as described above, instead of the non-volatile storage device 207, the teach pendant 20 (CPU 201) may also store the received backup file in an external storage device 203 or an internal storage device 204.

[0093] <Restoration Process of Robot System 1>

[0094] Next, refer to Figure 4 Explain the restoration process of robot system 1.

[0095] Figure 4 This is a flowchart illustrating the recovery process of robot system 1. The process shown here is executed whenever the teach pendant 20 receives a recovery start instruction from the operator.

[0096] In step S201, the teaching operation panel 20 (input unit 209) gives an instruction to start restoring the backup of the robot control device 10 received by the operator.

[0097] In step S202, the teach pendant 20 (restoration mode request unit 211) requests the robot control device 10 to switch to the restoration mode.

[0098] In step S203, the robot control device 10 (restoration unit 111) switches to the restoration mode.

[0099] In step S204, when there are multiple backup files 275, the teach pendant 20 (display control unit 212) displays a screen showing the input instructions for the storage location of the backup files 275 to the operator.

[0100] In step S205, the teach pendant 20 (input unit 209) displays the information from the storage location of the backup file 275, which is shown in step S204. At this time, the teach pendant 20 may also display the creation date and time of the backup file.

[0101] In step S206, the teach pendant 20 (communication unit 205) sends the backup file 275 stored in the storage location accepted in step S205 to the robot control device 10.

[0102] In step S207, the robot control device 10 (restoration unit 111) uses the received backup file 275 to restore the software state.

[0103] Based on the above, the teaching operation disk 20 of the first embodiment imports a large-capacity storage device to save backup files of the robot control device, and can easily manage the backup files, so as to reliably restore the software state of the robot control device when programs and data are lost due to malfunctions or erroneous operations of the robot control device.

[0104] Furthermore, backup files of the robot control device 10 connected to the teach pendant 20 can be stored in the non-volatile storage device 207 of the teach pendant 20. Therefore, in many cases, the teach pendant 20 is purchased / used together with the robot control device 10, thus eliminating the need for additional monetary costs associated with storing backup files.

[0105] Furthermore, in many cases, the robot control device 10 and the teach pendant 20 are used as a pair. Therefore, by saving a backup file on the teach pendant 20, it is easy to determine whether it is a backup file for the paired robot control device 10. Moreover, in many cases, since the robot control device 10 and the teach pendant 20 are physically connected, the possibility of losing the teach pendant 20 is low.

[0106] The first embodiment has been described above.

[0107] <Second Implementation>

[0108] Next, the second embodiment will be described. As described above, in the first embodiment, regarding the saving of backup files, the teach pendant 20A is connected to one robot control device 10, and only the backup file of that robot control device 10 is saved. The saved backup file is used to restore the software state of the robot control device 10. In contrast, in the second embodiment, the difference from the first embodiment is that the teach pendant 20A can be connected to each of multiple robot control devices 10A, and a backup file containing the individual number of each robot control device 10A is saved. When restoring the software state of a robot control device 10A, the backup file corresponding to the individual number of the connected robot control device 10A is used.

[0109] Therefore, the teach pendant 20A imports a large-capacity storage device to save backup files of the robot control device, and can easily manage these backup files. This allows for reliable restoration of the robot control device's software state in the event of program or data loss due to robot control device malfunction or erroneous operation. Furthermore, the teach pendant 20A prevents the restoration of backup files from other robot control devices 10A within the robot control device 10A itself.

[0110] The second embodiment will be described below.

[0111] Figure 5 This diagram illustrates a structural example of the robot system according to the second embodiment. Here, an example is shown where one teach pendant is used for multiple robot control devices. Furthermore, the present invention can also be used when using two or more teach pendants.

[0112] like Figure 5As shown, the robot system 1A has n robot control devices 10A(1) to 10A(n), one teaching operation panel 20A, and n robots 30(1) to 30(n) (n is an integer of 2 or more).

