Mechanical operating system using wired communication and wireless communication

Abstract

A machine operation system is provided with: a wireless operation device which is connected to a control device of a robot or an industrial machine via wireless communication, and which instructs the control device to operate the robot or the industrial machine in accordance with an operation content; a wired operation device which is connected to the control device via wired communication and transmits a signal to the control device according to the operation content; and an authentication unit which, when a first operation for the wired operation device and a second operation for the wireless operation device are executed simultaneously or in a prescribed order, enables the operation content for the wireless operation device.

Description

Technical Field

[0001] The present invention relates to a machine operating system using wired communication as well as wireless communication. Background Art

[0002] In order to manually operate a robot or industrial machine, a teaching operation device called a teach pendant connected to the control device of the robot or industrial machine is used. The operator can use the teaching operation device to register, edit, set conditions, display status, and teach the robot or industrial machine, etc., the action program related to the robot or industrial machine. In order to avoid unexpected actions of the robot or machine tool and ensure the safety of the surrounding machines and operators, the teaching operation device is provided with safety switches such as an enable switch and an emergency stop button.

[0003] In addition, in recent years, from the perspective of reducing costs and ensuring versatility, teaching operation devices that manually operate robots and industrial machinery through general information terminals such as tablets are used instead of dedicated hardware for teaching operation devices. It is also necessary to provide a safety switch in such teaching operation devices.

[0004] For example, an industrial robot operating device is known, which outputs an action signal for moving the robot according to an input operation of an operator and provides it to a robot controller. The industrial robot operating device comprises: a portable operating terminal, which has a touch panel part for display / input, and the operator performs input operation on the touch panel part, thereby outputting the action signal; a base part, which is configured to be able to load and unload the operating terminal and the touch panel part is exposed to the outside, and the base part comprises: a handle part, which is upright from a bottom plate opposite to the back of the operating terminal and is held by the other hand when the operator performs input operation with one hand; an enable switch, which is set at a position that can be operated by the hand holding the handle part when the handle part is held, and the industrial robot operating device also comprises: a detection unit, which detects that the operating terminal is configured on the base part (for example, refer to patent document 1).

[0005] For example, an emergency stop switch is known, comprising: a switch main body portion, which is wired to a robot controller that controls the drive of a robot, receives user operations, and switches the control of the robot controller to an emergency stop state; a mounting portion, which mounts the switch main body portion on a portable terminal that receives user operations in a removable manner; and an identification code portion, which is disposed at a position opposite to a lens of a camera of the portable terminal when the mounting portion is mounted on the portable terminal, and displays an identification code that identifies the switch main body portion in a manner that can be used for photographing by the camera (for example, refer to patent document 2).

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2021-164995

[0009] Patent Document 2: Japanese Patent Application Publication No. 2022-028062 Summary of the invention

[0010] Problems to be solved by the invention

[0011] In a mechanical operating system that is a teaching operating device using a universal information terminal, a base component provided with a safety switch is installed on the universal information terminal. The universal information terminal is connected to the control device of a robot or industrial machine via wireless communication, but the base component is generally connected to the control device of the robot or industrial machine via wired communication to ensure safety. However, the universal information terminal and the base component can be loaded and unloaded. Therefore, when the universal information terminal and the base component are separated and located in different places, the teaching operator holding the universal information terminal cannot operate the safety switch as he or she wishes, or the safety switch may be operated by a third party different from the teaching operator, and safety cannot be ensured. In a mechanical operating system composed of a universal information terminal and a base component with a safety switch, it is desired to have a mechanical operating system that can ensure safety at a low cost.

[0012] Means for solving problems

[0013] According to one embodiment of the present disclosure, a mechanical operating system comprises: a wireless operating device, which is connected to a control device of a robot or industrial machinery via wireless communication, and instructs the control device to perform actions of the robot or industrial machinery according to the operation content; a wired operating device, which is connected to the control device via wired communication, and sends a signal to the control device according to the operation content; and an authentication unit, which makes the operation content for the wireless operating device valid when a first operation for the wired operating device and a second operation for the wireless operating device are performed simultaneously or in a specified order.

[0014] Effects of the Invention

[0015] According to one aspect of the present disclosure, in a machine operating system composed of a general-purpose information terminal and a base member having a safety switch, safety can be ensured at low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a diagram showing a machine operating system according to one embodiment of the present disclosure.

[0017] Figure 2 This is a flowchart showing the operation flow of the machine operating system according to one embodiment of the present disclosure.

[0018] Figure 3 This is a diagram for explaining a first mode of a machine operating system according to an embodiment of the present disclosure.

[0019] Figure 4 This is a diagram for explaining a second aspect of the machine operating system according to one embodiment of the present disclosure.

[0020] Figure 5 This is a diagram for explaining a third mode of the machine operating system according to one embodiment of the present disclosure.

[0021] Figure 6 This is a diagram for explaining a fourth mode of the machine operating system according to one embodiment of the present disclosure.

[0022] Figure 7 This is a diagram for explaining an authentication button provided in a machine operating system according to an embodiment of the present disclosure.

[0023] Figure 8 This is a diagram for explaining a fifth aspect of the machine operating system according to one embodiment of the present disclosure.

[0024] Fig. 9 This is a flowchart showing the operation flow of the sixth mode of the machine operating system according to one embodiment of the present disclosure.

[0025] Fig.10 This is a diagram for explaining a sixth aspect of the machine operating system according to one embodiment of the present disclosure.

