Safety device, control device, teaching device, method and computer program for preventing misuse of a teaching device

Abstract

A third party who has no authority to operate a robot can mistakenly use a teaching device of the robot. In the past, a technique for preventing misuse of such a teaching device has been desired. A safety device (60) for preventing misuse of a teaching device (14) has a data acquisition section (66) that acquires use state data indicating a use state of the teaching device (14), a use determination section (68) that determines whether the teaching device (14) is in use based on the use state data acquired by the data acquisition section (66), and a logout execution section (70) that, in a case where the teaching device (14) is determined not to be in use by the use determination section (68), causes a motion stage of the teaching device (14) to shift to a logout stage that prohibits operation of a robot (12) by the teaching device (14) and requests authentication from a user.

Description

Technical Field

[0001] This disclosure relates to safety devices, control devices, teaching devices, methods, and computer programs for preventing misuse of teaching devices. Background Technology

[0002] Devices are known to ensure the safety of robots during operation (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-188990 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] A third party without the authority to operate the robot may misuse the robot's teaching pendant. Previously, a technology was desired to prevent such misuse of the teaching pendant.

[0008] Methods for solving problems

[0009] In one aspect of this disclosure, a safety device is provided to prevent misuse of a teaching pendant that teaches the operation of a robot. The safety device comprises: a data acquisition unit that acquires usage status data indicating the usage status of the teaching pendant; a usage determination unit that determines whether the teaching pendant is in use based on the usage status data acquired by the data acquisition unit; and a logout execution unit that, if the usage determination unit determines that the teaching pendant is not in use, transfers the operation phase of the teaching pendant to a logout phase, which prohibits operation of the robot via the teaching pendant and requests authentication from the user.

[0010] In other aspects of this disclosure, a method for preventing misuse of a teaching pendant, the teaching pendant teaching the actions of a robot, wherein a processor performs the following actions: acquiring usage status data indicating the usage status of the teaching pendant; determining, based on the acquired usage status data, whether the teaching pendant is in use; and, if it is determined that the teaching pendant is not in use, transferring the operation phase of the teaching pendant to a logout phase, the logout phase prohibiting operation of the robot through the teaching pendant and requesting authentication from the user. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a robot system according to one embodiment.

[0012] Figure 2 This is a block diagram of a robot system according to one implementation method.

[0013] Figure 3yes Figure 1 The front view of the teaching device shown.

[0014] Figure 4 yes Figure 3 The rear view of the teaching device shown.

[0015] Figure 5 This is a flowchart illustrating the safety functions of one implementation method.

[0016] Figure 6 It means Figure 5 A flowchart of an example of the process in step S1.

[0017] Figure 7 It means Figure 5 A flowchart of an example of the process in step S2.

[0018] Figure 8 This is a block diagram of a robot system with other implementation methods.

[0019] Figure 9 yes Figure 8 The front view of the teaching device shown.

[0020] Figure 10 It means Figure 5 Flowcharts for other examples of the process in step S2.

[0021] Figure 11 This is a block diagram of a robot system with another implementation method.

[0022] Figure 12 It means Figure 5 A flowchart of another example of the process in step S2.

[0023] Figure 13 It means Figure 12 The flowchart of step S43.

[0024] Figure 14 It means Figure 12 The flowchart of step S44.

[0025] Figure 15 It means Figure 11 A block diagram showing other functions of the robot system.

[0026] Figure 16 This is an example of image data used to set the criteria for judgment.

[0027] Figure 17 These are other examples of image data used to set judgment criteria.

[0028] Figure 18This is an example of image data used to select valid or invalid security features.

[0029] Figure 19 It means Figure 11 A block diagram showing another function of the robot system. Detailed Implementation

[0030] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Furthermore, in the various embodiments described below, the same elements are labeled with the same symbols, and repeated descriptions are omitted. First, refer to... Figures 1-4 The robot system 10 according to one embodiment will be described. The robot system 10 includes a robot 12, a teaching pendant 14, and a control device 16. The robot 12 is, for example, a vertical joint robot, having an end effector 12A that performs a specified operation on a workpiece (workpiece handling, welding, laser processing, cutting, etc.) and a moving mechanism 12B that moves the end effector 12A.

[0031] The teaching pendant 14, via the control device 16, causes the robot 12 to move, teaching the robot 12 for the task and generating the motion program for that task. More specifically, as... Figure 2 As shown, the teaching pendant 14 is a computer having a processor 20, a memory 22, an I / O interface 24, a display device 26, an input device 28, a shake sensor 30, an attitude sensor 32, and a biosensor 34. Alternatively, the teaching pendant 14 can be any type of computer, such as a teach pendant, a laptop, or a tablet PC.

[0032] The processor 20, including a CPU or GPU, is communicatively connected via bus 36 to memory 22, I / O interface 24, display device 26, input device 28, shake sensor 30, attitude sensor 32, and biosensor 34. Memory 22, including RAM or ROM, stores various data temporarily or permanently. Memory 22 can be a computer-readable, non-transitory recording medium such as semiconductor memory, magnetic recording medium, or optical recording medium.

[0033] I / O interface 24, for example, has an Ethernet port, USB port, fiber optic connector, or HDMI terminal, and communicates with external devices via wired or wireless means under instructions from processor 20. Display device 26 has a display such as an LCD or LED, and can visually display various data under instructions from processor 20. Input device 28 has buttons, switches, or touch panels, etc., for accepting data input from the operator.

[0034] The sway sensor 30 detects the sway V of the teaching pendant 14. Specifically, the sway sensor 30, for example, has an accelerometer built into the teaching pendant 14, and detects the time change of the acceleration a of the teaching pendant 14 as the sway V of the teaching pendant 14. The detection data Dv (time series data of acceleration a) of the sway V detected by the sway sensor 30 is stored in the memory 22. In addition, the sway sensor 30 can also detect the time change of the jump or velocity of the teaching pendant 14 as the sway V.

[0035] The attitude sensor 32 detects the attitude O of the teaching pendant 14. For example, the attitude sensor 32 has a gyroscope sensor built into the teaching pendant 14 to detect... Figure 3 and Figure 4 The positive x-axis direction of the two-dimensional orthogonal coordinate system C, relative to the vertical direction, angle θx, and the positive z-axis direction of the coordinate system C, relative to the vertical direction, are used as the attitude O detection data Do of the teaching device 14.

[0036] The positive x-axis of coordinate system C is defined as the direction in which the screen of display device 26 faces (i.e., the normal direction of the screen). Therefore, when angle θx = 0°, it means that the positive x-axis of coordinate system C1 is in the orientation of the screen of display device 26 facing vertically downwards. On the other hand, the positive z-axis is defined as the top of the screen of display device 26. Therefore, when angle θz = 0°, it means that the positive z-axis of coordinate system C1 is in the orientation of the screen of display device 26 upside down. In this way, a coordinate system C representing the orientation O can be set for teaching device 14. The detection data Do (angles θx and θz) of the orientation O detected by orientation sensor 32 is stored in memory 22.

[0037] Biosensor 34 detects the user's biometric information B. As an example, biosensor 34 may have a capacitive, optical, or ultrasonic fingerprint sensor 34A that detects the user's fingerprint information as biometric information B. For example, fingerprint sensor 34A may be located on the surface area 38 where the user's thumb rests when holding the teaching device 14. Figure 3 ).