[0113] The robot control devices 10A(1) to 10A(n) and the robots 30(1) to 30(n) can also be directly connected to each other via a connection interface not shown, either wired or wirelessly. Alternatively, the robot control devices 10A(1) to 10A(n) and the robots 30(1) to 30(n) can also be connected to each other via a network not shown, such as a LAN (Local Area Network) or the Internet, either wired or wirelessly. In this case, the robot control devices 10A(1) to 10A(n) and the robots 30(1) to 30(n) include a communication unit not shown for communicating with each other via this connection.

[0114] On the other hand, the teach pendant 20A can also be directly connected to any one of the robot control devices 10A(1) to 10A(n) via a connection interface not shown, either wired or wirelessly. Alternatively, the teach pendant 20A can also be connected to any one of the robot control devices 10A(1) to 10A(n) via a network not shown, such as a LAN or the Internet, either wired or wirelessly. In this case, the teach pendant 20A includes a communication unit (not shown) for communicating with each other via this connection.

[0115] Furthermore, when it is not necessary to distinguish each of the robot control devices 10A(1) to 10A(n) individually, these will be collectively referred to as "robot control device 10A". Also, when it is not necessary to distinguish each of the robots 30(1) to 30(n) individually, these will be collectively referred to as "robot 30".

[0116] <Robot 30>

[0117] The robot 30 in the second embodiment is the same as that in the first embodiment, and detailed description is omitted.

[0118] Figure 6 This is a functional block diagram illustrating a functional structural example of the robot control device 10A and the teach pendant 20A according to the second embodiment. Furthermore, for those having... Figure 2 The elements of the robot control device 10 and the teaching operation panel 20 have the same functions, are marked with the same symbols, and detailed descriptions are omitted.

[0119] <Robot Control Device 10A>

[0120] The robot control device 10A of the second embodiment has the same structure as the robot control device 10 of the first embodiment.

[0121] That is, such as Figure 6 As shown, the robot control device 10A includes a CPU 101, a volatile storage device 102, a communication unit 103a, a power supply unit 104, and a non-volatile storage device 105a. The CPU 101 also includes a recovery unit 111. The non-volatile storage device 105a stores an OS 151, various software 152, various setting files 153, and other files 154.

[0122] The CPU 101, volatile storage device 102, and power supply unit 104 have the same functions as those in the first embodiment.

[0123] In addition, the restoration section 111 has the same function as the restoration section 111 in the first embodiment.

[0124] In addition, OS151, various software 152, various setting files 153 and other files 154 are the same data as OS151, various software 152, various setting files 153 and other files 154 in the first embodiment.

[0125] The non-volatile storage device 105a stores electronic information representing an individual ID, which is a number pre-assigned during the manufacturing of the robot control device 10A. Furthermore, during manufacturing, the individual ID ensures that each robot control device 10A manufactured has a unique ID. Alternatively, the individual ID can be a string or a combination of numbers and characters.

[0126] Similar to the communication unit 103 in the first embodiment, the communication unit 103a controls the transmission and reception of data between itself and the teaching pendant 20A and the robot 30. Additionally, the communication unit 103a can also control network communication with other devices via a network including the Internet (not shown).

[0127] Additionally, the communication unit 103a can, according to the control instructions of the CPU 101, send a backup file containing information indicating the individual number of the robot control device 10A to the teaching operation disk 20A when it receives a request to send a backup file from the teaching operation disk 20A. This backup file is stored in the non-volatile storage device 105 along with all or part of the OS 151, various software 152, various setting files 153, and other files 154. Furthermore, the communication unit 103a can also, according to the control instructions of the CPU 101, send the individual number of the robot control device 10A to the teaching operation disk 20A when it receives a request to send the individual number of the robot control device 10A from the teaching operation disk 20A.

[0128] <Teaching control panel 20A>

[0129] The teaching operation panel 20A of the second embodiment has the same structure as the teaching operation panel 20 of the first embodiment.

[0130] That is, such as Figure 6 As shown, the teach pendant 20A includes a CPU 201a, a volatile storage device 202, an external storage device 203, an internal storage device 204, a communication unit 205, a power supply unit 206, a non-volatile storage device 207, a display unit 208, and an input unit 209. Furthermore, the CPU 201a includes a backup processing unit 210a, a recovery mode request unit 211, a display control unit 212, and a file determination unit 213. Additionally, the non-volatile storage device 207 stores an OS 271, various software 272, various setting files 273, other files 274, and backup files 275a.

