Device, method and computer program for causing an industrial machine to act

Abstract

Sometimes operators want to manually make industrial machinery perform predetermined actions, such as welding. In such cases, it is necessary to ensure the safety of the operator. The device (60) for making the industrial machinery (12) operate includes: an input receiving unit (62) that accepts input to operate a start button for making the industrial machinery (12) perform predetermined actions; a timing unit (66) that starts timing after the input receiving unit (62) accepts the input; and an action command unit (64) that sends an instruction to the industrial machinery (12) to start the operation when the elapsed time of the timing unit (66) reaches a predetermined standby time.

Description

Technical Field

[0001] This disclosure relates to apparatus, methods, and computer programs for causing industrial machinery to move. Background Technology

[0002] Industrial machinery is known to perform the action of welding workpieces (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2013-31868 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Sometimes operators want to manually perform predetermined actions on industrial machinery (such as welding). In such cases, it is essential to ensure operator safety.

[0008] Methods for solving problems

[0009] In one aspect of this disclosure, an apparatus for operating industrial machinery includes: an input receiving unit that receives input for operating a start button for performing a predetermined action on the industrial machinery; a timing unit that starts timing after the input receiving unit receives the input; and an action command unit that sends an instruction to the industrial machinery to start the action when the elapsed time of the timing unit reaches a predetermined standby time.

[0010] In other embodiments of this disclosure, in the method of causing industrial machinery to operate, the processor performs the following processing: accepting input to operate a start button for causing the industrial machinery to perform a predetermined action; after the input receiving unit accepts the input, starting a timer for elapsed time; and when the elapsed time reaches a predetermined standby time, sending an instruction to the industrial machinery to start the action. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of an industrial system according to one implementation method.

[0012] Figure 2 yes Figure 1 The diagram shows a block diagram of an industrial system.

[0013] Figure 3 It means Figure 2 The flowchart shown is an example of the operation flow of an industrial system.

[0014] Figure 4 It means Figure 3 The flowchart is an example of step S2 in the process.

[0015] Figure 5 It means Figure 3 A flowchart of an example of step S4 in the process.

[0016] Figure 6 This is an example of image data used to display the image of the Start button.

[0017] Figure 7 It means Figure 3 Flowcharts for other examples of step S4 in the diagram.

[0018] Figure 8 This is another example of image data used to display the image of the Start button.

[0019] Figure 9 This is yet another example of image data used to display the image of the Start button.

[0020] Figure 10 This is yet another example of image data used to display the image of the Start button.

[0021] Figure 11 This is yet another example of image data used to display the image of the Start button.

[0022] Figure 12 It means Figure 3 The flowchart is another example of step S4 in the process.

[0023] Figure 13 This is yet another example of image data used to display the image of the Start button.

[0024] Figure 14 This is a block diagram of an industrial system with other implementation methods.

[0025] Figure 15 It means Figure 3 The flowchart is another example of step S4 in the process.

[0026] Figure 16 This is yet another example of image data used to display the image of the Start button.

[0027] Figure 17 It means Figure 2 A block diagram showing other functions of the industrial system.

[0028] Figure 18 It means Figure 3 The flowchart is another example of step S4 in the process.

[0029] Figure 19 This is yet another example of image data used to display the image of the Start button. Detailed Implementation

[0030] Hereinafter, embodiments of the present disclosure will be described in detail based on the accompanying drawings. Furthermore, in the various embodiments described below, the same elements will be labeled with the same reference numerals, and repeated descriptions will be omitted. First, refer to... Figure 1 and Figure 2 An industrial system 10 according to one embodiment will be described. The industrial system 10 includes an industrial machine 12, a teaching device 14, and a control device 16.

[0031] In this embodiment, industrial machinery 12 welds workpiece W. Specifically, industrial machinery 12 includes a robot 18, a welding torch 20, a welding power source 22, and a force sensor 24. The robot 18 moves the welding torch 20. Specifically, the robot 18 is a vertical joint robot, having a robot base 25, a rotating body 26, a lower arm 28, an upper arm 30, and a wrist 32.

[0032] The robot base 25 is fixed to the floor of the work unit or to an automated guided vehicle (AGV). The rotating body 26 is mounted on the robot base 25 in a manner that allows it to rotate about a vertical axis. The lower arm 28 is mounted on the rotating body 26 in a manner that allows its base end to rotate about a horizontal axis. The upper arm 30 is mounted on the front end of the lower arm 28 in a manner that allows its base end to rotate about a horizontal axis.

[0033] The wrist 32 is rotatably mounted on the front end of the upper arm 30. Multiple servo motors (not shown) are respectively mounted on the robot base 25, the rotating body 26, the lower arm 28, the upper arm 30, and the wrist 32. These servo motors cause the rotating body 26, the lower arm 28, the upper arm 30, and the wrist 32 to rotate around a drive shaft, thereby moving the welding torch 20.

[0034] The welding torch 20 is rotatably mounted at the front end of the wrist 32, feeding the welding wire 34, which is delivered from the winding mechanism RM (not shown) mounted on the robot 18, toward the workpiece W. The welding power source 22 actuates the winding mechanism RM to feed the welding wire 34 from the welding torch 20 to the workpiece W, and supplies power (voltage and current) to the welding wire 34. This power energizes the welding wire 34 and the workpiece W, generating a discharge between them. As a result, welding can be performed on the workpiece W.

[0035] Force sensor 24 detects the external force F applied to robot 18. In this embodiment, force sensor 24 is a 6-axis force sensor with multiple strain gauges, disposed on the wrist 32 of robot 18. For example, when an operator applies an external force F to welding torch 20, the external force F is transmitted to the wrist 32 and acts on force sensor 24.

[0036] Force sensor 24 detects the external force F acting in this manner and supplies the detection data of external force F to control device 16. Furthermore, force sensor 24 can be installed at any part of robot 18, such as robot base 25. Additionally, force sensor 24 is not limited to a 6-axis force sensor; it can also be multiple torque sensors respectively installed on multiple servo motors of robot 18.

[0037] The teaching pendant 14 teaches the industrial machinery 12 its movements, generating an operation program (OP) for welding operations. Specifically, such as... Figure 2 As shown, the teaching pendant 14 is a computer having a processor 40, a memory 42, an I / O interface 44, a timer 45, an input device 46, and a display device 48. The processor 40 has a CPU or GPU, etc., and is communicatively connected to the memory 42, the I / O interface 44, the input device 46, and the display device 48 via a bus 49, communicates with these components, and performs arithmetic processing to implement various functions described later.

[0038] The memory 42 has RAM or ROM, etc., to temporarily or permanently store various data. The memory 42 can be composed of computer-readable non-transient storage media such as volatile memory, non-volatile memory, magnetic storage media, or optical storage media. The I / O interface 44 has, for example, an Ethernet port, a USB port, a fiber optic connector, or an HDMI terminal, and communicates with external devices via wired or wireless means under instructions from the processor 40. The control device 16 is communicatively connected to the I / O interface 44. The timer 45 counts time from any point in time under instructions from the processor 40.

[0039] The input device 46 includes buttons, switches, a keyboard, a mouse, or a touch panel, etc., to receive data input from the operator. The display device 48 includes a liquid crystal display or an organic EL display, etc., and can visually display various data under instructions from the processor 40. In this embodiment, the input device 46 and the display device 48 are integrally assembled into the housing of the teaching pendant 14.