[0026] Fig.11 This is a flowchart showing the operation flow of the seventh mode of the machine operating system according to one embodiment of the present disclosure.

[0027] Fig.12 This is a diagram for explaining a seventh mode of the machine operating system according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Hereinafter, with reference to the accompanying drawings, a mechanical operating system using wired communication and wireless communication will be described. In each of the drawings, the same reference symbols are given to the same components. In addition, for ease of understanding, the scales of these drawings have been appropriately changed. The illustrated method is an example for implementation and is not limited to these methods. In addition, "manual operation of a robot or industrial machinery" means that the control device controls the movement of the robot or industrial machinery according to the instructions issued from the teaching operating device by operating the teaching operating device.

[0029] First, a machine operating system according to an embodiment of the present disclosure will be described.

[0030] Figure 1It is a diagram showing a machine operating system according to one embodiment of the present disclosure.

[0031] As a machine operated by the machine operating system 100 of one embodiment of the present disclosure, there are robots and industrial machines, and here, as an example, a case of operating a robot 2 is shown. When the machine operated by the machine operating system 100 is an industrial machine, the term "robot 2" in the following description can be replaced with the term "industrial machine". Industrial machines include, for example, machine tools, forging machines, injection molding machines, etc.

[0032] The robot 2 and the control device 3 are connected by a cable 41 (hereinafter referred to as "robot cable 41") in a manner capable of wired communication, and the movement of the robot 2 is controlled by the control device 3. An operation processing device (processor) is provided in the control device 3. As the operation processing device, there are, for example, IC, LSI, CPU, MPU, DSP, etc. The control device 3 having the operation processing device is, for example, a functional module implemented by a computer program executed on the processor. For example, when the control device 3 is constructed in the form of a computer program, the operation processing device is operated in accordance with the computer program, thereby realizing various functions for controlling the movement of the robot 2. The computer program for executing the processing of the control device 3 can also be provided in the form of a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the control device can also be implemented as a semiconductor integrated circuit in which a computer program that implements the function is written.

[0033] A machine operating system 100 according to an embodiment of the present disclosure includes a wireless operating device 11, a wired operating device 12, and an authentication unit 13. The wireless operating device 11 and the wired operating device 12 are combined to form a teaching operating device 1.

[0034] The wireless operating device 11 is, for example, a general-purpose information terminal such as a tablet computer or a smart phone. The wireless operating device 11 has, for example, a touch panel 21, and the touch panel 21 has the functions of both displaying a screen and accepting input operations. As an alternative, the wireless operating device 11 may also have a display for displaying a screen and a physical operation button for accepting input operations. In addition, the wireless operating device 11 has a power button 22 for turning on the power of the wireless operating device 11. By pressing (turning on) the power button 22 once, the wireless operating device 11 starts. In addition, the wireless operating device 11 has a battery (not shown) inside. After the wireless operating device 11 is removed from the wired operating device 12, the battery of the wireless operating device 11 is charged via a connector or a charging stand (charging station).

[0035] The wireless operating device 11 has a teaching application software program installed in its internal storage unit (not shown) for registering, editing, setting conditions, displaying status, and teaching the robot 2, etc., for the action program related to the robot 2. Similarly, the internal operation processing unit (not shown) operates according to the teaching application software program installed in the storage unit, thereby realizing the wireless teaching operation function of operating (teaching) the robot 2. As the operation processing unit, there are IC, LSI, CPU, MPU, DSP, etc. For example. The storage unit is composed of a non-volatile memory that can be electrically erased / recorded, such as EEPROM (registered trademark), or a random access memory that can read and write at high speed, such as DRAM, SRAM, etc. The wireless operating device 11 is connected to the control device 3 of the robot 2 via wireless communication, and has a communication interface (not shown) for this purpose. The wireless operating device 11 instructs the control device 3 to operate the robot 2 according to the operation content of the wireless operating device 11.

[0036] As wireless communication between the wireless operating device 11 and the control device 3, for example, narrow-area wireless communication is used. Narrow-area wireless communication refers to communication with a shorter communication distance than wide-area wireless communication, and specifically, refers to communication with a communication distance of, for example, less than 10 meters. As narrow-area wireless communication, various short-range wireless communications with short communication distances can be used, for example, communication based on any communication standard established by IEEE, ISO, IEC, etc. (for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), etc.). In the illustrated example, as an example, a communication based on Wi-Fi (registered trademark) is shown. In addition, as a technology for performing narrow-area wireless communication, for example, DSRC (dedicated Short Range Communication), RFID (Radio Frequency Identification), etc. are used.

[0037] The wired operating device 12 is connected to the control device 3 via wired communication and has a communication interface (not shown) therefor. The wired operating device 12 is connected to the control device 3 via a cable 33 (hereinafter referred to as "teaching operating device cable 33"). The wired operating device 12 has a mounting base 30, an enabling switch 31 as a safety switch, and an emergency stop button 32.

[0038] The mounting base 30 is used to detachably mount the wireless operating device 11 on the wired operating device 12. As a method of mounting the wireless operating device 11 using the mounting base 30, for example, there are a method of clamping and holding the wireless operating device 11 using a spring mechanism provided on the wired operating device 12, a method of screwing the wireless operating device 11, and a method of attaching the wireless operating device 11 using an adhesive member. In addition, regardless of whether the wireless operating device 11 and the wired operating device 12 are mounted on the mounting base 30, there is no direct electrical connection and communication between the wireless operating device 11 and the wired operating device 12, but communication between the wireless operating device 11 and the wired operating device 12 is performed via the control device 3.