[0131] The volatile storage device 202, external external storage device 203, internal external storage device 204, communication unit 205, power supply unit 206, non-volatile storage device 207, display unit 208, and input unit 209 have the same functions as those of the volatile storage device 202, external external storage device 203, internal external storage device 204, communication unit 205, power supply unit 206, non-volatile storage device 207, display unit 208, and input unit 209 in the first embodiment.

[0132] Furthermore, the restoration mode request unit 211 and the display control unit 212 have the same functions as those of the restoration mode request unit 211 and the display control unit 212 in the first embodiment.

[0133] In addition, OS271, various software 272, various setting files 273 and other files 274 are the same data as OS271, various software 272, various setting files 273 and other files 274 in the first embodiment.

[0134] The backup file 275a is stored together with all or part of the OS 151, various software 152, various setting files 153 and other files 154 stored in the non-volatile storage device 105a of the robot control device 10A. The backup file contains information indicating the individual number of the robot control device 10A.

[0135] CPU 201a is the processor that comprehensively controls the teach pendant 20A. CPU 201a reads the system program of OS 271 stored in non-volatile storage device 207 and the application programs stored in various software 272 via the bus, and controls the entire teach pendant 20A according to the system program and the application programs. Thus, as... Figure 6As shown, the CPU 201a is configured to perform the functions of the backup processing unit 210a, the recovery mode request unit 211, the display control unit 212, and the file determination unit 213.

[0136] For example, when the input unit 209 receives a save start instruction for the backup file 275a based on the operator's input operation, the backup processing unit 210a requests the robot control device 10A to download the backup file to the teaching operation disk 20 in order to save the backup file containing information representing the individual number of the robot control device 10A to the teaching operation disk 20.

[0137] For example, when the input unit 209 receives a backup file restoration instruction from the operator, the file determination unit 213 receives the individual number of the connected robot control device 10A from the robot control device 10A and determines whether the received individual number is consistent with the individual number contained in the backup file 275a in the input storage location.

[0138] Then, when the received individual number matches the individual number of the backup file 275a, the file determination unit 213 sends the backup file 275a located at the input storage location to the robot control device 10A.

[0139] On the other hand, when the received individual number is inconsistent with the individual number of the backup file 275a, the display control unit 212 displays a screen on the display unit 208 that seeks to re-enter the storage location of the backup file 275a of the connected robot control device 10A.

[0140] In this way, the teach pendant 20A can prevent the backup files 275a of other robot control devices 10A from being restored to the connected robot control device 10A.

[0141] <Backup processing of Robot System 1>

[0142] Next, refer to Figure 7 Explain the backup process for robot system 1.

[0143] Figure 7 This is a flowchart illustrating the backup process of robot system 1. The process shown here is executed whenever the teach pendant 20A receives a backup saving start instruction from the operator.

[0144] Furthermore, the processing of steps S301, S302, and S304 is similar to... Figure 3 Steps S101, S102, and S104 of the first embodiment are the same, and their descriptions are omitted.

[0145] In step S303, when the robot control device 10A (communication unit 103a) receives the request from step S302, it sends a backup file containing information representing the individual number of the robot control device 10A to the teach pendant 20A.

[0146] <Restoration Process of Robot System 1>

[0147] Next, refer to Figure 8 and Figure 9 Explain the restoration process of robot system 1.

[0148] Figure 8 and Figure 9 This is a flowchart illustrating the recovery process of robot system 1. The process shown here is executed whenever the teach pendant 20A receives a recovery start instruction from the operator.

[0149] Furthermore, the processing of steps S401 to S405, S410, and S411 is similar to... Figure 4 Steps S201 to S205, S206 and S207 of the first embodiment are the same, and the description is omitted.

[0150] In step S406, the teach pendant 20A (document determination unit 213) requests the individual number from the connected robot control device 10A.