[0040] The control device 16 controls the operation of the industrial machinery 12. Specifically, the control device 16 is a computer having a processor 50, a memory 52, and an I / O interface 54. Furthermore, the structure of the processor 50, memory 52, and I / O interface 54 is the same as that of the processor 40, memory 42, and I / O interface 44 described above, so repeated descriptions are omitted. The processor 50 is communicatively connected to the memory 52 and I / O interface 54 via a bus 56. Additionally, the various components of the industrial machinery 12 (robot 18, welding torch 20, welding power source 22, force sensor 24, etc.) are connected to the I / O interface 54 in a communicative manner via wireless or wired connections.

[0041] The processor 50 of the control device 16 causes the industrial machine 12 to operate in multiple operating modes OM. The operating modes OM include, for example, jog teaching mode OM1, direct teaching mode OM2, manual operation mode OM3, and automatic operation mode OM4. Jog teaching mode OM1 is an operating mode OM in which the robot 18 is operated according to the input IP1 of the input device 46 of the operator operating the teaching device 14.

[0042] On the other hand, the direct teaching mode OM2 is an operation mode OM that executes the direct teaching function DF, which moves the robot 18 according to the external force F detected by the force sensor 24. The manual operation mode OM3 is an operation mode OM in which the welding torch 20 and the welding power source 22 perform the action of welding the workpiece W according to the input IP2 of the input device 46 of the operator operating the teaching device 14. In addition, the automatic operation mode OM4 is an operation mode OM in which the robot 18, the welding torch 20, and the welding power source 22 automatically operate according to the generated motion program OP to perform the welding operation (so-called formal welding) on ​​the workpiece W.

[0043] Next, refer to Figure 3 The operation of industrial system 10 will be described. The processor 40 of teaching device 14 communicates with the processor 50 of control device 16 and performs tasks collaboratively. Figure 3 The process. Figure 3 The process begins, for example, when the teaching pendant 14 and the control device 16 are started. In step S1, the processor 40 of the teaching pendant 14 determines whether the direct teaching function DF is enabled (or turned on).

[0044] As an example, processor 40 generates image data ID1 (not shown) of a graphical user interface (GUI) for selecting whether the direct teach function (DF) is active or inactive based on the operator's input operation on input device 46, and displays it on display device 48. While visually recognizing the image data ID1, the operator operates input device 46 to provide input IP3, which enables (ON) the direct teach function (DF), to processor 40. When processor 40 receives input IP3, it determines "yes" and proceeds to step S2. On the other hand, if the direct teach function (DF) is set to inactive (or off), processor 40 determines "no" and proceeds to step S3.

[0045] Thus, in this embodiment, the processor 40 serves as the input receiving unit 62 that receives input IP3. Figure 2 The input device 46 may also include a button, switch, or physical key for selecting whether the direct teach function DF is enabled or disabled. The operator provides the input IP3 that enables the direct teach function DF to the processor 40 by operating the button, switch, or physical key.

[0046] In step S2, the processor 50 of the control device 16 executes the direct teach function DF. (Refer to...) Figure 4 Step S2 will now be explained. At the start of step S2, the processor 40 of the teaching device 14 sends an operation mode transfer command CM1 to the control device 16. The processor 50 of the control device 16, based on the operation mode transfer command CM1, transfers the operation mode OM of the industrial machine 12 to the direct teaching mode OM2, and executes step S2.

[0047] In step S11, the processor 50 of the control device 16 detects the external force F applied to the robot 18. Specifically, the processor 50 receives detection data from the force sensor 24, calculates the magnitude and direction of the external force F applied to the robot 18 based on the detection data, and determines the part of the robot 18 to which the external force F is applied (in this embodiment, the wrist 32).

[0048] In step S12, the processor 50 moves the robot 18 according to the external force F detected by the force sensor 24. Specifically, the processor 50 sends commands CM2 (torque commands, current commands, etc.) to each servo motor of the robot 18, and moves each movable component of the robot 18 (rotator 26, lower arm 28, upper arm 30, wrist 32) according to the commands CM2, thereby moving the part of the robot 18 (wrist 32) determined in the previous step S11 in the direction of the detected external force F. For example, when the operator presses the welding torch 20 to apply an external force F, the processor 50 moves the wrist 32 and the welding torch 20 in the direction of the external force F according to the external force F.

[0049] In this way, the operator can directly operate the robot 18 by hand to manually move the welding torch 20 to the desired position. Thus, in this embodiment, the processor 50 of the control device 16 acts as the motion command unit 64, which sends the instruction CM2 to the industrial machinery 12 (specifically, the servo motor of the robot 18). Figure 2 It performs its function and executes the direct teaching function (DF).

[0050] In step S13, the processor 50 determines whether the direct teach function DF is disabled (OFF). For example, the processor 40 of the teaching device 14 generates the aforementioned image data ID1 based on the operator's input operation on the input device 46 and displays it on the display device 48. The operator provides the processor 40 with input IP4, which disables the direct teach function DF, through the image data ID1. Upon receiving input IP4, the processor 40 sends a direct teach end command CM3 to the control device 16.

[0051] When the processor 50 of the control device 16 receives the direct teaching end command CM3 in step S13, it determines "yes" and stops the movement of the robot 18 based on the direct teaching function DF. Then, the processor 50 enters... Figure 3 Step S3. On the other hand, if the processor 50 determines "no", it returns to step S11. Thus, during the period when "no" is determined in step S13, the processor 50 repeatedly executes the cycle of steps S11 to S13, and functions as the action instruction unit 64, executing the direct teaching function DF to move the welding torch 20 by moving the robot 18 according to the external force F detected by the force sensor 24.

[0052] Refer again Figure 3 In step S3, the processor 40 of the teaching device 14 determines whether the manual operation function MF is enabled (or ON). As an example, the processor 40 generates image data ID2 (not shown) as a GUI for selecting whether the manual operation function MF is enabled or disabled based on the operator's input operation on the input device 46, and displays it on the display device 48.

[0053] While visually confirming the image data ID2, the operator operates the input device 46 to provide the processor 40 with input IP5, which enables (ON) the manual operation function MF. Upon receiving input IP5, the processor 40 determines "yes" and proceeds to step S4. Conversely, if the manual operation function MF is disabled (or OFF), the processor 40 determines "no" and proceeds to step S5.

[0054] In step S4, the processor 40 of the teaching device 14 and the processor 50 of the control device 16 cooperate to execute the manual operation function MF. (See reference...) Figure 5 Step S4 will be explained below. When step S4 begins, the processor 40 of the teaching device 14 sends an operation mode transfer command CM4 to the control device 16. The processor 50 of the control device 16 transfers the operation mode OM of the industrial machine 12 to the manual operation mode OM3 according to the operation mode transfer command CM4.

[0055] In step S21, the processor 40 of the teaching device 14 generates image data 100 that will display the start button 102, used to make the industrial machine 12 perform a predetermined action, as an image. Figure 6 An example of the image data 100 is shown. In this embodiment, the start button 102 displayed on the image data 100 is a GUI for instructing the welding torch 20 and welding power source 22 to perform the action of welding the workpiece W in manual operation mode OM3.

[0056] The operator can operate the input device 46 to click the start button 102 within the image data 100. The processor 40 generates the image data 100 and displays it on the display device 48. Thus, in this embodiment, the processor 40 serves as the image generation unit 68 that generates the image data 100 that displays the start button 102 as an image. Figure 2 It can perform its functions.

[0057] In step S22, the processor 40 determines whether the input IP2 of the operation start button 102 has been accepted. Here, the operator sometimes wants to move the welding torch 20 to a desired position using the direct teach function DF in step S2 and manually weld the workpiece W using the welding torch 20 (e.g., for tack welding to temporarily fix the workpiece W before formal welding).