[0038] Alternatively, the fingerprint sensor 34A can also be located on the emergency stop button 37 located on the surface side of the teaching pendant 14. This emergency stop button 37 is used to bring the robot 12 to an emergency stop. Alternatively, the fingerprint sensor 34A can also be located on the back side of the teaching pendant 14. Figure 4 The enable switch 39 is set on the robot 12. The enable switch 39 can be pressed in three stages. When it is in the second stage, the robot 12 is allowed to move. On the other hand, when it is in the first stage and the third stage, the robot 12 is prohibited from moving.

[0039] As another example, the biosensor 34 has a camera 34B that emits visible light or infrared light to detect images of the user's face or iris as biometric information B. For example, the camera 34B may be positioned near the display device 26 on the surface side of the teaching pendant 14. The biometric information B (fingerprint information, images of the face or iris) detected by the biosensor 34 (fingerprint sensor 34A, camera 34B) is stored in the memory 22.

[0040] The control device 16 controls the movements of the robot 12. Specifically, the control device 16 is a computer having a processor 40, a memory 42, an I / O interface 44, a display device 46, and an input device 48. Furthermore, the structure of the processor 40, memory 42, I / O interface 44, display device 46, and input device 48 is the same as that of the processor 20, memory 22, I / O interface 24, display device 26, and input device 28 described above, therefore, a repeated description is omitted.

[0041] The user operates the input device 28 of the teaching pendant 14 to move the robot 12, thus teaching the robot 12 to move. However, there is a possibility that the user might place the teaching pendant 14 in an arbitrary location and interrupt the teaching operation. In such a case, an unauthorized third party might operate the teaching pendant 14 and cause the robot 12 to move. In this embodiment, the robot system 10 performs a safety function to prevent such misuse of the teaching pendant 14. Hereinafter, reference will be made to... Figure 5 The safety functions of robot system 10 are explained.

[0042] In this embodiment, the processor 40 of the control device 16 executes... Figure 5 The process. When the teach pendant 14 is started, the processor 40 begins... Figure 5 The process. In Figure 5 At the start of the process, the operation phase OP of the teaching pendant 14 becomes the logout phase OP1. During this logout phase OP1, any operation of the robot 12 via the input device 28 of the teaching pendant 14 is prohibited, and the processor 20 of the teaching pendant 14 requests authentication from the user. Specifically, the processor 20 activates the biosensor 34 to begin detecting biometric information B. At this time, the processor 20 can generate image data ID1 for the logout phase OP1 requesting authentication from the user and display it on the display device 26.

[0043] exist Figure 5 After the process begins, the processor 40 of the control device 16 executes the logout phase OP1 of step S1. (Refer to...) Figure 6Step S1 will be explained. In step S11, the processor 40 determines whether user authentication is complete. In this embodiment, the processor 40 performs biometric authentication as user authentication. Specifically, the processor 20 of the teaching device 14 obtains the user's biometric information B (fingerprint information, facial or iris image) through the biometric sensor 34 (fingerprint sensor 34A, camera 34B) and supplies it to the control device 16.

[0044] On the other hand, the templates Bt of the biometric information B of multiple users with robot operation permissions are registered in the user database and stored in the memory 42 of the control device 16. The processor 40 of the control device 16 performs biometric authentication by comparing the acquired biometric information B with the template Bt. Thus, in this embodiment, the processor 40 serves as the authentication execution unit 62 that performs user biometric authentication in the logout phase OP1. Figure 2 It can perform its functions.

[0045] If the acquired biometric information B matches the template Bt, the processor 40 determines that user authentication is complete (i.e., yes) and proceeds to step S13. Conversely, if the determination is no, it proceeds to step S12. In step S12, the processor 40 determines whether the operation of the teaching device 14 has ended. If the determination is yes, the processor 40 terminates the process. Figure 6 The process, therefore, ends. Figure 5 The process continues. On the other hand, if the determination is negative, the processor 40 returns to step S11.

[0046] In step S13, the processor 40 causes the teaching pendant 14 to transition from the operation phase OP to the login phase OP2 (so-called login). Specifically, the processor 40 sends a login instruction CM1 to the teaching pendant 14, and according to the login instruction CM1, the processor 20 of the teaching pendant 14 transitions to the login phase OP2.

[0047] In the login phase OP2, the robot 12 is operated via the input device 28 of the teaching device 14. The user can manipulate the robot 12 by operating the input device 28, enabling the teaching of the robot 12's movements. Thus, in this embodiment, the processor 40 of the control device 16 acts as the login execution unit 64, which transfers the operation phase OP of the teaching device 14 from the logout phase OP1 to the login phase OP2 upon completion of biometric authentication. Figure 2 It can perform its functions.

[0048] Furthermore, the processor 20 of the teaching device 14 can stop the biosensor 34 from detecting bio-information B when transitioning to the login phase OP2. Additionally, the processor 20 can also generate image data ID2 (i.e., the graphical user interface for the teaching operation) for the login phase OP2 and display it on the display device 26.

[0049] After step S13, the processor 40 of the control device 16 executes the login phase OP2 of step S2. (Refer to...) Figure 7 Step S2 will now be explained. In step S21, the processor 40 begins the process of acquiring usage status data D. Here, in this embodiment, the processor 40 acquires the detection data Dv from the sway sensor 30 and the detection data Do from the attitude sensor 32 as usage status data D.

[0050] Here, when the user holds the teaching pendant 14, the teaching pendant 14 experiences a shaking V. On the other hand, when the user does not use the teaching pendant 14 and it is placed in any location, the teaching pendant 14 remains stationary and does not experience shaking V. Furthermore, when the orientation O of the teaching pendant 14 is such that the display device 26 is facing vertically downwards or is in an upside-down orientation, the user is more likely to place the teaching pendant 14 without using it. Thus, the shaking V and orientation O of the teaching pendant 14 are closely related to the usage state of the teaching pendant 14. Therefore, the shaking V detection data Dv detected by the shaking sensor 30 and the orientation O detection data Do (specifically, angles θx and θz) detected by the orientation sensor 32 constitute the usage state data D representing the usage state of the teaching pendant 14.

[0051] In step S21, the processor 40 of the control device 16 sends a data acquisition command CM2 to the teaching device 14. Upon receiving the data acquisition command CM2, the processor 20 of the teaching device 14 activates the sway sensor 30 and the attitude sensor 32, periodically acquiring the detection data Dv from the sway sensor 30 and the detection data Do from the attitude sensor 32. Then, the processor 20 sequentially sends the acquired detection data Dv and Do to the control device 16.

[0052] Thus, the processor 40 of the control device 16 periodically acquires the detection data Dv and Do as usage status data D and stores them in the memory 42. Therefore, in this embodiment, the processor 40 serves as the data acquisition unit 66 that acquires usage status data D (specifically, detection data Dv and Do) representing the usage status of the teaching device 14. Figure 2 It can perform its functions.

[0053] In step S22, the processor 40 determines whether no shaking V of the teaching pendant 14 is detected within a specified period T1. Specifically, the processor 40 refers to the detection data Dv obtained after the start of step S21, and the acceleration a shown in the detection data Dv does not exceed a specified threshold a within the specified period T1 (e.g., 3 seconds). thIf the condition is true, it is determined that no shaking V was detected during period T1 (i.e., yes). If the determination is true, the processor 40 proceeds to step S25; otherwise, it proceeds to step S23.