[0151] In step S407, the robot control device 10A (communication unit 103a) sends the individual number to the teaching operation panel 20A.

[0152] In step S408, the teach pendant operation panel 20A (file determination unit 213) determines whether the received individual number matches the individual number of the backup file in the storage location input in step S405. When the received individual number matches the individual number of the backup file, the process proceeds to the next step. Figure 9 Step S410. On the other hand, if the received individual number does not match the individual number of the backup file, the process proceeds to step S409.

[0153] In step S409, the teach pendant operation panel 20A (file determination unit 213) displays a message on the display unit 208 indicating whether to use another backup file, along with a message indicating a mismatch in the individual file number. When the input unit 209 receives a response from the operator indicating that another backup file should be used, processing returns to... Figure 8 Step S404. On the other hand, when the input unit 209 receives a response from the operator that no other backup files are used, the restoration process ends.

[0154] Based on the above, the teaching operation disk 20A of the second embodiment imports a large-capacity storage device to save backup files of multiple robot control devices, and can easily manage the backup files, so as to reliably restore the software state of the robot control device when programs and data are lost due to malfunctions or erroneous operations of the robot control device.

[0155] Furthermore, the teaching operation panel 20A receives and stores a backup file containing the individual IDs of robot control devices 10A(i) from robot control devices 10A(i). When restoring the software state of robot control devices 10A(i), it receives individual IDs from robot control devices 10A(i) and compares the received individual IDs with the individual IDs in the backup file. This prevents robot control devices 10A(i) from restoring backup files of other robot control devices 10A(j). Additionally, i and j are integers from 1 to n, and i ≠ j.

[0156] In this way, the teach pendant 20A has the effect of reducing the management cost of backup files for multiple robot control devices 10A.

[0157] The second implementation method has been described above.

[0158] <Third Implementation>

[0159] Next, the third embodiment will be described. As described above, regarding the saving of backup files, in the first embodiment, the teach pendant 20 is connected to one robot control device 10, and only the backup file of that robot control device 10 is saved. The saved backup file is used to restore the software state of the robot control device 10. In the second embodiment, the teach pendant 20A can be connected to each of multiple robot control devices 10A, and a backup file containing the individual number of each robot control device 10A is saved. When restoring the software state of a robot control device 10A, the backup file corresponding to the individual number of the connected robot control device 10A is used. In contrast, in the third embodiment, the following function is added to the first and second embodiments: when restoring the software state of the robot control device 10 based on the backup file, the teach pendant 20B displays a preview of the backup file.

[0160] Therefore, the teach pendant 20B imports a large-capacity storage device to save backup files of the robot control device, and can easily manage these backup files. This allows for reliable restoration of the robot control device's software state in the event of program or data loss due to robot control device malfunction or erroneous operation. Furthermore, the teach pendant 20B displays a preview of the backup file before performing the restoration operation, thus preventing the use of unintended backup files during restoration.

[0161] The third embodiment will be described below.

[0162] The robot system 1 in the third embodiment and Figure 1 The same applies to robot system 1. Here, an example is shown where the teach pendant of the first embodiment is equipped with a function to display a preview of the backup file before a backup file restoration operation is performed. Furthermore, the present invention can also be applied to the teach pendant of the second embodiment.

[0163] Figure 10 This is a functional block diagram illustrating a functional structural example of the robot control device 10 and teach pendant 20B according to the third embodiment. Furthermore, for those having... Figure 2 Elements with the same function as the robot control device 10 and the teaching operation panel 20 are marked with the same symbols, and detailed descriptions are omitted.

[0164] <Robot Control Device 10>

[0165] The robot control device 10 of the third embodiment is the same as that of the first or second embodiment.

[0166] <Teaching control panel 20B>

[0167] The teaching operation panel 20B of the third embodiment has the same structure as the teaching operation panel 20 of the first embodiment.