[0058] While visually confirming the image data 100 displayed on the display device 48, the operator operates the input device 46 to provide the input IP2 of the operation start button 102 to the processor 40. The processor 40 functions as an input receiving unit 62 and accepts the input IP2. If the processor 40 accepts the input IP2, it determines "yes" and proceeds to step S23; otherwise, if the input IP2 is not accepted, it determines "no" and proceeds to step S26.

[0059] In step S23, the processor 40 starts timing for the elapsed time te. Specifically, the processor 40 starts timer 45 to begin timing for the elapsed time te from that point in time. The processor 40 obtains the elapsed time te data from the started timer 45, thereby enabling it to time the elapsed time te. Thus, in this embodiment, the processor 40 serves as the timing unit 66 that starts timing for the elapsed time te. Figure 2 It can perform its functions.

[0060] In step S24, the processor 40 determines whether the elapsed time te, which started timing in step S23, has reached the predetermined standby time ts. The standby time ts is an arbitrary time (e.g., ts = 4 [sec]), predetermined by the operator, and stored in memory 42. If the determination is "yes", the processor 40 proceeds to step S25; otherwise, if the determination is "no", it loops through step S24.

[0061] In step S25, the processor 50 of the control device 16 functions as an action command unit 64, sending an instruction CM5 to the industrial machine 12 to initiate its operation. Specifically, the processor 40 of the teaching device 14 sends an action start instruction CM6 to the control device 16 at the start of step S25. Upon receiving the action start instruction CM6, the processor 50 of the control device 16 functions as an action command unit 64, sending a power-on start instruction CM5a to the welding power source 22 as an instruction CM5 to initiate the welding of the workpiece W. This power-on start instruction CM5a is an instruction to supply power E1 from the welding power source 22 to the welding wire 34. Upon receiving the power-on start instruction CM5a, the welding power source 22 supplies power E1 to the welding wire 34.

[0062] Additionally, the processor 50 sends the wire feed instruction CM5b as instruction CM5 to the welding power source 22. This wire feed instruction CM5b is used by the welding power source 22 to actuate the winding mechanism RM, causing the welding wire 34 to move towards the workpiece W. When the welding power source 22 receives the wire feed instruction CM5b, it rotates the winding mechanism RM clockwise, causing the welding wire 34 to advance. Thus, the processor 50 begins the welding operation on the workpiece W. Alternatively, the processor 50 can also send the wire feed instruction CM5b to the winding mechanism RM, causing the winding mechanism RM to rotate clockwise according to the wire feed instruction CM5b. Furthermore, in step S25, welding can also be performed within a predetermined welding time tw after the welding operation begins according to instruction CM5 (power-on start instruction CM5a, wire feed instruction CM5b).

[0063] In step S20, the processor 40 of the teaching pendant 14 determines whether the manual operation function MF is disabled (OFF). For example, the processor 40 generates the aforementioned image data ID2 based on the operator's input operation on the input device 46 and displays it on the display device 48. The operator provides the processor 40 with input IP6 to disable (OFF) the manual operation function MF through the image data ID2. When the processor 40 receives input IP6, it determines "yes", ends the process of step S5, and proceeds to... Figure 3 Step S5. On the other hand, if the processor 40 determines "no", it returns to step S22.

[0064] Refer again Figure 3 In step S5, the processor 40 of the teaching device 14 (or the processor 50 of the control device 16) determines whether an action end command (e.g., a power-off command) has been received. If the processor 40 determines "yes", it terminates the operation. Figure 3 The process shown, on the other hand, returns to step S1 if the result is "no".

[0065] As described above, in this embodiment, the processor 40 functions as an input receiving unit 62, a timing unit 66, and an image generating unit 68, and the processor 50 functions as an action command unit 64 to operate the industrial machinery 12. Therefore, the input receiving unit 62, the action command unit 64, the timing unit 66, and the image generating unit 68 constitute a device 60 for operating the industrial machinery 12. Figure 1 ).

[0066] In this device 60, the input receiving unit 62 accepts input IP2 from the start button 102, which is used to operate the industrial machinery 12 to perform a predetermined action (in this embodiment, the action of welding workpiece W) (step S22). After the input receiving unit 62 accepts input IP2 (determined as "yes" in step S22), the timing unit 66 starts timing for the elapsed time te (step S23).

[0067] Then, when the elapsed time te, measured by the timing unit 66, reaches the predetermined standby time ts (determined as "yes" in step S24), the action command unit 64 sends the start-of-operation command CM5 (power-on start command CM5a, wire feed command CM5b) to the industrial machine 12 (specifically, the welding power source 22) (step S25). According to this structure, the standby time ts can be set from the time the operator operates the start button 102 until the industrial machine 12 actually starts operating. Therefore, for example, in the case where the aforementioned tack welding is to be performed manually, the operator's safety can be ensured.

[0068] Furthermore, in device 60, image generation unit 68 generates image data 100 that displays the start button 102 as an image (step S21), and input receiving unit 62 receives input IP2 for operating the start button 102 displayed in the image data 100. With this structure, the operator can, for example, operate the start button 102 displayed on the display device 48 while holding the teaching pendant 14, thus easily performing the operation of the start button 102 in any location.

[0069] In addition, in the device 60, the action command unit 64 sends a power-on start command CM5a (step S25) to the welding power source 22 to supply power E1 to the welding wire 34 in order to start the welding operation on the workpiece W. According to this structure, welding (e.g., the aforementioned tack welding) can be started after a standby time ts from when the operator presses the start button 102.

[0070] Furthermore, in the device 60, the motion command unit 64 executes a direct teaching function DF (step S2) that moves the robot 18 to move the welding torch 20 by means of an external force F detected by the force sensor 24. According to this structure, after the operator directly manipulates the robot 18 to move the welding torch 20 to the desired position, they can operate the start button 102 to begin welding (e.g., the aforementioned tack welding). This direct teaching function DF is particularly useful when the operator wants to perform tack welding or similar operations.

[0071] In addition, it is able to Figures 3-5 The illustrated process undergoes various modifications. See below for reference. Figure 7 ,right Figure 3 Further examples of step S4 (Manual Operation Function MF) will be provided. Additionally, in... Figure 7 In the process shown, for and Figure 5 The same process steps are labeled with the same step numbers, and repeated descriptions are omitted. In step S31, the processor 40 of the teaching device 14 functions as an image generation unit 68, generating image data that will display the start button as an image.

[0072] Figures 8-11 This represents an example of the image data generated in step S31. Figures 8-10 The image data 110, 120, and 130 shown are also displayed together with the image of the start button 102 in images 112, 122, and 132 that visually represent the elapsed time te. More specifically, Figure 8 Image 112 displayed in image data 110 will show the elapsed time te as a value that increases or decreases over time.

[0073] on the other hand, Figure 9 The image 122 displayed in the image data 120 is a so-called linear progress bar, which represents the increase or decrease of time te over time by the linear increase or decrease of the color area 124. Furthermore, Figure 10 The image 132 displayed in the image data 130 is a so-called circular progress bar, which represents the increase or decrease of time te over time by increasing or decreasing in an arc shape through the color area 134.

[0074] Figure 11The image data 140 shown displays an image of the start button 142 used to perform actions on the industrial machinery 12 and an image 112 showing the elapsed time te. In this image data 140, the start button 142 is shown as being able to slide from the default position 144 to the sliding position 146. When the start button 142 is operated, the operator visually confirms the image data 140 displayed on the display device 48 while operating the input device 46 to slide the start button 142 from the default position 144 to the sliding position 146 within the image data 140, indicating that the start button 142 has been clicked.