[0039] The enabling switch 31 is a safety switch that allows the control device 3 to control the operation of the robot 2 via the wireless operating device 11 while it is continuously pressed (turned on), and does not allow the control device 3 to control the operation of the robot 2 via the wireless operating device 11 when it is released from being pressed (turned on). A signal corresponding to the operation content of the enabling switch 31 is transmitted from the wired operating device 12 to the control device 3 via the teaching operating device cable 33. For example, while the enabling switch 31 is not pressed, the robot 2 does not operate regardless of any operation performed via the wireless operating device 11. While the enabling switch 31 is pressed, the robot 2 can be operated via the wireless operating device 11.

[0040] The emergency stop button 32 is a safety switch that instructs the control device 3 to perform an emergency stop on the robot 2. When the emergency stop button 32 is pressed (turned on), an emergency stop signal is sent from the wired operation device 12 to the control device 3 via the teaching operation device cable 33, and the robot 2 receives the signal and performs an emergency stop.

[0041] In the example shown in the figure, the authentication unit 13 is provided in the control device 3. As an alternative example, the authentication unit 13 may be provided in the wireless operation device 11 or the wired operation device 12.

[0042] The first operation for the wired operating device 12, the second operation for the wireless operating device 11, and the third operation described later are operations involving authentication in the mechanical operating system 100. Although they are basically different from the usual teaching operation using the wireless operating device 11 and the usual safety operation using the safety switch of the wired operating device 12, there are also some repeated operations.

[0043] When the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the authentication unit 13 validates the operation content of the wireless operating device 11 when the first operation on the wired operating device 12 and the second operation on the wireless operating device 11 are performed simultaneously or in a predetermined order. In addition, after the operation content of the wireless operating device 11 is validated by performing the first operation on the wired operating device 12 and the second operation on the wireless operating device 11 simultaneously or in a predetermined order, the authentication unit 13 invalidates the operation content of the wireless operating device 11 when the execution of the first operation on the wired operating device 12 or the second operation on the wireless operating device 11 ends. In addition, the operation form of the wired operating device 12 and the wireless operating device 11 required for the authentication unit 13 to perform authentication will be described later.

[0044] Figure 2 This is a flowchart showing the operation flow of the machine operating system according to one embodiment of the present disclosure.

[0045] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S101 , the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2 .

[0046] In step S102, the authentication unit 13 determines whether the first operation for the wired operation device 12 is performed based on the signal received from the wired operation device 12. The process of step S102 is repeatedly performed in a predetermined cycle. In step S102, if it is determined that the first operation for the wired operation device 12 is performed, the process proceeds to step S103, and if it is not determined that the first operation for the wired operation device 12 is performed, the process returns to step S101.

[0047] In step S103, the authentication unit 13 determines whether the second operation on the wireless operation device 11 has been performed based on the signal received from the wireless operation device 11. The process of step S103 is repeatedly performed in a predetermined cycle.

[0048] If it is not determined in step S103 that the second operation on the wireless operation device 11 has been performed, in step S109, the authentication unit 13 determines whether the first operation on the wired operation device 12 has been completed based on the signal received from the wired operation device 12. The process of step S109 is repeatedly performed in a predetermined cycle. In step S109, if it is determined that the first operation on the wired operation device 12 has been completed, the process returns to step S101, and if it is not determined that the first operation on the wired operation device 12 has been completed, the process returns to step S103.

[0049] If it is determined in step S103 that the second operation on the wireless operation device 11 has been performed, the process proceeds to step S104.

[0050] In step S104, the authentication unit 13 determines whether the first operation to the wired operation device 12 has been completed based on the signal received from the wired operation device 12. The process of step S104 is repeatedly performed in a predetermined cycle. In step S104, if it is determined that the first operation to the wired operation device 12 has been completed, the process returns to step S101, and if it is not determined that the first operation to the wired operation device 12 has been completed, the process proceeds to step S105.

[0051] In addition, step S104 may be omitted. In the example where step S104 is omitted, when it is determined in step S103 that the second operation on the wireless operation device 11 is performed, the process proceeds to step S105. That is, in the example where step S104 is omitted, the first operation is performed once in step S102 and the second operation is performed once in step S103, and thus step S105 is performed.

[0052] In step S105, the authentication unit 13 validates the operation content for the wireless operating device 11. Thus, as a manual operation on the robot 2 using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register, edit, or set conditions for the action program related to the robot 2. The control device 3 receives the manual operation of the wireless operating device 11 performed by the operator, and controls the action of the robot 2 (step S106). In addition, in the processing of step S106, the robot 2 can be operated via the wireless operating device 11 while the enable switch 31 is pressed, and when the emergency stop button 32 is pressed, the robot 2 stops in an emergency.

[0053] In step S107, the authentication unit 13 determines whether the first operation to the wired operation device 12 has been completed based on the signal received from the wired operation device 12. The process of step S107 is repeatedly performed in a predetermined cycle. In step S107, if it is determined that the first operation to the wired operation device 12 has been completed, the process proceeds to step S108, and if it is not determined that the first operation to the wired operation device 12 has been completed, the process returns to step S106.