[0168] That is, such as Figure 8 As shown, the teach pendant 20B includes a CPU 201b, a volatile storage device 202, an external storage device 203, an internal storage device 204, a communication unit 205, a power supply unit 206, a non-volatile storage device 207, a display unit 208, and an input unit 209. Furthermore, the CPU 201b includes a backup processing unit 210, a recovery mode request unit 211, a display control unit 212b, and an analog execution unit 214. Additionally, the non-volatile storage device 207 stores an OS 271, various software 272, various setting files 273, other files 274, and backup files 275.

[0169] The volatile storage device 202, external external storage device 203, internal external storage device 204, communication unit 205, power supply unit 206, non-volatile storage device 207, display unit 208, and input unit 209 have the same functions as those of the volatile storage device 202, external external storage device 203, internal external storage device 204, communication unit 205, power supply unit 206, non-volatile storage device 207, display unit 208, and input unit 209 in the first embodiment.

[0170] In addition, the backup processing unit 210 and the recovery mode request unit 211 have the same functions as the backup processing unit 210 and the recovery mode request unit 211 in the first embodiment.

[0171] In addition, OS271, various software 272, various configuration files 273, other files 274 and backup files 275 are the same data as OS271, various software 272, various configuration files 273, other files 274 and backup files 275 in the first embodiment.

[0172] Furthermore, similar to the second embodiment, the teach pendant 20B includes a CPU 201b, a volatile storage device 202, an external storage device 203, a built-in external storage device 204, a communication unit 205, a power supply unit 206, a non-volatile storage device 207, a display unit 208, and an input unit 209. Additionally, the CPU 201b includes a backup processing unit 210a, a recovery mode request unit 211, a display control unit 212b, a file determination unit 213, and an analog execution unit 214. Furthermore, the non-volatile storage device 207 stores an OS 271, various software 272, various setting files 273, other files 274, and backup files 275a.

[0173] CPU 201b is the processor that comprehensively controls the teach pendant 20B. CPU 201b reads the system program of OS 271 stored in non-volatile storage device 207 and the application programs stored in various software 272 via the bus, and controls the entire teach pendant 20B according to the system program and application programs. Thus, as... Figure 8 As shown, the CPU 201b is configured to perform the functions of the backup processing unit 210, the recovery mode request unit 211, the display control unit 212b, and the simulation execution unit 214.

[0174] When the input unit 209 receives the restoration instruction of the backup file 275 based on the operator's input operation, the display control unit 212b displays a screen on the display unit 208 showing the location where the operator seeks to input the backup file. Before the restoration begins, a preview of the robot control device 10 restoring the backup file at the input location is displayed on the display unit 208.

[0175] Specifically, the display control unit 212b may, for example, display the contents of the robot 30's motion program contained in the backup file 275 as a text file on the display unit 208 when the input unit 209 receives a preview instruction for the backup file 275 based on the operator's input operation. Additionally, the display control unit 212b may also display the network settings of the communication unit 205 on the display unit 208. Furthermore, the display control unit 212b may, for example, display the three-dimensional model of the robot 30 moving according to the robot 30's motion program on the display unit 208. This motion program is executed by the simulation execution unit 214 (described later) using robot simulation software stored in various software 272, and the program applies the backup file 275 within this simulation software.

[0176] In this way, the teach disk 20B can prevent unintended backup files from being used in the recovery process.

[0177] The simulation execution unit 214 simulates the following actions: the operation of at least one of the robot control device 10, robot 30, or peripheral equipment (not shown) of robot 30 when the backup file 275 of the input storage location is restored to the robot control device 10.

[0178] Specifically, the simulation execution unit 214 uses known simulation methods to execute the robot 30's motion program contained in the backup file 275 in the input storage location, thereby simulating the actions of the robot control device 10, the robot 30, and the robot 30's peripheral devices (not shown) configured in a three-dimensional virtual space.

[0179] Furthermore, the display control unit 212b can also configure the three-dimensional models of the robot control device 10, the robot 30, and the peripheral devices (not shown) of the robot 30 in the virtual space, and display the execution results of the simulation execution unit 214 as a preview.