[0054] In step S23, the processor 40 determines whether the orientation O of the teaching pendant 14 is a pre-determined orientation Ou indicating that the teaching pendant 14 is not in use (not being used). For example, the orientation Ou indicating that it is not in use is determined to be the aforementioned angle θx being -θx. th ≤0≤θx th The range [-θx] th θx th And the aforementioned angle θz is -θz th ≤0≤θz th The range [-θz] th +θz th The posture of ].

[0055] As described above, in this embodiment, this means that when angle θx = 0°, the teaching pendant 14 (display device 26) is in a vertically downward orientation, and when angle θz = 0°, the teaching pendant 14 (display device 26) is in an upside-down orientation. The defined range [-θx] th θx th The threshold θx th and define the range [-θz th +θz th The threshold θz th Predetermined by the user (e.g., θx) th =10°, θz th =45°).

[0056] The processor 40 takes the most recently acquired angle θx as a range of [-θx]. th θx th Or the angle θz becomes the range [-θz] th +θz th In the case of [condition], the orientation O of the teaching pendant 14 is determined to be an orientation Ou indicating that it is not used (i.e., yes). The processor 40 proceeds to step S25 if the determination is yes, and proceeds to step S24 if the determination is no. Furthermore, the processor 40 may also determine that the orientation O (angles θx, θz) of the teaching pendant 14 is an orientation Ou (range [-θx]) within a specified period T2. th θx th ] or range [-θz th +θz th In the case of ]), it is determined to be yes.

[0057] In step S24, the processor 40 determines that the teaching pendant 14 is in use. For example, the processor 40 can set the flag FL indicating the use of the teaching pendant 14 to "active". While the flag FL is "active", the processor 40 can send a usage signal SG1 indicating that the teaching pendant 14 is in use to the teaching pendant 14, the host controller, or the administrator's PC, etc. In this case, the processor 40 of the teaching pendant 14 can, based on the usage signal SG1, display an image indicating that it is in use or the identification information (name or employee ID, etc.) of the user using the device on the display device 26, for example.

[0058] On the other hand, in step S25, the processor 40 determines that the teaching pendant 14 is not in use. At this time, the processor 40 can set the aforementioned flag FL to "invalid". Thus, in this embodiment, the processor 40 executes steps S22 and S23 based on the usage status data D (detection data Dv and Do) obtained after the start of step S1 to determine whether the teaching pendant 14 is in use. Therefore, the processor 40 serves as the usage determination unit 68 for determining whether the teaching pendant 14 is in use based on the usage status data D. Figure 2 It can perform its functions.

[0059] After determining whether the device is in use in step S24, in step S26, the processor 40 determines whether the operation of the teaching device 14 has ended (specifically, the power is off). If the processor 40 determines that the operation is in use, it terminates the process. Figure 7 The process, therefore, ends. Figure 5 On the other hand, if the determination is negative, the process returns to step S22. Thus, during the period when a negative determination is made in steps S22, S23, or S26, the processor 40 repeatedly performs the loop of steps S22-S24 and S26. Furthermore, the processor 40 can also repeatedly execute the loop of steps S22-S24 and S26 at a predetermined period τ (e.g., 3 seconds).

[0060] On the other hand, if it is determined in step S25 that the device is not in use, in step S27, the processor 40 causes the teaching pendant 14 to switch from the login phase OP2 to the logout phase OP1 (so-called logout). Specifically, the processor 40 sends a logout command CM3 to the teaching pendant 14. According to the logout command CM3, the processor 20 of the teaching pendant 14 switches to the logout phase OP1, thereby prohibiting any operation of the robot 12 through the input device 28 of the teaching pendant 14.

[0061] Additionally, the processor 20 displays the image data ID1 of the logout phase OP1 on the display device 26, and activates the biosensor 34 to begin detecting biometric information B, requesting authentication from the user (biometric authentication). On the other hand, the processor 20 stops detecting the usage status data D (detection data Dv and Do) performed by the shake sensor 30 and the posture sensor 32. Thus, in this embodiment, the processor 40 of the control device 16, in the case that it is determined in step S25 that the teaching device 14 is not in use, transfers the operation phase OP of the teaching device to the logout execution unit 70 of the logout phase OP1. Figure 2 The processor 40 then proceeds to step S1 after step S27.

[0062] Furthermore, when the processor 40 determines in step S25 that the device is not in use (i.e., when the flag FL is "invalid"), it issues an unused signal SG2 indicating that the teaching device 14 is not in use. Upon receiving the unused signal SG2, the processor 40 of the teaching device 14 can display an image in the image data ID1 of the aforementioned logout phase OP1 indicating that the device has automatically transitioned to the logout phase OP1 due to being unused.

[0063] As described above, in this embodiment, the processor 40 functions as an authentication execution unit 62, a login execution unit 64, a data acquisition unit 66, a usage determination unit 68, and a logout execution unit 70, performing security functions to prevent misuse of the teaching pendant 14. Therefore, the authentication execution unit 62, the login execution unit 64, the data acquisition unit 66, the usage determination unit 68, and the logout execution unit 70 constitute a security device 60 for preventing misuse of the teaching pendant 14. Figure 2 ).

[0064] In this safety device 60, the data acquisition unit 66 acquires usage status data (detection data Dv, Do) indicating the usage status of the teaching device 14 (step S1). Furthermore, the usage determination unit 68 determines whether the teaching device 14 is in use based on the usage status data D acquired by the data acquisition unit 66 (steps S22 and S23).

[0065] Then, if the usage determination unit 68 determines that the teaching pendant 14 is not in use (step S25), the logout execution unit 70 transfers the operation phase OP of the teaching pendant 14 to the logout phase OP1. The logout phase OP1 prohibits operation of the robot 12 through the teaching pendant 14 and requests authentication from the user. According to this structure, during the period when the user does not use the teaching pendant 14 and it is left unused, it is possible to reliably prevent unauthorized third parties from mistakenly using the teaching pendant 14.

[0066] In addition, in the safety device 60, the data acquisition unit 66 acquires the detection data Dv of the sway sensor 30 that detects the sway V of the teaching device 14 as the usage status data D. If no sway V (acceleration a in this embodiment) is detected within the specified period T1 (if it is determined to be yes in step S22), the usage determination unit 68 determines that the teaching device 14 is not used (step S25).

[0067] That is, the determination unit 68 determines whether the teaching pendant 14 is used or not based on a determination criterion STv related to sway V (acceleration a) detected during the period T1. According to this structure, the use or non-use of the teaching pendant 14 can be determined with high accuracy based on sway V, which is closely related to the use status of the teaching pendant 14.

[0068] In addition, in the safety device 60, the data acquisition unit 66 acquires the detection data Do of the attitude sensor 32 that detects the attitude O of the teaching device 14 as the usage status data D. If the attitude O is a predetermined attitude Ou that indicates that the teaching device 14 is not used (in the case that it is determined to be so in step S23), the usage determination unit 68 determines that the teaching device 14 is not used (step S25).