[0075] Having generated the image data 140, the processor 40 in Figure 7 In step S22, the processor 40 functions as an input receiving unit 62. When it receives input IP2 that causes the start button 142 to slide to the sliding position 146, it determines that "yes". In this way, in step S31, the processor 40 functions as an image generating unit 68, generating image data 110, 120, 130 or 140 and displaying it on the display device 48.

[0076] Refer again Figure 7 After step S31, the processor 40 sequentially executes steps S22 to S24. If the result in step S24 is "no", the processor proceeds to step S32. In step S32, the processor 40 determines whether the input IP2 received in the most recent step S22 is continuous.

[0077] As an example, suppose image data 110, 120, or 130 is generated in step S31. In this case, if the operator continues to press the start button 102 after clicking it in step S22 (a so-called long press), the processor 40 functions as an input receiving unit 62, continuously receiving input IP2. When the processor 40 receives input IP2 indicating continuous operation of the start button 102, it determines "yes". On the other hand, if the operator releases the click operation after clicking the start button 102 in step S22, input IP2 is also released and disappears. In this case, the processor 40 determines "no".

[0078] As another example, suppose image data 140 is generated in step S31. In this case, if the operator clicks the start button 142 in step S22 and slides it to the sliding position 146, and continues this click operation, the start button 142 remains in the sliding position 146. In this case, the processor 40 functions as an input receiving unit 62 and continuously receives input IP2. When the processor 40 receives input IP2 that keeps the start button 142 in the sliding position 146, it determines "yes".

[0079] On the other hand, if the operator releases the click operation after sliding the start button 142 to the sliding position 146 in step S22, the start button 142 returns to the default position 144 within the image data 140, thereby deactivating and eliminating input IP2. In this case, the processor 40 determines "No". Thus, in step S32, the processor 40 determines whether input IP2 persists. If the processor 40 determines "Yes", it proceeds to step S33; otherwise, if it determines "No", it proceeds to step S34.

[0080] In step S33, the processor 40 updates the images 112, 122, or 132 displayed in the image data 110, 120, 130, or 140 after time te. For example, in image 112 ( Figure 8 , Figure 11 In the case of [the event], the processor 40 updates the image 112 by displaying the value of the elapsed time te at that point in time. For example, the processor 40 may also update the image 112 in a manner that the value of the elapsed time te decreases over time, such as "4 [sec]" → "3 [sec]" → "2 [sec]" → "1 [sec]". Conversely, the processor 40 may also update the image 112 in a manner that the value of the elapsed time te increases over time, such as "1 [sec]" → "2 [sec]" → "3 [sec]" → "4 [sec]".

[0081] On the other hand, in image 122 or 132 ( Figure 9 , Figure 10 In the case of [a specific event], the processor 40 updates the image 122 or 132 in such a way that the color area 124 or 134 is displayed at the position corresponding to the elapsed time te at that time point. For example, the processor 40 may also update the image 122 or 132 in such a way that the color area 124 or 134 decreases as the elapsed time te decreases, such as 4 [sec] → 3 [sec] → 2 [sec] → 1 [sec]. Conversely, the processor 40 may also update the image 122 or 132 in such a way that the color area 124 or 134 increases as the elapsed time te increases, such as 1 [sec] → 2 [sec] → 3 [sec] → 4 [sec].

[0082] After step S33, processor 40 returns to step S24. Thus, during the period when processor 40 determines "yes" in step S32 (in other words, the period during which input IP2 is continuously accepted), it continues timing the elapsed time te that began in step S23. Then, each time step S33 is executed, images 112, 122, or 132 are updated to visually notify the operator of the elapsed time te.

[0083] On the other hand, if the determination in step S32 is "no", in step S34, the processor 40 ends the elapsed time te that started in the most recent step S23 and resets the elapsed time te. Then, the processor 40 proceeds to step S26. Thus, in this embodiment, if the processor 40 accepts input IP2 in step S22 and then releases the input IP2, it ends the elapsed time te that started in step S23.

[0084] After the operation of the industrial machine 12 begins in step S25, in step S35, the processor 40 of the teaching device 14 determines, in the same manner as in step S32, whether the input IP2 received in the most recent step S22 is still active. If the processor 40 determines "yes", it proceeds to step S36; otherwise, if the processor 40 determines "no", it proceeds to step S37.

[0085] In step S36, the processor 50 of the control device 16 functions as the action instruction unit 64, continuing the operation of the industrial machine 12 that began in the most recent step S25. Thus, in this embodiment, after the processor 50 causes the industrial machine 12 to begin welding the workpiece W according to instruction CM5 in step S25, the operation continues during the period determined as "yes" in step S35 (in other words, the period during which input IP2 is continuously received). After step S36, the process returns to step S35.

[0086] On the other hand, if the determination in step S35 is "no", in step S37, the processor 50 of the control device 16 functions as the action command unit 64 and sends an instruction CM7 to the industrial machine 12 to end the action of the industrial machine 12 that started in the most recent step S25. Specifically, the processor 40 of the teaching device 14 sends an action end instruction CM8 to the control device 16 at the beginning of step S37.

[0087] When the processor 50 of the control device 16 receives the operation end command CM8, it functions as the operation command unit 64 and sends a power-on stop command CM7a to the welding power source 22 as a command CM7 to end the welding operation on the workpiece W. This power-on stop command CM7a is a command to stop the power supply from the welding power source 22 to the welding wire 34. If the welding power source 22 receives the power-on stop command CM7a, it stops supplying power to the welding wire 34. Thus, the welding operation on the workpiece W is stopped.

[0088] Additionally, the processor 50 sends a feed stop command CM7b as command CM7 to the welding power source 22. This feed stop command CM7b is used to stop the feeding of the welding wire 34 by the welding power source 22. Upon receiving the feed stop command CM7b, the welding power source 22 stops the operation of the winding mechanism RM, thereby stopping the feeding of the welding wire 34. Furthermore, the processor 50 can also send a feed stop command CM7b to the winding mechanism RM to stop its operation.

[0089] Alternatively, the processor 50 can send a wire retraction command CM7c to the welding power source 22 instead of the feed stop command CM7b. The welding power source 22 can also reverse the winding mechanism RM according to the wire retraction command CM7c, causing the welding wire 34 to retract a predetermined distance from the workpiece W. Furthermore, the processor 50 can also send the wire retraction command CM7c to the winding mechanism RM, causing the winding mechanism RM to reverse according to the wire retraction command CM7c. In this way, the processor 50 ends the welding operation on the workpiece W. After step S37, the process proceeds to step S26.

[0090] As described above, in this embodiment, the timing unit 66 continuously times out the time te while the input receiving unit 62 receives input IP2 from the continuous operation of the start button 102 or 142 (during the period when it is determined to be "yes" in step S32) (a cycle of steps S24, S32, and S33). On the other hand, when the input IP2 is released (when it is determined to be "no" in step S32), the timing unit 66 ends the time te (step S34). According to this structure, in order to start the operation of the industrial machine 12 in step S25, the operator needs to continuously operate (i.e., press and hold) the start button 102 or 142. By requiring such operation as a condition for starting the operation, the operator's safety can be more reliably ensured.

[0091] In addition, Figure 11 In the example shown, the image generation unit 68 displays the start button 142 in the image data 140 as being able to slide from the default position 144 to the sliding position 146. The timing unit 66 starts timing for the elapsed time te when the input receiving unit 62 receives the input IP2 that causes the start button 142 to slide to the sliding position 146.