[0180] <Restoration Process of Robot System 1>

[0181] Backup processing of robot system 1 in the third embodiment and Figure 3 The first embodiment or Figure 7 The second embodiment is the same, and detailed descriptions are omitted.

[0182] <Restoration Process of Robot System 1>

[0183] Next, refer to Figure 11 and Figure 12 Explain the restoration process of robot system 1.

[0184] Figure 11 and Figure 12This is a flowchart illustrating the recovery process of robot system 1. The process shown here is executed whenever the teach pendant 20B receives a recovery start instruction from the operator.

[0185] Furthermore, the processing of steps S501 to S505, S509, and S510 is... Figure 4 Steps S201 to S205, S206 and S207 of the first embodiment are the same, and the description is omitted.

[0186] In step S406, the teach pendant 20B (display control unit 212b) displays a preview screen indicating whether to display a preview of the backup file from the storage location entered in step S505 being restored to the robot control device 10. When an instruction to display the preview is received via the input unit 209, the process proceeds to step S507. Conversely, when an instruction not to display the preview is received via the input unit 209, the process proceeds to... Figure 12 Step S509.

[0187] In step S507, the teach operation panel 20B (display control unit 212b) displays a preview of the backup file in the storage location entered in step S505.

[0188] In step S508, the teach pendant control panel 20B (display control unit 212b) displays a screen for selecting the next job on the display unit 208, allowing the operator to make a selection. When the operator accepts the selection to restore using the backup file 275 input from the input unit 209 as the next job input, the process proceeds to... Figure 12 Step S509. Additionally, when the input unit 209 accepts the selection to use another backup file as the next job, the process returns to step S504. Furthermore, when the input unit 209 accepts the selection to abort the restoration process as the next job, the restoration process ends.

[0189] Based on the above, similar to the first or second embodiment, the third embodiment's teaching operation disk 20B imports a large-capacity storage device to save backup files of the robot control device, and can easily manage the backup files, so as to reliably restore the software state of the robot control device when programs and data are lost due to malfunctions or erroneous operations of the robot control device.

[0190] In addition, the teaching disk 20B displays a preview of the backup file before performing a backup file restoration operation, thereby preventing unintended backup files from being used in the restoration.

[0191] Furthermore, backup files of the robot control device 10 connected to the teach pendant 20B can be stored in the non-volatile storage device 207 of the teach pendant 20B. Therefore, since the teach pendant 20B is often purchased / used together with the robot control device 10, there is no additional monetary cost required for storing backup files.

[0192] Furthermore, in many cases, the robot control device 10 and the teach pendant 20B are used as a single unit, paired together. Therefore, by storing a backup file on the teach pendant 20B, it is easy to determine whether it is a backup file for the paired robot control device 10. Moreover, in many cases, since the robot control device 10 and the teach pendant 20B are physically connected, the possibility of losing the teach pendant 20B is low.

[0193] The above describes the third implementation method.

[0194] The first, second, and third embodiments have been described above. However, the robot control devices 10, 10A and the teaching operation panels 20, 20A, and 20B are not limited to the above embodiments and include variations and improvements within the scope of achieving the purpose.

[0195] <Variation Example 1>

[0196] In the first and third embodiments, when there are multiple backup files 275, the teaching operation disks 20 and 20B display a screen for inputting the storage location of the backup files 275 to the operator, and the operator accepts the input of the storage location of the backup files 275, but is not limited to this.

[0197] For example, the teaching operation panels 20 and 20B can also automatically select the most recent backup file by date and time and send it to the robot control device 10, instead of having the operator input the storage location.

[0198] <Variation Example 2>

[0199] Furthermore, for example, in the second embodiment, the teach pendant 20A obtains the individual ID of the connected robot control device 10A by sending a request for the individual ID to the connected robot control device 10A, but it is not limited to this. For example, the sending and receiving of the individual ID may also be performed at timed intervals such as when the robot control device 10A is connected to the teach pendant 20A or when the power is turned on.

[0200] Furthermore, the functions included in the robot control devices 10, 10A and the teaching operation panels 20, 20A, 20B of the first, second, and third embodiments can be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by reading and executing a program by a computer.