[0069] That is, the determination unit 68 determines whether the teaching pendant 14 is used or not based on a determination criterion STo related to posture O, such as whether posture O becomes posture Ou. According to this structure, the use or non-use of the teaching pendant 14 can be determined with high precision based on posture O, which is closely related to the usage state of the teaching pendant 14. Furthermore, the aforementioned predetermined posture Ou is either the posture in which the display device 26 of the teaching pendant 14 faces vertically downwards, or the posture in which the teaching pendant 14 is upside down. According to this structure, it is possible to determine more reliably whether the teaching pendant 14 is not used.

[0070] Additionally, in the security device 60, the authentication execution unit 62 performs biometric authentication for the user during the logout phase OP1 (step S11). Then, when the biometric authentication performed by the authentication execution unit 62 is completed (if it is determined to be yes in step S11), the login execution unit 64 transfers the operation phase OP from the logout phase OP1 to the login phase OP2, which allows operation of the robot 12 via the teaching device 14 (step S13).

[0071] According to this structure, even if the logout execution unit 70 automatically transfers the action phase OP to the logout phase OP1, authentication can be performed quickly without requesting the user to enter a password, etc., and the process can quickly transfer to the login phase OP2. Such biometric authentication is particularly advantageous when the aforementioned period τ for determining whether a device is used or not is set to a relatively short time (e.g., τ = 3 seconds).

[0072] In addition, Figure 7 In the process, if the processor 40 determines in step S22 that it is not, it executes step S23, thereby determining whether the teaching pendant 14 is used or not. Here, at the work site, various industrial machines such as the robot 12, belt conveyors, or heavy machinery are operating, which may result in constant slight vibrations at the work site. In such a case, it is assumed that even if the teaching pendant 14 is placed in an unused state, it will still experience a shaking V.

[0073] In this embodiment, even if the shaking V is determined as negative in step S22, the use / unused determination is performed in step S23 based on the posture O. Therefore, even in a work environment where slight vibrations occur, the use / unused determination can be reliably performed. Furthermore, in Figure 7 In the process, step S23 can be executed before step S22, and step S22 can be executed if the result is not determined in step S23.

[0074] In addition, it can also be found from Figure 7 The process omits one of steps S22 and S23. In this case, the processor 40 only obtains one of the detection data Dv of the sway V and the detection data Do of the attitude O in step S21. That is, in this case, the sway sensor 30 or the attitude sensor 32 can be omitted from the teaching pendant 14. In addition, the range [-θx] representing the unused attitude Ou is determined. th θx th ] or [-θz th +θz th The threshold θx th or θz th It can be set to any value.

[0075] Furthermore, in step S1 described above, the processor 40 can request a password via image data ID1 and use the entered password for user authentication. That is, in this case, the biosensor 34 can be omitted from the teaching pendant 14. Additionally, the authentication execution unit 62 and the login execution unit 64 can also be omitted from the security device 60. In this case, the functions of the authentication execution unit 62 and the login execution unit 64 can be installed in an external device (PC, etc.). For example, the biosensor 34 can also be installed in an external device, which then performs the functions of the authentication execution unit 62 and the login execution unit 64.

[0076] Next, refer to Figure 8 The robot system 80 with other embodiments will be described. In the robot system 80, the teaching pendant 82 differs from the teaching pendant 14 described above in that it also has a tactile sensor 84 and an optical sensor 86. The tactile sensor 84 and the optical sensor 86 are communicatively connected to the processor 20 via a bus 36.

[0077] The tactile sensor 84 detects tactile sensation H on the teaching pendant 82. Specifically, the tactile sensor 84, for example, is an electrostatic capacitive or piezoelectric force sensor, located on the portion touched by the user's hand when the user holds the teaching pendant 82. In this embodiment, as... Figure 9 As shown, the tactile sensor 84 is disposed on the side 88 of the teaching pendant 82. Alternatively, the tactile sensor 84 may be disposed on the enable switch 39 on the rear side of the teaching pendant 82. Figure 4 The tactile sensor 84 detects the tactile sensation H when the user touches the teaching pendant 82. The detection data Dh of the tactile sensation H detected by the tactile sensor 84 is stored in the memory 22.

[0078] An optical sensor 86 detects the brightness B (light beam, luminance, brightness, or illuminance, etc.) around the teaching pendant 82. Specifically, the optical sensor 86, for example, has a photoelectric conversion element (photodiode or phototransistor, etc.) and is located near the screen of the display device 26 on the surface of the teaching pendant 82. The brightness B detection data Db detected by the optical sensor 86 is stored in the memory 22.

[0079] Next, the safety functions of the robot system 80 will be explained. In this embodiment, as... Figure 5 In step S2, the processor 40 of the control device 16 executes... Figure 10 The process. Furthermore, in Figure 10 In the process, for and Figure 7 Processes with the same flow are labeled with the same step numbers, and repeated descriptions are omitted.

[0080] In step S31, the processor 40 functions as a data acquisition unit 66 and begins acquiring usage status data D. In this embodiment, as usage status data D, the processor 40 acquires, in addition to the aforementioned detection data Dv and Do, tactile H detection data Dh detected by the tactile sensor 84 and brightness B detection data Db detected by the optical sensor 86.

[0081] When a user uses the teaching pendant 82, tactile sensation H is generated due to the user's hand touching the teaching pendant 82. On the other hand, when the user places the teaching pendant 82, tactile sensation H is not generated on the teaching pendant 82. In addition, for example, when the lights are turned off at the work site outside of operating hours, the area around the teaching pendant 82 darkens and the brightness B decreases. In such cases, it is highly likely that the user is not using the teaching pendant 82. Thus, the tactile sensation H of the teaching pendant 82 and the surrounding brightness B are closely related to the usage status of the teaching pendant 82. Therefore, the detection data Dh of tactile sensation H detected by the tactile sensor 84 and the detection data Db of brightness B detected by the optical sensor 86 constitute usage status data D representing the usage status of the teaching pendant 82.

[0082] The processor 40 of the control device 16 sends a data acquisition command CM2 to the teaching device 82. Based on this command CM2, the processor 20 of the teaching device 82 activates the wobbling sensor 30, the attitude sensor 32, the tactile sensor 84, and the optical sensor 86. Then, the processor 20 periodically acquires detection data Dv, Do, Dh, and Db, and sequentially supplies them to the control device 16. The processor 40 of the control device 16 periodically acquires the detection data Dv, Do, Dh, and Db as usage status data D and stores it in the memory 42. After step S31, the processor 40 sequentially executes the aforementioned steps S22 and S23.

[0083] If the determination is negative in step S23, in step S32, the processor 40 functions as the usage determination unit 68, determining whether tactile sensation H on the teaching pendant 82 has not been detected within a predetermined period T3. Specifically, the processor 40 refers to the detection data Dh obtained after the start of step S31, and determines that if tactile sensation H as indicated by the detection data Dh is not detected within the predetermined period T3, it is considered positive. If the determination is positive, the processor 40 proceeds to step S25; otherwise, if the determination is negative, it proceeds to step S33.

[0084] In step S33, the processor 40 functions as the decision unit 68, determining whether the brightness B around the teaching device 82 is within a specified period T4, which is a specified threshold B. th Specifically, the brightness B shown in the detection data Db obtained by the processor 40 after the start of step S21 is the threshold B during period T4.th The following conditions are considered true. If the determination is true, the processor 40 proceeds to step S25; otherwise, if the determination is false, it proceeds to step S24. Furthermore, at least two (e.g., all) of the aforementioned periods T1, T2, T3, and T4 can be the same as each other (e.g., T1 = T2 = T3 = T4 = 3 seconds).