[0092] Furthermore, the timing unit 66 continuously times a period of time te while the input receiving unit 62 receives input IP2, which keeps the start button 142 continuously positioned in the sliding position 146. On the other hand, the timing ends when input IP2 is released. According to this structure, in order to start the industrial machine 12 in step S25, the operator needs to perform an operation that involves continuously holding the start button 142 in the sliding position 146 after it has been slid to that position. By requiring such an operation as a condition for starting the operation, operator safety can be more reliably ensured.

[0093] Furthermore, in this embodiment, the image generation unit 68 displays images 112, 122, or 132 visually representing the elapsed time te of the timing unit 66 on image data 110, 120, 130, or 140 (steps S31 and S33). Based on this structure, the operator can visually identify the elapsed time te in the timing. Additionally, the operator can also identify the remaining time until the industrial machinery 12 begins operation in step S25 while continuously operating the start button 102 or 142.

[0094] Furthermore, in this embodiment, after the operation of the industrial machine 12 is started according to the instruction CM5, the operation instruction unit 64 continues the operation (step S36) while the input receiving unit 62 receives the input IP2 of the continuous operation of the start button 102 or 142 (during the period determined to be "yes" in step S35). On the other hand, when the input IP2 is released (when determined to be "no" in step S35), the operation instruction unit 64 sends an instruction CM7 (power-on stop instruction CM7a, feed stop instruction CM7b, wire retraction instruction CM7c) to the industrial machine 12 to end the operation (step S37). According to this structure, by continuously operating the start button 102 or 142, the operator can continue the operation of the industrial machine 12, which started in step S25, for the desired period of time.

[0095] Furthermore, during the execution of steps S35 and S36, when the elapsed time te' from the start of the action in step S25 reaches the predetermined time tw, processors 40 and 50 can also force the process to enter step S37 and end the action. In this case, processor 40 can also start timer 45 when executing step S25 to begin timing the elapsed time te', and determine whether the elapsed time te' has reached the predetermined time tw when the determination is "yes" in step S35, or after step S36. Additionally, it can also... Figure 7 Steps S35 and S36 are omitted in the process. In this case, the processor 50 can also function as the action instruction unit 64. After starting the action in step S25, it proceeds to step S37 after a predetermined soldering time tw.

[0096] In addition, it is also possible to Figures 8-11 The image 112, 122, or 132 showing the standby time ts is applied to Figure 5 The embodiment shown. In this case, the processor 40 in Figure 5 In step S21, images 112, 122, or 132 are generated. If the result is "no" in step S24, then the following steps are executed: Figure 7 Step S33. In this case, the operator does not need to continuously operate the start button 102 or 142 in order to start the industrial machine 12, but can identify the standby time ts in the timer (i.e., the remaining time until the start of the operation).

[0097] Next, refer to Figure 12 ,right Figure 3 Another example of step S4 (Manual Operation Function MF) will be explained. Furthermore, in... Figure 12 In the process shown, for and Figure 7 The same process flow is labeled with the same step numbers, and repeated descriptions are omitted. In step S41, the processor 40 of the teaching device 14 functions as the image generation unit 68, generating... Figure 13 The image data shown is 150.

[0098] Image data 150, along with the image of start button 102 and the image 112 showing the elapsed time te, displays an image of stop button 152 used to halt the operation of industrial machinery 12. The operator can operate input device 46 to click stop button 152 within image data 150. Processor 40 generates... Figure 13 The image data 150 shown is displayed on the display device 48. Additionally, image data 150 can also be applied... Figure 9 Image 122 or Figure 10 Image 132 is used instead of image 112.

[0099] Refer again Figure 12 If the determination in step S24 is "No", in step S42, the processor 40 determines whether the input IP7 of the operation stop button 152 has been accepted. For example, when the operator wants to stop the start of the operation after operating the start button 102 in step S22, they provide the input IP7 to the processor 40 by clicking the operation stop button 152. The processor 40 functions as an input receiving unit 62, and if the input IP7 has been accepted, it determines "Yes" and proceeds to step S34. Then, the processor 40 ends the timing of the elapsed time te. On the other hand, if the determination is "No", the processor 40 proceeds to step S33.

[0100] Following step S25, in step S43, the processor 40, in the same manner as in step S42, determines whether the input IP7 from the operation stop button 152 has been received. If the determination is "yes," the processor 40 proceeds to step S37; otherwise, it proceeds to step S36. Thus, in this embodiment, after the processor 50 of the control device 16 begins operation in step S25, it functions as the operation command unit 64 to continue operation while the stop button 152 is not operated; conversely, when the stop button 152 is operated, the operation is stopped.

[0101] As described above, in this embodiment, the image generation unit 68 displays the stop button 152, used to stop the operation of the industrial machinery 12, as an image in the image data 150 (step S41). Then, after the timing unit 66 starts timing in step S23, when the input receiving unit 62 receives the input IP7 of operating the stop button 152 (when it is determined to be "yes" in step S42), the timing ends (step S34). According to this structure, if the operator wants to stop the operation for some reason after operating the start button 102, they can easily stop the operation by clicking the stop button 152.

[0102] Furthermore, during the execution of steps S43 and S36, when the elapsed time te' after the start of the action in step S25 reaches the predetermined time tw, processors 40 and 50 can also force the process to enter step S37 and end the action. In this case, processor 40 can also start timer 45 after executing step S25 to begin timing the elapsed time te', and determine whether the elapsed time te' has reached the predetermined time tw when the determination is "no" in step S43, or after step S36. Alternatively, it can also... Figure 12 Steps S43 and S36 are omitted in the process. In this case, the processor 50 can also function as the action instruction unit 64. After starting the action in step S25, it proceeds to step S37 after a predetermined soldering time tw.

[0103] Next, refer to Figure 14 An industrial system 10' with other embodiments will be described. The industrial system 10' includes the industrial machinery 12 and control device 16 described above, as well as a teaching pendant 14'. The teaching pendant 14' differs from the teaching pendant 14 described above in that it also includes a microphone 70. The microphone 70 is communicatively connected to the processor 40 via a bus 49, converts the operator's voice into an electrical signal, and supplies it to the processor 40 as voice input.

[0104] In this embodiment, the voice recognition software VS is pre-installed on the teaching pendant 14' and stored in the memory 42. The voice recognition software VS is configured to recognize voice input VI1 indicating the start of the operation of the industrial machine 12 and voice input VI2 (a second voice input) indicating the cessation of the operation of the industrial machine 12. Voice input VI1 indicating the start of the operation can be, for example, a voice like "start," and voice input VI2 indicating the cessation of the operation can be, for example, a voice like "stop."

[0105] Next, the operation of industrial system 10' will be explained. The processor 40 of teaching device 14' and the processor 50 of control device 16 cooperate to execute... Figure 3 The process. Here, in this embodiment, as Figure 3 In step S4, processors 40 and 50 execute... Figure 15 The process is shown. Furthermore, in Figure 15 In the process shown, for and Figure 7 For processes with the same workflow, label the steps with the same numbers and omit duplicate descriptions.

[0106] In step S51, the processor 40 of the teaching device 14' functions as an image generation unit 68, generating... Figure 16 Image data 160 is shown. Image data 160 displays an image of a start button 162 used to initiate a predetermined action of the industrial machinery 12 and an image 112 showing the elapsed time te. The operator can operate the input device 46 to click the start button 162 within image data 160.