[0201] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), opto-magnetic recording media (e.g., magneto-optical disks), CD-ROMs (Read-Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAM). Alternatively, programs can also be supplied to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can supply programs to a computer via wired communication paths such as electrical wires and optical fibers, or via wireless communication paths.

[0202] Furthermore, the steps of a program recorded on a recording medium certainly include processing performed sequentially in time, but not necessarily in time, and also include processing performed in parallel or individually.

[0203] In other words, the teaching control panel, robot system, and robot control device disclosed herein can be implemented in various ways with the following structures.

[0204] (1) The teaching operation panel 20 of this disclosure includes: a communication unit 205, which receives backup files from the robot control device 10 that controls the robot 30; and a non-volatile storage device 207, which stores the received backup files 275.

[0205] According to the teaching operation panel 20, a large-capacity storage device is imported to save the backup file of the robot control device, and the backup file can be easily managed. This allows for the reliable restoration of the software state of the robot control device in the event of loss of programs and data due to malfunctions or erroneous operation of the robot control device.

[0206] (2) The teaching operation panel 20 described in (1) further includes: an input unit 209; a recovery mode request unit 211, which requests the robot control device 10 to switch to recovery mode when the input unit 209 receives a recovery instruction for the backup file 275 from the user; and a display control unit 212, which displays a screen on the display unit 208 included in the teaching operation panel 20 when the input unit 209 receives a recovery instruction for the backup file 275 from the user, and the communication unit 205 sends the backup file 275 located at the input storage location to the robot control device 10.

[0207] Since the teaching control panel 20 is purchased / used together with the robot control device 10, there is no additional monetary cost required for the backup file storage.

[0208] (3) In the teaching operation panel 20A described in (2), the backup file 275a contains information indicating the individual number of the robot control device 10A. The teaching operation panel 20A also includes: a file determination unit 213, which receives the individual number of the connected robot control device 10A from the robot control device 10A when the input unit 209 receives the restoration instruction of the backup file 275a from the user, and determines whether the received individual number is consistent with the individual number of the backup file 275a in the input storage location. When the received individual number is consistent with the individual number of the backup file 275a, the communication unit 205 sends the backup file 275a located in the input storage location to the robot control device 10A. When the determination result of the file determination unit 213 is inconsistent, the display control unit 212 displays a display screen on the display unit 208 that seeks to re-enter the storage location of the backup file 275a of the connected robot control device 10A.

[0209] In this way, the teach pendant 20A can prevent the robot control device 10A from restoring backup files of other robot control devices 10A.

[0210] (4) When the input unit 209 receives a restoration instruction for the backup file 275 from the user on the teaching operation panel 20B described in (2) or (3), before the restoration begins, the display control unit 212b causes the display unit 208 to display a preview of the case where the backup file 275 at the input storage location is restored to the robot control device 10.

[0211] In this way, the teaching disk 20B displays a preview of the backup file before the backup file restoration operation is performed, thereby preventing the use of unintended backup files during restoration.

[0212] (5) On the teaching operation panel 20B described in (4), the display control unit 212b causes the display unit 208 to display at least the text file of the robot 30's motion program or setting file stored in the non-volatile storage device 105 included in the robot control device 10 as a preview.

[0213] In this way, the operator can verify the contents of the stored backup files.

[0214] (6) The teaching operation panel 20B described in (4) further includes: a simulation execution unit 214, which simulates the operation of at least one of the robot control device 10, robot 30, or peripheral devices of robot 30 when the backup file 275 of the input storage location is restored to the robot control device 10. When the input unit 209 receives a preview instruction, the simulation execution unit 214 performs the simulation, and the display control unit 212b uses the three-dimensional model of the robot to display the execution result of the simulation execution unit 214 on the display unit 208 as a preview.

[0215] In this way, the operator can confirm the operation status when the state of the robot control device 10 has been restored using the backup file.

[0216] (7) The robot system 1 disclosed herein includes robot control devices 10, 10A for controlling the robot 30, and teaching operation panels 20, 20A, 20B as described in any one of (1) to (6).