[0085] As described above, in this embodiment, the data acquisition unit 66 acquires the detection data Dh of the tactile sensor 84 that detects the tactile sensation H of the teaching device 82 as usage status data D. If the usage determination unit 68 does not detect the tactile sensation H within a specified period T3 (if it is determined to be yes in step S32), it determines that the teaching device 82 is not used (step S25).

[0086] That is, the determination unit 68 determines whether the teaching pendant 82 is used or not based on a determination criterion STh related to touch H, such as whether touch H is not detected during period T3. According to this structure, the use or non-use of the teaching pendant 82 can be determined with higher accuracy based on touch H, which is closely related to the usage status of the teaching pendant 82.

[0087] In addition, in this embodiment, the data acquisition unit 66 acquires the detection data Db of the optical sensor 86 that detects the brightness B around the teaching device 82 as usage status data D, and the brightness B is within a predetermined threshold B during a predetermined period T4. th In the following cases (if it is determined to be yes in step S33), the determination unit 68 determines that the teaching device 82 is not being used.

[0088] That is, the determination unit 68 uses the surrounding brightness B to determine whether it is at the threshold B within the period T4. th The following criterion STb, which is related to brightness B, is used to determine whether the teaching pendant 82 is in use or not. According to this structure, the use or non-use of the teaching pendant 82 can be determined with higher accuracy based on the ambient brightness B, which is closely related to the usage status of the teaching pendant 82.

[0089] In addition, Figure 10 In the process, steps S22, S23, S32, and S33 can be executed in any order. For example, processor 40 can execute steps S32→S22→S23→S33 in that order. Alternatively, it can also... Figure 10 The process omits at least one of steps S22, S23, S32, and S33. For example, it can be derived from... Figure 10Steps S22, S23, and S33 are omitted in the process, and the processor 40 executes only step S32 after step S31. In this case, the processor 40 only obtains the detection data Dh from the tactile sensor 84 as the usage status data D in step S31. That is, in this case, the wobbling sensor 30, the posture sensor 32, and the optical sensor 86 can be omitted from the teaching pendant 82.

[0090] Next, refer to Figure 11 Another embodiment of the robot system 90 will be described. The robot system 90 differs from the robot system 80 described above in that it also includes a force sensor 92. The force sensor 92 detects the external force F applied to the robot 12. For example, the force sensor 92 may be a six-axis force sensor located at a location on the robot 12. Alternatively, the force sensor 92 may include torque sensors located at the servo motors (not shown) that drive each joint of the robot 12. The force sensor 92 supplies the detection data Df of the detected external force F to the control device 16.

[0091] In this embodiment, the processor 40 of the control device 16 causes the robot 12 to operate in multiple operating modes DM. The operating modes DM include, for example, a jog teaching mode DM1 and a direct teaching mode DM2. The jog teaching mode DM1 is an operating mode in which the robot 12 performs jog actions based on input operations to the input device 28 of the teaching device 82. In this jog teaching mode DM1, the user inputs an operation to the input device 28 of the teaching device 82, and the processor 40 of the control device 16 causes the robot 12 to perform jog actions based on the input to the input device 28.

[0092] On the other hand, the direct teaching mode DM2 is an operation mode DM in which the robot 12 moves in the direction of an external force F applied to it. In this direct teaching mode DM2, the user applies an external force F to the robot 12 in any direction. The processor 40 of the control device 16 determines the direction of the applied external force F based on the detection data Df from the force sensor 92, and moves the robot 12 in the direction of the external force F.

[0093] The user can operate the input device 28 of the teaching pendant 82 to select either the jog teaching mode DM1 or the direct teaching mode DM2. When the jog teaching mode DM1 is selected, the processor 20 of the teaching pendant 82 supplies the operating mode data Dd1, indicating the jog teaching mode DM1, to the control device 16. On the other hand, when the direct teaching mode DM2 is selected, the processor 20 of the teaching pendant 82 supplies the operating mode data Dd2, indicating the direct teaching mode DM2, to the control device 16.

[0094] Next, the safety functions of the robot system 90 will be explained. In this embodiment, as... Figure 5 In step S2, the processor 40 of the control device 16 executes... Figure 12 The process is as follows. In step S41, the processor 40 functions as the data acquisition unit 66 and begins acquiring the usage status data D. Here, in this embodiment, in addition to the detection data Dv, Do, Dh, and Db mentioned above, the processor 40 also acquires the operating mode data Dd1 or Dd2 as the usage status data D.

[0095] In step S42, the processor 40 determines whether the first operating mode DM1 has been selected. Specifically, if the processor 40 obtains the operating mode data Dd1 representing the jog teaching mode DM1 in step S41, it determines that it is selected and proceeds to step S43. On the other hand, if the processor 40 obtains the operating mode data Dd2 representing the direct teaching mode DM2, it determines that it is selected that it is selected and proceeds to step S44.

[0096] In step S43, the processor 40 executes the first determination process. Figure 13 This indicates the process for step S43. Furthermore, in Figure 13 In the process shown, for and Figure 10 The same process flow is labeled with the same step numbers, omitting repeated descriptions. In step S43, the processor 40 sequentially executes the above steps S32, S24~S26. If the determination is yes in step S26, the process ends. Figure 13 and Figure 12 The process, therefore, ends. Figure 5 The process.

[0097] On the other hand, if the processor 40 determines no in step S26, it returns to step S32. Thus, in step S43, the processor 40 functions as the usage determination unit 68, determining whether the teaching device 82 is in use according to the determination criterion STh (whether touch H is not detected during period T3) related to touch H.

[0098] On the other hand, Figure 12 If the determination is negative in step S42, the processor 40 executes the second determination process in step S44. Figure 14 This indicates the process for step S44. Furthermore, in Figure 14 In the process shown, for and Figure 10 The same process flow is labeled with the same step numbers, omitting repeated descriptions. In step S44, the processor 40 sequentially executes the above steps S22, S23, S33, and S24~S27. If the determination is yes in step S26, the process ends. Figure 14 and Figure 12 The process, therefore, ends. Figure 5 The process.

[0099] Thus, in step S44, the processor 40 functions as the decision unit 68, determining the motion according to the following criteria: STv (whether motion V is detected during period T1), STo (whether posture O becomes posture Ou), which is related to the motion V; and STb (whether the surrounding brightness B is at the threshold B during period T4). th (The following) determines whether the teaching device 82 is in use.

[0100] As described above, in this embodiment, the data acquisition unit 66 acquires operation mode data Dd1 or Dd2 representing the operation mode DM of the robot 12 as usage status data D. Then, when the data acquisition unit 66 acquires operation mode data Dd1 representing the first operation mode (specifically, the jog teaching mode) DM1, the determination unit 68 determines whether the teaching device 82 is in use according to the first determination criterion STh. Figure 13 Step S32 in the process.

[0101] On the other hand, when the data acquisition unit 66 acquires the operation mode data Dd2 representing the second operation mode (specifically, the direct teaching mode) DM2, the determination unit 68 determines whether the teaching device 82 is in use according to the second determination criteria STv, STo, and STb, which are different from the first determination criterion STh. Figure 14 Steps S22, S23, and S33 in the process.