[0107] Processor 40 generation Figure 16 The image data 160 shown is displayed on the display device 48. Additionally, image data 160 can also be applied... Figure 9 Image 122 or Figure 10 Image 132 is used to replace image 112. Then, in step S22, the processor 40 determines whether the input IP2 of the operation start button 162 has been accepted, and if the determination is "yes", it proceeds to step S52.

[0108] In step S52, the processor 40 functions as an input receiving unit 62, determining whether it has received voice input VI1 indicating the intention to start the operation of the industrial machine 12. In this embodiment, in order to start the operation of welding workpiece W on the industrial machine 12 in step S25, the operator, after operating the start button 162, issues a voice indicating the intention to start the operation (e.g., a voice like "start").

[0109] Microphone 70 converts the operator's voice into an electrical signal and supplies it to processor 40 as voice input. Processor 40 applies the voice input from microphone 70 to voice recognition software VS. If the voice input is recognized as "start" or similar, it determines "yes". If "yes" is determined, processor 40 proceeds to step S23; otherwise, it proceeds to step S53. In step S53, similar to step S32 described above, processor 40 determines whether the input IP2 of the start button 162 received in the most recent step S22 is still active. If "yes" is determined, it returns to step S52; otherwise, it proceeds to step S26.

[0110] On the other hand, if the determination in step S24 is "no", in step S54, the processor 40 functions as an input receiving unit 62 to determine whether the voice input VI2 indicating the intention to stop the operation of the industrial machine 12 has been accepted. Suppose that the operator issued a voice indicating the intention to stop the operation (e.g., a voice like "stop") after pressing the start button 162.

[0111] The processor 40 applies the voice input obtained from the microphone 70 to the voice recognition software VS. If the voice input is recognized as "stop" or similar (VI2), it determines that it is "yes". If the processor 40 determines that it is "yes", it proceeds to step S34 and ends the elapsed time te. On the other hand, if the processor determines that it is "no", it proceeds to step S32.

[0112] Following step S25, in step S55, the processor 40 functions as an input receiving unit 62, similar to step S54 described above, and determines whether voice input VI2 indicating the intention to stop the operation of the industrial machine 12 has been received. If the determination is "yes", the processor 40 proceeds to step S37; otherwise, if the determination is "no", it proceeds to step S35.

[0113] As described above, in this embodiment, after the input receiving unit 62 receives input IP2 in step S22, it also receives voice input VI1 indicating the start of the operation of the industrial machine 12 (step S52). Then, the timing unit 66 starts timing when the input receiving unit 62 receives voice input VI1 (when it is determined to be "yes" in step S52) (step S23).

[0114] According to this structure, the operator can easily start the operation of the industrial machine 12 by using voice commands such as "start". Furthermore, in order to start the operation of the industrial machine 12 in step S25, the operator needs to provide voice input VI1 after pressing the start button 162, and then wait for a standby time ts. By requiring such an operation as a condition for starting the operation, operator safety can be more reliably ensured.

[0115] In addition, in this embodiment, the input receiving unit 62 also accepts a second voice input VI2 indicating the intention to stop the operation of the industrial machinery 12 (step S54). Then, when the input receiving unit 62 accepts the second voice input VI after the timing has started (when it is determined to be "yes" in step S54), the timing unit 66 ends the timing (step S34). According to this structure, if the operator wants to stop the start of the operation for some reason after the voice input VI1 has been provided, he / she can easily stop the start of the operation by using a voice such as "stop".

[0116] Furthermore, during the execution of steps S55, S35, and S36, when the elapsed time te' since the start of the action in step S25 reaches the predetermined time tw, processors 40 and 50 can also force the process to enter step S37 and end the action. In this case, processor 40 can also start timer 45 after executing step S25 to begin timing the elapsed time te', and determine whether the elapsed time te' has reached the predetermined time tw when the determination is "no" in step S55, "yes" in step S35, or after step S36.

[0117] Furthermore, in step S52, the processor 40 may also perform voiceprint authentication on the voice input VI1 when it receives the voice input VI1. For example, a voiceprint template containing the voiceprint of an authorized operator may be pre-stored in the memory 42. The processor 40 compares the received voice input VI1 with the voiceprint template, and if the voice input VI1 matches the voiceprint of an authorized operator, it determines that "yes".

[0118] On the other hand, if the accepted voice input VI1 does not match the voiceprint of an authorized operator, the processor 40 determines "no". In this case, the processor 40 may also generate a voice or image warning signal such as "An unauthorized operator cannot operate the industrial machinery". Similarly, in steps S54 and S55, the processor 40 may also perform voiceprint authentication by comparing the accepted voice input VI2 with a voiceprint template. Additionally, it may also be possible to... Figure 15 Steps S32 or S35 are omitted in the process.

[0119] Next, refer to Figure 17 ,right Figure 2Other functions of the industrial system 10 shown will be described. In this embodiment, after the operator manually moves the welding torch 20 to the welding position P for welding (e.g., tack welding) of the workpiece W via the direct teach function DF, the operator executes the manual operation function MF. The processor 40 of the teach pendant 14 and the processor 50 of the control device 16 cooperate to execute this function. Figure 3 The process proceeds from step S2 to step S4. In this embodiment, step S4 is executed as step S4. Figure 18 The process. Furthermore, in Figure 18 In the process shown, for and Figure 5 For processes with the same workflow, label the steps with the same numbers and omit duplicate descriptions.

[0120] When the determination is "yes" in step S22, in step S61, the processor 50 of the control device 16 causes the welding wire 34 to advance a predetermined distance δ. Specifically, the processor 50 sends a pre-feed command CM9 to the welding power source 22. The welding power source 22 rotates the drum mechanism RM clockwise according to the pre-feed command CM9, causing the welding wire 34 to advance a distance δ. As a result, the welding wire 34 is fed a distance δ from the welding torch 20 positioned at the welding position P by the direct teaching function DF in step S2. Alternatively, the processor 50 may also send a pre-feed command CM9 to the drum mechanism RM, causing the drum mechanism RM to rotate clockwise according to the pre-feed command CM9.

[0121] In step S62, the processor 50 of the control device 16 determines whether the welding wire 34 is conductive to the workpiece W. Specifically, the processor 50 sends a pre-energization command CM10 to the welding power source 22. This pre-energization command CM10 is a command to supply a power E2 (<E1) to the welding wire 34 that is lower than the power E1 of the energization start command CM5a sent in step S25. The power E2 is predetermined to be a power level that will not produce a discharge between the welding wire 34 and the workpiece W. According to the pre-energization command CM10, the welding power source 22 supplies power E2 to the welding wire 34.

[0122] Next, the processor 50 monitors the current value A generated in the welding wire 34, where the current value A is within a predetermined threshold A. th In the above cases, it is determined that the welding wire 34 is conductive with the workpiece W (i.e., it is). Alternatively, the processor 50 can also monitor the resistance value R between the welding wire 34 and the workpiece W, where the resistance value R is a predetermined threshold value R. th In the following cases, it is determined that the welding wire 34 is conductive with the workpiece W (i.e., it is). In this case, the industrial machine 12 may also have a sensor (not shown) that detects the current value A or the resistance value R.

[0123] If the processor 50 determines "yes", it proceeds to step S23; otherwise, if it determines "no", it proceeds to step S63. Thus, in this embodiment, the processor 50 functions as a continuity determination unit 72 for determining whether the welding wire 34 and the workpiece W are connected. Figure 17 The conduction determination unit 72, together with the input receiving unit 62, the action command unit 64, the timing unit 66, and the image generation unit 68, constitutes the device 60. Furthermore, if the processor 50 determines "no" in step S62, it can also cause the welding wire 34, which has advanced in step S61, to retreat a distance δ.