[0054] In the example where step S107 is omitted, for example, the process automatically moves to step S108 after a predetermined time has passed since the start of step S105 , and the authentication unit 13 invalidates the operation content on the wireless operation device 11 .

[0055] When it is determined in step S107 that the first operation on the wired operation device 12 has been completed, the authentication unit 13 invalidates the operation content on the wireless operation device 11 in step S108 .

[0056] Next, several operation modes for the wired operating device 12 and the wireless operating device 11 required for the authentication unit 13 to perform authentication are listed. Figure 3 to Figure 6 , Figure 8 , Fig.10 as well as Fig.12 In the figure, the configuration other than the teaching operation device 1 is omitted from the figure.

[0057] Figure 3 1 is a diagram for explaining a first mode of a mechanical operating system according to an embodiment of the present disclosure. In the first mode, the first operation on the wired operating device 12 is set to be an operation of pressing the enabling switch 31, and the second operation on the wireless operating device 11 is set to be an operation of pressing the enabling button displayed on the touch panel 21, that is, the OK button 51.

[0058] like Figure 3 As shown, in the first mode, when the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operation state, when the operation of pressing the enabling switch 31 of the wired operating device 12 is performed as the first operation ( Figure 2 In the authentication processing state, the display of the wireless operation device 11, i.e., the touch panel 21, displays a display item 61 and an OK button 51, such as "Please press the OK button", which reminds the user to perform the second operation, under the control of the authentication unit 13. When the OK button 51 displayed on the touch panel 21 is pressed once as the second operation while the enable switch 31 is pressed, the authentication processing state is transferred to the authentication processing state. In the authentication processing state, the authentication unit 13 controls the display of the wireless operation device 11, i.e., the touch panel 21, to display a display item 61 and an OK button 51, such as "Please press the OK button". Figure 2 If the answer of step S103 is "Yes", the state is transferred to the manual operation state in which the operation content of the wireless operating device 11 is valid (steps S105 and S106). In the manual operation state, when the teaching application software program is started, the manual operation screen of the robot 2 based on the teaching application software program of the control device 3 is displayed on the touch panel 21. While the enable switch 31 is pressed, the robot 2 can be manually operated using the wireless operating device 11 (touch panel 21). When the enable switch 31 is turned off in the manual operation state ( Figure 2 The operation content of the wireless operating device 11 is invalidated ( Figure 2In step S108), the control device 3 is not allowed to control the action of the robot 2 via the wireless operating device 11, and manual operation of the robot 2 using the wireless operating device 11 (the touch panel 21) cannot be performed.

[0059] Figure 4 This is a diagram for explaining a second mode of the machine operating system of one embodiment of the present disclosure. In the second mode, the first operation on the wired operating device 12 is set as an operation of pressing the enable switch 31, and the second operation on the wireless operating device 11 is set as an operation of pressing a hardware switch provided in the wireless operating device 11. Here, as an example, the hardware switch pressed by the second operation is described as the power button 22, but, for example, pressing a volume button (not shown) may also be set as the second operation.

[0060] like Figure 4 As shown, in the second mode, when the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operation state, when the operation of pressing the enabling switch 31 of the wired operating device 12 is performed as the first operation ( Figure 2 In the authentication processing state, the authentication unit 13 controls the display of the wireless operation device 11, i.e., the touch panel 21, to display a display item 62, such as "Please press the power button", which reminds the user to perform the second operation. In addition, the display item 62 may be omitted. When the power button 22 is pressed once as the second operation while the enable switch 31 is pressed, the authentication unit 13 controls the display of the wireless operation device 11, i.e., the touch panel 21. Figure 2 If the answer of "Yes" in step S103 of the control unit 3 is "Yes", the control unit 3 is transferred to the manual operation state in which the operation content of the wireless operation device 11 is valid (steps S105 and S106). In the manual operation state, when the teaching application software program is started, a manual operation screen for the robot 2 based on the teaching application software program that controls the control unit 3 is displayed on the touch panel 21. Thereafter, while the enabling switch 31 is pressed, the robot 2 can be manually operated using the wireless operation device 11 (touch panel 21). When the enabling switch 31 is turned off in the manual operation state ( Figure 2 The operation content of the wireless operating device 11 is invalidated ( Figure 2 In step S108), the control device 3 is not allowed to control the action of the robot 2 via the wireless operating device 11, and manual operation of the robot 2 using the wireless operating device 11 (the touch panel 21) cannot be performed.

[0061] Figure 51 is a diagram for explaining a third mode of the machine operating system of one embodiment of the present disclosure. In the third mode, the first operation on the wired operating device 12 is set to be an operation of pressing the enabling switch 31, and the second operation on the wireless operating device 11 is set to be an operation of pressing (touching) the start icon 52 displayed on the touch panel 21 for starting the teaching application software program, and the teaching application software program is used to control the control device 3.