[0102] Here, in the momentary teaching mode DM1, the user performs teaching tasks by operating the handheld teaching pendant 82. Therefore, by simply monitoring the tactile sensation H of the teaching pendant 82, it is possible to accurately determine whether the teaching pendant 82 is in use or not. On the other hand, in the direct teaching mode DM2, the user holds the teaching pendant 82 or places it in a designated location and directly operates the robot 12. In this direct teaching mode DM2, by monitoring the shaking V, posture O, and ambient brightness B of the teaching pendant 82, it is possible to accurately determine whether the teaching pendant 82 is in use or not.

[0103] In addition, it is possible to Figure 13 as well as Figure 14 Various changes can be applied to the process. For example, it can be... Figure 14 Steps S22, S23, or S33 are applied to Figure 13 Step S43 is performed before or after step S32, namely steps S22, S23, or S33. Alternatively, steps S43 can be performed before or after step S32. Figure 13Step S32 is applied to Figure 14 Step S44. The judgment criteria in steps S43 and S44 can be arbitrarily set by the user.

[0104] Next, refer to Figure 15 Other functions of the robot system 90 will be described below. In this embodiment, the robot system 90 performs the function of setting the judgment criterion ST. As mentioned above, slight vibrations sometimes occur at the work site. In this embodiment, the processor 40 of the control device 16 automatically sets the judgment criterion STv for the sway V in step S22 based on the detection data Dv from the sway sensor 30.

[0105] For example, the processor 20 of the teaching pendant 82, based on user input operations to the input device 28 for automatically setting the decision criterion STv, enables... Figure 16 The image data 200 shown is displayed on the display device 26. The image data 200 is a GUI for automatically setting the judgment criterion STv, including the detection start button image 202 and the judgment criterion result image 204. The user places the teaching device 82 at any location in the work site where slight vibrations occur, operates the input device 28, and operates the detection start button image 202 on the image.

[0106] Based on the input operation of the detection start button image 202, the processor 20 activates the vibration sensor 30 and detects the detection data Dv (acceleration a) within a specified period T5 (e.g., 10 seconds). The processor 20 supplies the acquired detection data Dv to the control device 16. The processor 40 of the control device 16 functions as a data acquisition unit 66, acquiring the detection data Dv from the teaching device 82, and automatically setting the threshold a as the judgment criterion STv based on the detection data Dv. th .

[0107] For example, processor 40 calculates the average (or effective value) of the acceleration a shown by the detection data Dv detected during period T5, and automatically sets this average (or effective value) as the threshold a. th Then, the processor 40 will automatically set the threshold a. th The data is supplied to the teaching pendant 82, and the processor 20 of the teaching pendant 82 will obtain the threshold a. th The judgment criterion result image 204 is displayed on the image data 200. Thus, the processor 40 of the control device 16 can automatically set the judgment criterion STv (threshold a). th Therefore, the processor 40 serves as a judgment criterion setting unit 102 that automatically sets the judgment criterion STv based on the detection data Dv. Figure 15 It can perform its functions.

[0108] Next, the function of manually setting the judgment criterion ST in the robot system 90 will be explained. For example, the processor 40 of the control device 16 generates image data 210 for setting the judgment criterion ST based on the user's input operation to the input device 48, and displays it on the display device 46. Figure 17 This represents an example of image data 210. Figure 17 The image data 210 shown is a GUI used to set the determination criteria STv, STo, and STb for the determinations in steps S22, S23, and S33 described above. Thus, the processor 40 serves as the image generation unit 104 that generates the image data 210. Figure 15 It can perform its functions.

[0109] Image data 210 includes: a shake input image 212, pose input images 214 and 216, and a brightness input image 218. The shake input image 212 is a threshold a used as input for determining shake V, STv. th The GUI. On the other hand, the attitude input image 214 is used to input the range [-θx] of the aforementioned angle θx. th θx th The threshold θx th The GUI serves as the criterion for determining attitude O, STo. Similarly, the attitude input image 216 is used to define the range [-θz] of the aforementioned angle θz. th , θz th The threshold θz th The GUI serves as the criterion for determining attitude O, STo.

[0110] Furthermore, as a GUI for setting the attitude O, the processor 40 can generate a teaching pendant model 82M and a coordinate system C, which are configured with the teaching pendant model 82M obtained by modeling the teaching pendant 82. Figure 9 The image data ID3 in the three-dimensional virtual space. Then, it can be configured so that the user can set the range [-θx] based on the x-axis and z-axis of the coordinate system C displayed in the image data ID3. th θx th ] and range [-θz th , θz th ].

[0111] The brightness input image 218 is used to input the threshold B. th (exist Figure 17In the example, the GUI uses a beam [lm] as the criterion STb for determining luminance B. The user operates the input device 48 to input values ​​into the motion input image 212, attitude input images 214 and 216, and luminance input image 218. The processor 40 processes and sets the criterion STv (threshold a) using the motion input image 212, attitude input images 214 and 216, and luminance input image 218. th ), Judgment Criterion STo (threshold θx) th , θz th ) and the judgment criterion STb (threshold B) th The processor 40 serves as the input receiving unit 106 for receiving input IP1 used to set the determination criteria STv, STo, and STb. Figure 15 It can perform its functions.

[0112] Then, the processor 40 functions as the determination criterion setting unit 102, and sets the determination criterion STv (threshold a) according to the input IP1. th ), Judgment Criterion STo (threshold θx) th , θz th ) and the judgment criterion STb (threshold B) th The judgment criteria STv, STo, and STb are set to be related to the usage status data D (detection data Dv, Do, Db) used for judgment in steps S22, S23, and S33 above.

[0113] As described above, in this embodiment, the processor 40 functions as an authentication execution unit 62, a login execution unit 64, a data acquisition unit 66, a usage determination unit 68, a logout execution unit 70, a determination criterion setting unit 102, an image generation unit 104, and an input receiving unit 106, executing a security function to prevent misuse of the teaching pendant 82. Therefore, the authentication execution unit 62, the login execution unit 64, the data acquisition unit 66, the usage determination unit 68, the logout execution unit 70, the determination criterion setting unit 102, the image generation unit 104, and the input receiving unit 106 constitute a security device 100 for preventing misuse of the teaching pendant 82. Figure 15 ).

[0114] In the safety device 100, the judgment reference setting unit 102 automatically sets a judgment reference STv related to the sway V for judgment by the judgment unit 68 (step S22) based on the detection data Dv of the sway V. According to this structure, in work environments where minute vibrations occur as described above, a judgment reference STv that takes into account actual minute vibrations can be automatically set. Therefore, judgments related to the sway V can be performed with higher accuracy.

[0115] Furthermore, in the safety device 100, the image generation unit 104 generates image data 210 for setting judgment criteria STv, Sto, and STb. Judgment criteria STv, Sto, and STb are judgment criteria related to the usage state data D (detection data Dv, Do, Db) used for judgment by the judgment unit 68 (steps S22, S23, S33). Additionally, the input receiving unit 106 receives input IP1 for setting judgment criteria STv, Sto, and STb via the image data 210. With this structure, the user can visually recognize the image data 210 and easily set the desired judgment criteria STv, Sto, and STb.