[0124] In step S63, the processor 40 of the teaching device 14 generates a warning signal AL. For example, the processor 40 generates a voice or image warning signal AL such as "The position of the welding torch is not suitable for welding. Please adjust," and notifies the operator. Then, the processor 40 proceeds to step S26. Thus, in this embodiment, steps S23 to S25 are not executed during the period when "no" is determined in step S62.

[0125] As described above, in this embodiment, after the robot 18 is moved by the direct teaching function DF (step S2) executed by the motion command unit 64, the continuity determination unit 72 determines whether the welding wire 34 and the workpiece W are connected when the input receiving unit 62 receives the input IP2 (when it is determined to be "yes" in step S22) (step S62). Then, if the continuity determination unit 72 determines that the welding wire 34 and the workpiece W are not connected (when it is determined to be "no" in step S62), the motion command unit 64 does not send the command CM5 to the industrial machine 12.

[0126] Here, when the operator manually moves the welding torch 20 to the welding position P via the direct teach function DF, there is a possibility that the welding position P becomes inappropriate, such as the welding torch 20 being too far away from the workpiece W. Therefore, in this embodiment, when it is determined to be "yes" in step S22, the operation begins in step S25 when the welding torch 20 is positioned at an appropriate welding position P where the welding wire 34 is connected to the workpiece W, by executing steps S61 and S62.

[0127] On the other hand, if the welding torch 20 is positioned at an inappropriate welding position P where the welding wire 34 has left the workpiece W, step S25 is not executed. Therefore, the operator can identify whether the position of the welding torch 20, moved via the direct teaching function DF, is appropriate, and if inappropriate, can quickly take countermeasures such as correcting the position of the welding torch 20 by re-executing the direct teaching function DF. Furthermore, in Figure 18 In the illustrated process, processors 40 and 50 can also execute steps S61-S63 if the result in step S24 is "no". Furthermore, it is understood that steps S61-S63 can also be applied to... Figure 7 , Figure 12 or Figure 15 The process.

[0128] Furthermore, the processor 40 of the teaching device 14 or 14' can also function as an image generation unit 68, and can display an image that can input the action condition CD in the aforementioned image data 100, 110, 120, 130, 140, 150 or 160. Figure 19 Image data 170 is shown. In addition to the image of the start button 102 and the image 112 representing the elapsed time te, image data 170 also includes an input image area 172 for inputting the action condition CD.

[0129] exist Figure 19 In the example shown, the action condition CD includes welding time tw, welding current Iw, and welding voltage Vw. Furthermore, input image 174 for inputting welding time tw, input image 176 for inputting welding current Iw, and input image 178 for inputting welding voltage Vw are displayed in input image area 172.

[0130] The processor 40 of the teaching device 14 functions as an image generation unit 68 to generate image data 170, which is then displayed on the display device 48. While visually confirming the image data 170, the operator can operate the input device 46 to input the desired welding time tw, welding current Iw, and welding voltage Vw values ​​to the input images 174, 176, and 178 respectively, as operation conditions CD.

[0131] The processor 50 of the control device 16 functions as the action command unit 64. When the above-described step S25 is executed, it causes the industrial machine 12 to perform the action of welding the workpiece W according to the action conditions CD input to the input images 174, 176, and 178. Specifically, in step S25, the processor 50 sends a power-on start command CM5a to the welding power source 22 to supply the welding wire 34 with the welding current Iw: 80 [A] input to the input image 176 and the welding voltage Vw: 12 [V] input to the input image 176.

[0132] In addition, Figure 5 In step S25, the processor 50 performs the welding action within the welding time tw during the input of the input image 174. Alternatively, it can also be performed during... Figure 7 The loop in steps S35 and S36 Figure 12 The loop in steps S43 and S36, or Figure 15When the process is looping through steps S55, S35 and S36, when the elapsed time te' from the start of the action in step S25 reaches the welding time tw for inputting the input image 174, processors 40 and 50 cause the process to proceed to step S37.

[0133] Furthermore, processors 40 and 50 can also execute according to computer program PG stored in memory 42 or 52. Figure 3 The process is shown. In addition, the functions of the device 60 (input receiving unit 62, action command unit 64, timing unit 66, image generation unit 68, and conduction determination unit 72) executed by the processors 40 and 50 can also be functional modules implemented by the computer program PG.

[0134] Furthermore, in the above-described embodiments, the functions of the input receiving unit 62, the timing unit 66, and the image generating unit 68 of the device 60 are described as being installed in the teaching pendant 14, while the functions of the action command unit 64 and the conduction determination unit 72 are installed in the control device 16. However, this is not a limitation; all functions of the device 60 may also be installed in either the teaching pendant 14 or the control device 16.

[0135] When all the functions of device 60 are implemented in the teaching pendant 14, processor 40 functions as the action command unit 64. On the other hand, when all the functions of device 60 are implemented in the control device 16, processor 50 functions as the input receiving unit 62, the timing unit 66, the image generation unit 68, and the conduction determination unit 72. In this case, timer 45, input device 46, display device 48, and microphone can also be provided in the control device 16. Alternatively, the functions of device 60 can be implemented in any other computer besides the teaching pendant 14 and the control device 16, such as a host controller, PC, or server.

[0136] Furthermore, in the above embodiments, it is described that the start buttons 102, 142, and 162 are GUIs displayed as images in the image data 100, 110, 120, 130, 140, 150, 160, and 170. However, this is not a limitation; the start buttons 102, 142, or 162 may also be physical buttons or switches, etc. That is, in this case, the image generation unit 68 can be omitted from the device 60. Additionally, the stop button 152 described above may also be a physical button or switch, etc. Furthermore, it is also possible to... Figure 13 The stop button 152 for the image data 150 shown is applied to image data 100, 120, 130, 140, 160, or 170.

[0137] Furthermore, in the above embodiment, the case where the direct teach function DF is executed in step S2 is described. However, it is not limited to this; the processor 50 of the control device 16 may also operate the industrial machine 12 in step S2, for example, in the inching teach mode OM1. Additionally, the processor 50 may also... Figure 3 After step S4, the industrial machinery 12 is activated in automatic operation mode OM4 based on input from the operator to perform formal welding.

[0138] Furthermore, the input device 46 may also include a touch panel that accepts touch operations from the operator, and a sensor disposed on the touch panel that can detect the touch operation force applied to the touch panel. Moreover, in step S22 described above, the processor 40 of the teaching device 14 or 14' may also determine "yes" when it receives input IP2 from the start button 102, 142, or 162 and the touch operation force detected by the sensor is above a predetermined threshold.

[0139] Furthermore, image data 100, 110, 120, 130, 140, 150, 160, and 170 are examples; the image data can be any GUI. Additionally, robot 18 is not limited to a vertical multi-joint type; it can also be a horizontal multi-joint type, a parallel linkage type, or any other type of robot. Furthermore, in the above embodiment, the action of industrial machinery 12 welding workpiece W is described. However, it is not limited to this; industrial machinery 12 can also perform any action such as brazing, laser processing, or coating.

[0140] 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 spirit of the present disclosure, or from the spirit of the present disclosure derived from the content described in the claimed scope and its equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each action and the order of each process are shown as an example and are not limited thereto. The same applies to the use of numerical values ​​or mathematical formulas in the description of the above embodiments.

[0141] This disclosure is made in the following manner.