[0217] In this way, robot system 1 can achieve the same effect as (1) to (6).

[0218] (8) The robot control devices 10 and 10A of this disclosure include the teaching operation panels 20, 20A and 20B described in any one of (1) to (6).

[0219] In this way, robot control devices 10 and 10A can achieve the same effect as (1) to (6).

[0220] (9) The robot control devices 10 and 10A described in (8) may also include: communication units 103 and 103a, which receive backup files 275 and 275a sent by the teaching operation disks 20, 20A and 20B.

[0221] The recovery unit 111 uses the received backup files 275 and 275a to restore the state of the software of the robot control devices 10 and 10A to the state when the backup files 275 and 275a were saved.

[0222] In this way, robot control devices 10 and 10A have the effect of reducing the management cost of backup files compared to saving backup files on external storage devices.

[0223] Symbol Explanation

[0224] 1.1A: Robot System

[0225] 10, 10A(1)~10A(n): Robot control device

[0226] 101, 201: CPU

[0227] 111: Restoration Department

[0228] 105, 207: Non-volatile storage devices

[0229] 151, 271: OS

[0230] 152, 272: Various software

[0231] 153, 273: Various configuration files

[0232] 154, 274: Other files

[0233] 20, 20A, 20B: Teaching operation panel

[0234] 210, 210a: Backup Processing Department

[0235] 211: Restoration Mode Request Department

[0236] 212, 212b: Display control unit

[0237] 213: Document Appraisal Department

[0238] 214: Simulation Execution Unit

[0239] 275, 275a: Backup files

[0240] 30, 30(1)~30(n): Robot.

Claims

1. A teaching operation panel, characterized in that, have: The communications department receives backup files from the robot control device that controls the robot; and The storage unit stores the received backup files. The teaching control panel also features: Input section; The recovery mode request unit requests the robot control device to switch to recovery mode when the input unit receives the recovery instruction of the backup file from the user; as well as The display control unit, when the input unit receives a restoration instruction from the user for the backup file, displays a screen on the display unit included in the teach pendant, indicating that the user is requesting input of the storage location of the backup file. The communication unit sends the backup file located at the input storage location to the robot control device. The backup file contains information representing the individual serial number of the robot control device. The teaching control panel further includes a file determination unit, which, when the input unit receives a restoration instruction from the user for the backup file, receives the individual number of the connected robot control device from the robot control device, and determines whether the received individual number matches the individual number of the backup file in the input storage location. When the received individual number matches the individual number of the backup file, the communication unit sends the backup file located at the input storage location to the robot control device.

2. The teaching operation panel according to claim 1, characterized in that, When the determination result of the file determination unit is inconsistent, the display control unit will display a screen on the display unit indicating the storage location of the backup file of the robot control device to be re-input.

3. The teaching operation panel according to claim 1 or 2, characterized in that, When the input unit receives a restoration instruction from the user for the backup file, before the restoration begins, the display control unit causes the display unit to display a preview of the restoration of the backup file from the input storage location to the robot control device.

4. The teaching operation panel according to claim 3, characterized in that, The display control unit causes the display unit to display at least a text file of the robot's motion program or setting file stored in the storage device included in the robot control device as a preview.

5. The teaching operation panel according to claim 3, characterized in that, The teaching pendant also includes a simulation execution unit that simulates the actions of at least one of the robot control device, the robot, or the robot's peripheral devices when restoring a backup file from the input storage location to the robot control device. When the input unit receives the preview instruction, the simulation execution unit performs the simulation. The display control unit uses the robot's three-dimensional model to display the execution results of the simulation execution unit on the display unit as a preview.

6. A robot system, characterized in that, have: Robot control devices for controlling robots; and The teaching operation panel according to any one of claims 1 to 5.

7. A robot control device, characterized in that, have: The teaching operation panel according to any one of claims 1 to 5.

8. The robot control device according to claim 7, characterized in that, have: The communication unit receives backup files sent from the teach pendant; and The recovery unit uses the received backup file to restore the state of the robot control device's software to the state when the backup file was saved.

Images