[0116] Furthermore, in the robot system 90, the processor 40 can function as an input receiving unit 106, and also receives input IP2 for enabling or disabling security functions, whereby security functions refer to the execution of a transfer to the logout stage OP1. For example, the processor 40 functions as an image generation unit 104, generating image data 220 for selecting whether a security function is enabled or disabled, and displaying it on the display device 46. Figure 18 This represents an example of image data 220.

[0117] Figure 18 The image data 220 shown includes a setting button image 222. The user operates the input device 48 and manipulates the setting button image 222 on the image, thereby enabling or disabling the security function. The processor 40 functions as an input receiving unit 106, receiving the input IP2 indicating whether the security function is enabled or disabled via the setting button image 222.

[0118] Upon receiving input IP2 that enables the safety function, processor 40 executes the following after the teach pendant 82 is started: Figure 5 The process. On the other hand, if the processor 40 receives input IP2 that disables the security function, it will not execute the process after the teaching pendant 82 is started. Figure 5 The process is as follows. In this case, the robot 12 can be operated via the teaching device 82 in any usage state. According to this embodiment, the user can arbitrarily choose whether to perform the safety functions described above based on the task.

[0119] Furthermore, in the above embodiment, the processor 40 can execute according to the computer program PG pre-stored in the memory 42. Figure 5 process, reference Figure 16 as well as Figure 17 The explanation of the judgment criteria setting function and reference Figure 18The security selection function is explained. The functions of the security device 60 or 100 (authentication execution unit 62, login execution unit 64, data acquisition unit 66, usage determination unit 68, logout execution unit 70, determination benchmark setting unit 102, image generation unit 104, input acceptance unit 106) executed by the processor 40 can be functional modules implemented by the computer program PG.

[0120] Furthermore, in the above embodiment, the functions of safety devices 60 and 100 are installed in the control device 16, and the processor 40 of the control device 16 executes the functions of safety devices 60 and 100. However, this is not a limitation; the functions of safety devices 60 or 100 may also be installed in the teaching pendant 14 or 82. In this case, the processor 20 of the teaching pendant 14 or 82 functions as safety device 60 or 100, executing the computer program PG stored in the memory 22. Figure 5 The process is as follows. In addition, the processor 20 functions as the image generation unit 104, generating the aforementioned image data ID1, ID2, ID3, 200, 210, or 220, which are then displayed on the display device 26.

[0121] Alternatively, a portion of the function of safety device 60 or 100 may be installed in teaching device 14 or 82, and other portions of the function of safety device 60 or 100 may be installed in control device 16. Figure 19 This is how it is expressed. In Figure 19 In the illustrated configuration, the functions of the authentication execution unit 62, data acquisition unit 66, usage determination unit 68, determination criterion setting unit 102, image generation unit 104, and input acceptance unit 106 in the security device 100 are implemented in the teaching device 82. On the other hand, the functions of the login execution unit 64 and logout execution unit 70 in the security device 100 are implemented in the control device 16.

[0122] In this embodiment, the processor 20 of the teaching device 82 communicates with the processor 40 of the control device 16 and performs tasks collaboratively. Figure 5 The process. For example, in Figure 6 In step S1, the processor 20 of the teaching pendant 82 executes steps S11 and S12. If the determination is yes in step S11, the processor 20 sends the authentication completion signal SG3 to the control device 16. When the authentication completion signal SG3 is received, the processor 40 of the control device 16 functions as the login execution unit 64 and executes step S13, causing the operation phase OP of the teaching pendant 82 to transfer to the login phase OP2.

[0123] In addition, the processor 20 of the teaching pendant 82 executes... Figure 7 , Figure 10 , Figure 13 or Figure 14In steps S21-S26 and S31-S33, if it is determined in step S25 that the device is not in use, the processor 20 sends an unused signal SG2 to the control device 16. When the unused signal SG2 is received, the processor 40 of the control device 16 functions as the logout execution unit 70 and executes step S27, causing the operation phase OP of the teaching device 82 to switch to the logout phase OP1.

[0124] Furthermore, in the above embodiment, the case where the detection data Dv of shaking V, the detection data Do of posture O, the detection data Dh of tactile H, and the detection data Db of brightness B are obtained as usage state data D has been described. However, for example, any parameter such as the temperature of the teaching pendant 14 or 82 that changes according to the usage state of the teaching pendant 14 or 82 may also be obtained as usage state data D. In addition, the unused posture Ou of the teaching pendant 14 or 82 is not limited to the posture where the display device 26 is facing vertically downwards or the posture where the teaching pendant 14 or 82 is upside down; it may be set to any posture by the user.

[0125] The present disclosure has been described in detail above, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the core essence of the present disclosure, or without departing from the core essence of the present disclosure derived from the claims and their equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the above embodiments, the order of each action and the order of each process have been shown as an example, but this is not a limitation. The same applies to the use of numerical values ​​or mathematical formulas in the description of the above embodiments.

[0126] This disclosure describes the following methods.

[0127] (Method 1) A safety device 60, 100 for preventing misuse of teaching pendants 14, 82 and teaching robot 12. The safety device 60, 100 includes: a data acquisition unit 66, which acquires usage status data D indicating the usage status of teaching pendants 14, 82; a usage determination unit 68, which determines whether teaching pendants 14, 82 are in use based on the usage status data D acquired by the data acquisition unit 66; and a logout execution unit 70, which, when the usage determination unit 68 determines that teaching pendants 14, 82 are not in use, transfers the operation phase OP of teaching pendants 14, 82 to the logout phase OP1, whereby the logout phase OP1 prohibits operation of robot 12 through teaching pendants 14, 82 and requests authentication from the user.

[0128] (Method 2) According to the safety devices 60 and 100 described in Method 1, the data acquisition unit 66 acquires the detection data Dv of the sensor 30 that detects the shaking V of the teaching devices 14 and 82 as usage status data D. If no shaking V is detected within a specified period T1, the usage determination unit 68 determines that the teaching devices 14 and 82 are not used.

[0129] (Method 3) The safety device 100 according to Method 2, wherein the safety device 100 further includes: a judgment reference setting unit 102, which automatically sets a judgment reference STv related to the shaking V for judgment by the judgment unit 68 based on the detection data Dv.

[0130] (Method 4) The safety device 60, 100 according to any one of Methods 1 to 3, wherein the data acquisition unit 66 acquires the detection data Do of the sensor 32 that detects the posture O of the teaching device 14, 82 as usage status data D, and when the posture O is a posture Ou that is predetermined to indicate that the teaching device 14, 82 is not used, the usage determination unit 68 determines that the teaching device 14, 82 is not used.

[0131] (Method 5) According to the safety devices 60 and 100 of Method 4, the predetermined posture Ou is: the posture in which the display device 26 of the teaching device 14 and 82 faces vertically downward, or the posture in which the teaching device 14 and 82 are upside down.

[0132] (Method 6) The safety device 60 or 100 according to any one of Methods 1 to 5, wherein the data acquisition unit 66 acquires the detection data Dh of the sensor 84 that detects the tactile H of the teaching device 82 as usage status data D, and if the tactile H is not detected within a specified period T3, the usage determination unit 68 determines that the teaching device 82 is not used.