[0062] like Figure 5 As shown, in the third mode, when the wired operating device 12 and the wireless operating device 11 are in the non-operating state, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operating state, when the operation of pressing the enabling switch 31 of the wired operating device 12 is performed as the first operation ( Figure 2 In the authentication processing state, the authentication unit 13 controls the display of the wireless operating device 11, i.e., the touch panel 21, to display a start icon 52 for starting the teaching application software program, wherein the teaching application software program is used to control the control device 3. In addition to the start icon 52, the touch panel 21 may also display icons for starting other application software programs. When the enable switch 31 is pressed, the start icon 52 (displayed on the touch panel 21) is pressed once as a second operation. Figure 2 If "Yes" is determined in step S103 of the control unit 11, the teaching application software program is started, and the operation content for the wireless operating device 11 is transferred to the manual operation state (steps S105 and S106). In the manual operation state, a manual operation screen for the robot 2 based on the teaching application software program that controls the control device 3 is displayed on the touch panel 21. Thereafter, while the enable switch 31 is pressed, manual operation of the robot 2 using the wireless operating device 11 (touch panel 21) can be performed. When the enable switch 31 is turned off in the manual operation state ( Figure 2 The operation content of the wireless operating device 11 is invalidated ( Figure 2 In step S108), the control device 3 is not allowed to control the action of the robot 2 via the wireless operating device 11, and manual operation of the robot 2 using the wireless operating device 11 (the touch panel 21) cannot be performed.

[0063] Figure 6In the fourth mode, the first operation on the wired operating device 12 is set as the operation of pressing the enabling switch 31, and the second operation on the wireless operating device 11 is set as the operation of moving the position and / or posture of the wireless operating device 11.

[0064] like Figure 6 As shown, in the fourth mode, when the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the wireless operating device 11 does not instruct the control device 3 on the action of the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operation state, when the operation of pressing the enabling switch 31 of the wired operating device 12 is performed as the first operation ( Figure 2 In the authentication processing state, the authentication unit 13 determines whether the position and / or posture of the mobile wireless operating device 11 is operated ( Figure 2 Step S103). Generally, the wireless operating device 11 has a sensor 23 such as an acceleration sensor, a geomagnetic sensor, a vibration sensor, or an air pressure sensor inside. The physical movement (change) of the main body of the wireless operating device 11 caused by moving the position and / or posture of the wireless operating device 11 can be detected by the sensor 23. Examples of the physical movement of the main body of the wireless operating device 11 include physically moving the wireless operating device 11 forward and backward, left and right, and / or up and down, tilting or turning the wireless operating device 11, or a combination of these movements, and the operator holding the wireless operating device 11 and performing gestures. The authentication unit 13 determines whether an operation of moving the position and / or posture of the wireless operating device 11 has been performed based on a signal sent from the sensor 23. In addition, the display of the wireless operating device 11, that is, the touch panel 21, can also display a display item (not shown) prompting the execution of a second operation, such as "Please move the main body of the wireless operating device" under the control of the authentication unit 13. When the position and / or posture of the wireless operating device 11 is moved as the second operation while the enable switch 31 is pressed ( Figure 2 If the answer of step S103 is "Yes", the control unit 100 switches to a manual operation state in which the operation content of the wireless operation device 11 is valid (steps S105 and S106). In the manual operation state, a manual operation screen of the robot 2 based on the teaching application software program for controlling the control unit 3 is displayed on the touch panel 21. Thereafter, while the enable switch 31 is pressed, the robot 2 can be manually operated using the wireless operation device 11 (touch panel 21). When the enable switch 31 is turned off in the manual operation state ( Figure 2 The operation content of the wireless operating device 11 is invalidated ( Figure 2In step S108), the control device 3 is not allowed to control the action of the robot 2 via the wireless operating device 11, and manual operation of the robot 2 using the wireless operating device 11 (the touch panel 21) cannot be performed.

[0065] Figure 7 This is a diagram for explaining an authentication button provided in a machine operating system according to an embodiment of the present disclosure.

[0066] In the first to fourth embodiments, pressing the enable switch 31 is set as the first operation, but in the fifth embodiment, pressing (turning on) the authentication button 34 different from the enable switch 31 is set as the first operation. Figure 7 As shown, in the machine operating system 100, an authentication button 34 is further provided in the wired operating device 12. When the authentication button 34 is pressed, an authentication signal is output from the wired operating device 12. The authentication unit 13 determines whether the authentication button 34 is pressed based on whether the authentication signal is received. When the authentication button 34 is pressed, the authentication unit 13 makes the operation content for the wireless operating device 11 valid, and when the authentication button 34 is completely pressed, the operation content for the wireless operating device 11 is invalid. Alternatively, the operation content for the wireless operating device 11 may be made valid when the authentication button 34 is pressed once, and the operation content for the wireless operating device 11 may be invalid when a specified time has passed since the operation content for the wireless operating device 11 was made valid. For structures other than the authentication unit 13 and the authentication button 34, as described with reference to Figure 1 As described.

[0067] Figure 8 This is a diagram for explaining a fifth aspect of the machine operating system according to one embodiment of the present disclosure.

[0068] like Figure 8As shown, in the fifth embodiment, when the wired operating device 12 and the wireless operating device 11 are in the non-operation state, the wireless operating device 11 does not instruct the control device 3 to operate the robot 2. After the wired operating device 12 and the wireless operating device 11 are in the non-operation state, when the authentication button 34 of the wired operating device 12 is pressed, the state shifts to the authentication processing state. In the authentication processing state, the display of the wireless operating device 11, that is, the touch panel 21, displays a display item 63 for prompting the execution of the second operation, such as "Please press the OK button", and the OK button 51 under the control of the authentication unit 13. When the OK button 51 displayed on the touch panel 21 is pressed once as the second operation while the authentication button 34 is pressed, the state shifts to the manual operation enabled state in which the operation content of the wireless operating device 11 is valid. In the manual operation enabled state, when the teaching application software program is started, the touch panel 21 displays the manual operation screen of the robot 2 based on the teaching application software program for controlling the control device 3. Thereafter, while the enable switch 31 is pressed, manual operation of the robot 2 using the wireless operating device 11 (touch panel 21) can be performed, and when the emergency stop button 32 is pressed, the robot 2 is emergency stopped. In order to further ensure safety, the operation content for the wireless operating device 11 may be invalidated after a predetermined time has passed since the operation content for the wireless operating device 11 was made valid. In this case, the control device 3 is not allowed to control the movement of the robot 2 via the wireless operating device 11, and manual operation of the robot 2 using the wireless operating device 11 (touch panel 21) cannot be performed.