[0133] (Method 7) The safety device 60 or 100 according to any one of Methods 1 to 6, wherein the data acquisition unit 66 acquires the detection data Db of the sensor 86 that detects the brightness B around the teaching device 82 as usage status data D, and the brightness B is a predetermined threshold B within a predetermined period T4. th In the following cases, the determination unit 68 determines that the teaching device 82 is not being used.

[0134] (Method 8) According to any one of Methods 1 to 7, the safety device 60 or 100, wherein the data acquisition unit 66 acquires operation mode data Dd1 and Dd2 representing the operation mode DM of the robot 12 as usage status data D. When the data acquisition unit 66 acquires operation mode data Dd1 representing the first operation mode DM1, the determination unit 68 determines whether the teaching device 82 is in use according to the first determination criterion STh. When the data acquisition unit 66 acquires operation mode data Dd2 representing the second operation mode DM2, the determination unit 68 determines whether the teaching device 82 is in use according to the second determination criteria STv, STo, and STb, which are different from the first determination criterion STh.

[0135] (Method 9) The safety device 100 according to any one of Methods 1 to 8, wherein the safety device 100 further comprises: an image generation unit 104 that generates image data 210 for setting a determination criterion ST, wherein the determination criterion ST is a determination criterion related to the usage state data D for determination by the determination unit 68; and an input receiving unit 106 that receives an input IP1 for setting the determination criterion ST by means of the image data 210.

[0136] (Method 10) The security device 60, 100 according to any one of Methods 1 to 9, wherein the security device 60, 100 further comprises: an authentication execution unit 62, which performs biometric authentication of the user as authentication during the logout phase OP1; and a login execution unit 64, which, when the biometric authentication is completed by the authentication execution unit 62, transfers the action phase OP from the logout phase OP1 to the login phase OP2, the login phase OP2 allowing the robot 12 to be operated via the teaching pendant 14, 82.

[0137] (Method 11) The security device 100 according to any one of Methods 1 to 10, wherein the security device 100 further comprises: an input receiving unit 106, which receives an input IP2 for enabling or disabling a security function, wherein the security function refers to the transfer to the logout phase OP1 performed by the logout execution unit 70.

[0138] (Method 12) A control device 16 or teaching device 14, 82 for a robot 12, wherein a safety device 60, 100 is provided in any one of methods 1 to 11.

[0139] (Method 13) A method for preventing misuse of teaching pendants 14 and 82, wherein the teaching pendants 14 and 82 teach the operation of robot 12, wherein the processors 20 and 40 perform the following operations: acquiring usage status data D indicating the usage status of the teaching pendants 14 and 82; determining whether the teaching pendants 14 and 82 are in use based on the acquired usage status data D; and, if it is determined that the teaching pendants 14 and 82 are not in use, transferring the operation phase OP of the teaching pendants 14 and 82 to the logout phase OP1, which prohibits the operation of robot 12 through the teaching pendants 14 and 82 and the request for authentication from the user.

[0140] (Method 14) A computer program PG, wherein processors 20 and 40 are caused to execute the method described in Method 13.

[0141] Symbol Explanation

[0142] 10, 80, 90 Robot Systems

[0143] 12 robots

[0144] 14, 82 Teaching devices

[0145] 16. Control device

[0146] 20, 40 processors

[0147] Sensors 30, 32, 34, 84, 86, and 92

[0148] Safety devices 60 and 100

[0149] 62 Certification Implementation Department

[0150] 64 Login Execution Department

[0151] 66 Data Acquisition Department

[0152] 68. Use of the decision-making unit

[0153] 70 Logout Executive Department

[0154] 102 Judgment Standard Setting Unit

[0155] 104 Image Generation Unit

[0156] 106 Input Acceptance Department.

Claims

1. A safety device for preventing misuse of a teaching pendant, the teaching pendant teaching the actions of a robot, characterized in that, The safety device has: The data acquisition unit acquires usage status data indicating the usage status of the teaching device; The determination unit determines whether the teaching device is in use based on the usage status data obtained by the data acquisition unit. as well as The logout execution unit, when the usage determination unit determines that the teaching device is not in use, transfers the operation phase of the teaching device to the logout phase, which prohibits the operation of the robot through the teaching device and the request for authentication from the user.

2. The safety device according to claim 1, characterized in that, The data acquisition unit acquires detection data from the sensor that detects the shaking of the teaching device as the usage status data. If no shaking is detected within the specified period, the usage determination unit determines that the teaching device is not being used.

3. The safety device according to claim 2, characterized in that, The safety device further includes a judgment reference setting unit, which automatically sets a judgment reference related to the shaking for the judgment unit to make the judgment based on the detection data.

4. The safety device according to claim 1, characterized in that, The data acquisition unit acquires detection data from the sensor that detects the attitude of the teaching device as the usage status data. If the posture is a predetermined posture to indicate that the teaching device is not in use, the use determination unit determines that the teaching device is not in use.

5. The safety device according to claim 4, characterized in that, The predetermined posture is: the posture in which the display device of the teaching device faces vertically downward, or the posture in which the teaching device is upside down.

6. The safety device according to claim 1, characterized in that, The data acquisition unit acquires detection data from the sensor that detects the touch of the teaching device as the usage status data. If the tactile sensation is not detected within the specified period, the usage determination unit determines that the teaching device is not being used.

7. The safety device according to claim 1, characterized in that, The data acquisition unit acquires detection data from a sensor that detects the brightness around the teaching device as the usage status data. If the brightness is below a specified threshold within a specified period, the usage determination unit determines that the teaching device is not being used.

8. The safety device according to claim 1, characterized in that, The data acquisition unit acquires operation mode data representing the robot's operating mode as the usage status data. When the data acquisition unit acquires the operation mode data representing the first operation mode, the usage determination unit determines whether the teaching device is in use according to the first determination criterion. When the data acquisition unit acquires the operation mode data representing the second operation mode, the usage determination unit determines whether the teaching device is in use according to a second determination criterion that is different from the first determination criterion.

9. The safety device according to claim 1, characterized in that, The safety device also has: An image generation unit generates image data for setting a determination criterion, wherein the determination criterion is a determination criterion related to the usage state data used by the usage determination unit to make the determination; and The input receiving unit receives inputs used to set the determination criteria through the image data.

10. The safety device according to claim 1, characterized in that, The safety device also has: The authentication execution unit performs biometric authentication of the user as the authentication during the logout phase; as well as The login execution unit, upon completion of the biometric authentication performed by the authentication execution unit, transfers the action phase from the logout phase to the login phase, which allows the robot to be operated via the teaching device.

11. The safety device according to claim 1, characterized in that, The security device further includes an input receiving unit that receives inputs for enabling or disabling the security function, wherein the security function refers to the transfer to the logout stage executed by the logout execution unit.

12. A control device or teaching device for a robot, characterized in that, have: The safety device as claimed in claim 1.

13. A method for preventing misuse of a teaching pendant, the teaching pendant teaching the actions of a robot, characterized in that, The processor performs the following actions: Obtain usage status data indicating the usage status of the teaching device; Based on the obtained usage status data, determine whether the teaching device is in use; as well as If it is determined that the teaching pendant is not in use, the operation phase of the teaching pendant is switched to the logout phase, which prohibits the operation of the robot through the teaching pendant and requests authentication from the user.

14. A computer program, characterized in that, The processor is then made to execute the method of claim 13.

Images