[0069] Fig. 9 1 is a flowchart showing the operation flow of the sixth mode of the machine operating system according to one embodiment of the present disclosure. Fig.10 In the sixth embodiment, the first operation on the wired operating device 12 is set to be the operation of pressing the enable switch 31, and the second operation on the wireless operating device 11 is set to be the operation of pressing the activation button 53 displayed on the touch panel 21.

[0070] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S201 , the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2 .

[0071] In step S202, the authentication unit 13 determines whether the first operation to the wired operating device 12, that is, the pressing of the enable switch 31, has been performed based on the signal received from the wired operating device 12. The process of step S202 is repeatedly performed in a predetermined cycle. If it is determined in step S202 that the first operation to the wired operating device 12 has been performed, the state is transferred to the authentication processing state and the process proceeds to step S203. In the authentication processing state, if Fig.10 As shown, the display item 64 for prompting the execution of the second operation, such as "Please continue to press the validation button", and the validation button 53 are displayed on the touch panel 21 of the display of the wireless operating device 11 under the control of the authentication unit 13. If it is determined in step S202 that the first operation on the wired operating device 12 has not been executed, the process returns to step S201.

[0072] In step S203, the authentication unit 13 determines whether the second operation on the wireless operation device 11, that is, the pressing of the validation button 53 is continuously performed based on the signal received from the wireless operation device 11. The process of step S103 is repeatedly performed in a predetermined cycle.

[0073] If it is not determined in step S203 that the second operation on the wireless operation device 11, i.e., the pressing of the activation button 53, is continuously performed, in step S209, the authentication unit 13 determines whether the pressing of the enable switch 31, i.e., the first operation on the wired operation device 12, has ended, based on the signal received from the wired operation device 12. The processing of step S209 is repeatedly performed in a predetermined cycle. In step S209, if it is determined that the first operation on the wired operation device 12 has ended, the process returns to step S201, and if it is not determined that the first operation on the wired operation device 12 has ended, the process returns to step S203.

[0074] If it is determined in step S203 that the second operation on the wireless operation device 11 is continued, in step S204, the authentication unit 13 determines whether the first operation on the wired operation device 12, that is, the pressing of the enable switch 31, has been completed based on the signal received from the wired operation device 12. The processing of step S204 is repeatedly performed in a predetermined cycle. In step S204, if it is determined that the first operation on the wired operation device 12 has been completed, the process returns to step S201, and if it is not determined that the first operation on the wired operation device 12 has been completed, the process proceeds to step S205.

[0075] In step S205, the authentication unit 13 validates the operation content for the wireless operation device 11 and shifts to the manual operation state. In the manual operation state, when the teaching application software program is started, as shown in FIG. Fig.10As shown, a manual operation screen for the robot 2 based on the teaching application software program for controlling the control device 3 and the validation button 53 are displayed on the touch panel 21. Thus, as an operation using the wireless operating device 11, the operator can perform teaching (manual operation) of the robot 2, register, edit, or condition setting of the action program related to the robot 2. The control device 3 controls the action of the robot 2 by accepting the manual operation of the wireless operating device 11 performed by the operator (step S206). In the process of step S206, while the enable switch 31 is pressed and the validation button 53 is pressed, the robot 2 can be operated via the wireless operating device 11, and when the emergency stop button 32 is pressed, the robot 2 is stopped in an emergency.

[0076] In step S207, the authentication unit 13 determines whether the first operation on the wired operation device 12, i.e., the pressing of the enable switch 31, or the second operation on the wireless operation device 11, i.e., the pressing of the enable button 53, has been completed, based on the signals received from the wired operation device 12 and the wireless operation device 11. The process of step S207 is repeatedly performed in a predetermined cycle. In step S207, if it is determined that the first operation on the wired operation device 12 or the second operation on the wireless operation device 11 has been completed, the process proceeds to step S208, and if it is not determined that the first operation on the wired operation device 12 or the second operation on the wireless operation device 11 has been completed, the process returns to step S206.

[0077] If it is determined in step S207 that the first operation on the wired operating device 12 or the second operation on the wireless operating device 11 is completed, the state is transferred to the manual operation prohibition state, and in step S208, the authentication unit 13 invalidates the operation content on the wireless operating device 11. In the manual operation prohibition state, Fig.10 As shown, the manual operation screen of the robot 2 based on the teaching application software program and the enabling button 53 are not displayed on the touch panel 21 .

[0078] Fig.11 1 is a flowchart showing the operation flow of the seventh mode of the machine operating system according to one embodiment of the present disclosure. Fig.12 This is a diagram for explaining the seventh mode of the machine operating system of one embodiment of the present disclosure. In the seventh mode, the first operation on the wired operating device 12 is set to the operation of pressing the enable switch 31, the second operation on the wireless operating device 11 is set to the operation of pressing the start button 54 displayed on the touch panel 21, and the third operation on the wireless operating device 11 for ending the authentication is set to the operation of pressing the end button 55 displayed on the touch panel 21.

[0079] When the wired operating device 12 and the wireless operating device 11 are in the non-operating state in step S301 , the wireless operating device 11 does not instruct the control device 3 on the operation of the robot 2 .

[0080] In step S302, the authentication unit 13 determines whether the first operation to the wired operating device 12, that is, the pressing of the enable switch 31, has been performed based on the signal received from the wired operating device 12. The process of step S302 is repeatedly performed in a predetermined cycle. If it is determined in step S302 that the first operation to the wired operating device 12 has been performed, the state is transferred to the authentication processing state and the process proceeds to step S303. In the authentication processing state, if Fig.12 As shown, the display of the wireless operating device 11, i.e., the touch panel 21, displays a display item 65 for prompting the execution of the second operation, such as "Please press the start button", and the start button 54 under the control of the authentication unit 13. If it is determined in step S302 that the first operation on the wired operating device 12 has not been executed, the process returns to step S301.

[0081] In step S303, the authentication unit 13 determines whether the second operation on the wireless operation device 11, that is, pressing of the start button 54, has been performed based on the signal received from the wireless operation device 11. The process of step S303 is repeatedly performed in a predetermined cycle. If it is determined in step S303 that the second operation on the wireless operation device 11 has been performed, the process proceeds to step S304.

[0082] If it is not determined in step S303 that the second operation on the wireless operating device 11, i.e., the pressing of the start button 54, has been performed, in step S309, the authentication unit 13 determines whether the pressing of the enable switch 31, i.e., the first operation on the wired operating device 12, has been completed based on the signal received from the wired operating device 12. The processing of step S309 is repeatedly performed in a predetermined cycle. In step S309, if it is determined that the first operation on the wired operating device 12 has been completed, the process returns to step S301, and if it is not determined that the first operation on the wired operating device 12 has been completed, the process returns to step S303.

[0083] If it is determined in step S303 that the second operation on the wireless operating device 11, i.e., the pressing of the start button 54, has been performed, in step S304, the authentication unit 13 determines whether the pressing of the enable switch 31, i.e., the first operation on the wired operating device 12, has been completed based on the signal received from the wired operating device 12. The processing of step S304 is repeatedly performed in a predetermined cycle. In step S304, if it is determined that the first operation on the wired operating device 12 has been completed, the process returns to step S301, and if it is not determined that the first operation on the wired operating device 12 has been completed, the process proceeds to step S305.

[0084] In step S305, the authentication unit 13 validates the operation content for the wireless operation device 11 and shifts to the manual operation state. In the manual operation state, when the teaching application software program is started, as shown in FIG. Fig.12 As shown, a manual operation screen for the robot 2 based on the teaching application software program for controlling the control device 3 and an end button 55 are displayed on the touch panel 21. Thus, as an operation using the wireless operation device 11, the operator can perform teaching (manual operation) of the robot 2, registering, editing, or condition setting of an action program related to the robot 2. The control device 3 receives the manual operation of the wireless operation device 11 performed by the operator and controls the action of the robot 2 (step S306). In the process of step S306, while the enable switch 31 is pressed, the robot 2 can be operated via the wireless operation device 11, and when the emergency stop button 32 is pressed, the robot 2 is stopped in an emergency. In addition, when the enable switch 31 is turned off, the operation content for the wireless operation device 11 is invalidated, and the control device 3 is not allowed to control the action of the robot 2 via the wireless operation device 11, and the manual operation of the robot 2 using the wireless operation device 11 (touch panel 21) cannot be performed.

[0085] In step S307, the authentication unit 13 determines whether the third operation on the wireless operation device 11, that is, pressing of the end button 55, has been performed based on the signal received from the wireless operation device 11. The process of step S307 is repeatedly performed in a predetermined cycle. In step S307, if it is determined that the third operation on the wireless operation device 11 has been performed, the process proceeds to step S308, and if it is not determined that the third operation on the wireless operation device 11 has been performed, the process returns to step S306.

[0086] If it is determined in step S307 that the third operation on the wireless operation device 11 has been performed, the state is transferred to the manual operation prohibition state, and in step S308, the authentication unit 13 invalidates the operation content on the wireless operation device 11. In the manual operation prohibition state, Fig.12 As shown, the manual operation screen of the robot 2 based on the teaching application software program, the start button 54 and the end button 55 are not displayed on the touch panel 21 .

[0087] Furthermore, the first to fifth aspects described above may be implemented in combination as appropriate.

[0088] In the above, the case where the machine operating robot 2 is operated by the machine operating system 100 is described as an example, but the above description is also applicable to the case where the machine operated by the machine operating system 100 is an industrial machine.

[0089] According to one embodiment of the present disclosure, in a machine operating system 100 including a wireless operating device 11 as a general-purpose information terminal and a wired operating device 12 as a base member having a safety switch, safety can be ensured at low cost.

[0090] According to the mechanical operating system 100 of one embodiment of the present disclosure, as long as the first operation on the wired operating device 12 and the second operation on the wireless operating device 11 are not performed at the same time or in a specified order, the operation content on the wireless operating device 11 will not be effective. The wired operating device 12 and the wireless operating device 11 can be loaded and unloaded, but the first operation on the wired operating device 12 and the second operation on the wireless operating device 11 can be performed at the same time or in a specified order, which is a case where the teaching operator holds both the wired operating device 12 and the wireless operating device 11 at the same time. Therefore, the teaching operator can operate the safety switch according to his own will, which is highly safe. In addition, the possibility of a third party other than the teaching operator operating the safety switch can be eliminated, which is highly safe. In addition, even if the wired operating device 12 and the wireless operating device 11 are separated and located in different places, and the teaching operator holds the wireless operating device 11, and a third person different from the teaching operator holds the wired operating device 12 and holds the safety switch, the teaching operator can grasp the use of the wired operating device 12 by the third person through the display items 61 to 65 displayed on the touch panel of the wireless operating device 11 held by the teaching operator, which can help ensure his own safety. In addition, in the mechanical operating system 100 of one embodiment of the present disclosure, the existing enabling switch 31 provided in the wired operating device 12 can be used, and the authentication process can be performed by software processing, so the cost is low.

[0091] As mentioned above, although the preferred embodiment was described, it is not limited to the said embodiment, Various corrections and changes can be implemented within the description of a claim.

[0092] Explanation of symbols

[0093] 1 Teaching operating device

[0094] 2 Robots

[0095] 3 Control device

[0096] 11 Wireless operating device

[0097] 12 Wired operation device

[0098] 13 Certification Department

[0099] 21 Touch Panel

[0100] 22 Power button

[0101] 23 Sensors

[0102] 30 Install the pedestal

[0103] 31 Enable switch

[0104] 32 Emergency stop button

[0105] 33 Cable for teaching operation device

[0106] 34 Authentication button

[0107] 41 Cables for robots

[0108] 51 OK button

[0109] 52 Start Icon

[0110] 53 Validate button

[0111] 54 Start button

[0112] 55 End button

[0113] 61, 62, 63, 64, 65 display items

[0114] 100 mechanical operating systems.

Claims

1. A mechanical operating system, characterized in that: have: A wireless operating device connected to a control device of a robot or industrial machine via wireless communication, and instructing the control device to move the robot or industrial machine according to the operation content; A wired operating device connected to the control device via wired communication and sending a signal to the control device according to the operation content; as well as The authentication section validates the operation contents on the wireless operation device when the first operation on the wired operation device and the second operation on the wireless operation device are performed simultaneously or in a predetermined order.

2. The mechanical operating system according to claim 1, characterized in that: When the wired operating device and the wireless operating device are in a non-operating state, the wireless operating device does not instruct the control device to operate the robot or the industrial machine.

3. The mechanical operating system according to claim 1 or 2, characterized in that: The authentication unit validates the operation content for the wireless operation device when the first operation and the second operation are performed simultaneously or in a predetermined order after the wired operation device and the wireless operation device are in a non-operation state.

4. The mechanical operating system according to claim 3, characterized in that: After the first operation and the second operation are executed simultaneously or in a prescribed order to validate the operation content for the wireless operation device, the authentication section invalidates the operation content for the wireless operation device when execution of the first operation or the second operation ends.

5. The mechanical operating system according to any one of claims 1 to 4, characterized in that: The wireless operating device further comprises: a display, which displays a screen prompting execution of the second operation when the first operation is executed after the wired operating device and the wireless operating device are in a non-operation state; When the second operation is performed while the display is displaying the screen, the operation content on the wireless operation device is validated.

6. The mechanical operating system according to claim 5, characterized in that: The second operation is an operation of pressing a validation button displayed on the display, that is, a touch panel for display and input.

7. The mechanical operating system according to claim 5 or 6, characterized in that: The second operation is an operation of pressing a start icon for starting an application software program displayed on the display, ie, the touch panel for display and input, wherein the application software program is for controlling the control device.

8. The mechanical operating system according to any one of claims 1 to 7, characterized in that: The second operation is an operation of pressing a hardware switch provided in the wireless operation device.

9. The mechanical operating system according to any one of claims 1 to 8, characterized in that: The second operation is an operation of moving the position and / or posture of the wireless operating device. The wireless operating device further includes a sensor for detecting movement of the position and / or posture of the wireless operating device.

10. The mechanical operating system according to claim 3, characterized in that: After the first operation and the second operation are performed simultaneously or in a prescribed order to validate the operation content for the wireless operation device, when a third operation is performed for the wireless operation device, the authentication section invalidates the operation content for the wireless operation device.

11. The mechanical operating system according to claim 3, characterized in that: The authentication section invalidates the operation content for the wireless operation device when a predetermined time has passed after the first operation and the second operation are performed simultaneously or in a predetermined order, thereby validating the operation content for the wireless operation device.

12. The mechanical operating system according to any one of claims 1 to 11, characterized in that: The wired operating device includes an enabling switch that allows the control device to control the operation of the robot or the industrial machine while being pressed, and does not allow the control device to control the operation of the robot or the industrial machine when the switch is released.

13. The mechanical operating system according to claim 12, characterized in that: The first operation is an operation of pressing the enabling switch.

14. The mechanical operating system according to any one of claims 1 to 11, characterized in that: The wired operating device has an authentication button. The first operation is an operation of pressing the authentication button.

15. The mechanical operating system according to any one of claims 1 to 14, characterized in that: The authentication unit is provided in any one of the wireless operation device, the wired operation device, or the control device.

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