[0142] (Method 1) An apparatus 60 for operating an industrial machine 12, comprising: an input receiving unit 62 that receives input IP2 for operating start buttons 102, 142, 162 for performing a predetermined action on the industrial machine 12; a timing unit 66 that starts timing for an elapsed time te after the input receiving unit 62 receives the input IP2; and an action command unit 64 that sends an action start command CM5 to the industrial machine 12 when the elapsed time te of the timing unit 66 reaches a predetermined standby time ts.

[0143] (Method 2) According to the device 60 of Method 1, the timing unit 66 continuously times the input IP2 of the continuous operation start button 102, 142, 162 received by the input receiving unit 62, and ends the timing when the input IP2 is released.

[0144] (Method 3) The apparatus 60 according to Method 1 or 2, wherein the apparatus further comprises: an image generation unit 68 that generates image data 100, 110, 120, 130, 140, 150, 160, 170 that display the start buttons 102, 142, 162 as images; and an input receiving unit 62 that receives input IP2 for operating the start buttons 102, 142, 162 displayed on the image data 100, 110, 120, 130, 140, 150, 160, 170.

[0145] (Method 4) According to the apparatus 60 of Method 3, the image generation unit 68 displays the start button 142 in the image data 140 in such a way that it can be slid from the default position 144 to the sliding position 146. The timing unit 66 starts timing when the input receiving unit 62 receives the input IP2 that causes the start button 142 to slide to the sliding position 146, and continues timing during the period when the input receiving unit 62 receives the input IP2 that causes the start button 142 to remain in the sliding position 146. On the other hand, timing ends when the input IP2 is released.

[0146] (Method 5) According to the apparatus of Method 3 or 4, the image generation unit 68 also displays images 112, 122, 132 that visually represent the elapsed time te of the timing unit 66 on image data 110, 120, 130, 140, 150, 160.

[0147] (Method 6) According to any one of Methods 3 to 5, the image generation unit 68 also displays the stop button 152 for stopping the operation as an image on the image data 150, and the timing unit 66 ends the timing when the input receiving unit 62 receives the input IP7 of the operation stop button 152 after the timing starts.

[0148] (Method 7) The device 60 according to any one of Methods 1 to 6, wherein after the input receiving unit 62 receives the input IP2, it also receives the voice input VI1 indicating the start of operation, and the timing unit 66 starts timing when the input receiving unit 62 receives the voice input VI1.

[0149] (Method 8) According to the device 60 of Method 7, the input receiving unit 62 also receives a second voice input VI2 indicating the termination of the action, and the timing unit 66 ends the timing when the input receiving unit 62 receives the second voice input VI2 after the timing has started.

[0150] (Method 9) The device 60 according to any one of Methods 1 to 8, wherein after the operation command unit 64 starts the operation of the industrial machine 12 according to the command CM5, the operation continues while the input receiving unit 62 receives the input IP2 of the continuous operation start button 102, 142, 162, and on the other hand, when the input IP2 is released, the operation command CM7 is sent to the industrial machine 12 to end the operation.

[0151] (Method 10) The apparatus according to any one of Methods 1 to 9, wherein the industrial machine 12 includes: a welding torch 20 that feeds welding wire 34; a robot 18 that moves the welding torch 20; and a welding power source 22 that supplies power to the welding wire 34, wherein an action command unit 64 sends an instruction CM5a to the welding power source 22 for supplying power to the welding wire 34 in order to start the action of welding the workpiece W.

[0152] (Method 11) According to the apparatus 60 of Method 10, the industrial machine 12 further includes a force sensor 24 that detects an external force F applied to the robot 18, and an action command unit 64 that executes a direct teaching function DF, which causes the robot 18 to move in accordance with the external force F detected by the force sensor 24 to move the welding torch 20.

[0153] (Method 12) The apparatus 60 according to Method 11 further includes: a continuity determination unit 72, which determines whether the welding wire 34 and the workpiece W are connected after the motion command unit 64 executes the direct teaching function DF to make the robot 18 move. If the continuity determination unit 72 determines that the welding wire 34 and the workpiece W are not connected, the motion command unit 64 does not send the command CM5 to the industrial machine 12.

[0154] (Method 13) A method for operating industrial machinery 12, wherein processors 40 and 50 receive input IP2 for operating start buttons 102, 142, and 162 for performing predetermined actions on industrial machinery 12, and after receiving input IP2, start timing for an elapsed time te, and when the elapsed time te reaches a predetermined standby time ts, send an instruction CM5 to industrial machinery 12 to start the action.

[0155] (Method 14) A computer program PG, wherein processors 40 and 50 are caused to execute the method described in Method 13.

[0156] Symbol Explanation

[0157] 10, 10' industrial system;

[0158] 12. Industrial machinery;

[0159] 14, 14' teaching device;

[0160] 16 control devices;

[0161] 18 robots;

[0162] 20 welding torches;

[0163] 22 welding power source;

[0164] 24 force sensors;

[0165] 60 devices;

[0166] 62 Input Receiving Unit;

[0167] 64. Action Command Section;

[0168] 66th Timing Department;

[0169] 68 Image generation unit;

[0170] 72 conduction determination unit;

[0171] Image data at resolutions of 100, 110, 120, 130, 140, 150, 160, and 170.

[0172] Start buttons: 102, 142, 162;

[0173] Images of 112, 122, and 132 over time;

[0174] 152 Stop button.

Claims

1. A device for activating industrial machinery, characterized in that, have: The input receiving unit accepts input for operating a start button used to cause the industrial machinery to perform a predetermined action; The timing unit starts timing after the input is received by the input receiving unit; as well as The action command unit sends an instruction to the industrial machine to start the action when the elapsed time, as measured by the timing unit, reaches a predetermined standby time.

2. The apparatus according to claim 1, characterized in that, The timing unit continues the timing while the input receiving unit receives the input of continuously operating the start button, and ends the timing when the input is released.

3. The apparatus according to claim 1, characterized in that, The device further includes an image generation unit that generates image data for displaying the start button as an image. The input receiving unit accepts input that operates the start button displayed on the image data.

4. The apparatus according to claim 3, characterized in that, The image generation unit displays the start button in the image data in a manner that allows it to slide from a default position to a sliding position. The timing unit starts timing when the input receiving unit receives the input that causes the start button to slide to the sliding position. The timing continues while the input receiving unit accepts the input that keeps the start button in the sliding position, and ends when the input is released.

5. The apparatus according to claim 3, characterized in that, The image generation unit also displays an image that visually represents the elapsed time as timed by the timing unit in the image data.

6. The apparatus according to claim 3, characterized in that, The image generation unit also displays a stop button for terminating the action as an image in the image data. The timing unit ends the timing when the input receiving unit receives input to operate the stop button after the timing has started.

7. The apparatus according to claim 1, characterized in that, After receiving the input, the input receiving unit also accepts voice input indicating the intention to begin the action. The timing unit starts timing when the input receiving unit receives the voice input.

8. The apparatus according to claim 7, characterized in that, The input receiving unit also accepts a second voice input indicating that the action should be stopped. The timing unit ends the timing when the input receiving unit receives the second voice input after the timing has started.

9. The apparatus according to claim 1, characterized in that, After the action command unit causes the industrial machine to start the action according to the instruction, the action continues while the input receiving unit receives the input of continuously operating the start button. On the other hand, when the input is released, the action command unit sends an instruction to the industrial machine to end the action.

10. The apparatus according to claim 1, characterized in that, The industrial machinery has the following features: Welding torch, which feeds welding wire; The robot, which moves the welding torch; and A welding power source that supplies power to the welding wire. The action command unit sends a command to the welding power source to supply power to the welding wire for the action of starting welding of the workpiece.

11. The apparatus according to claim 10, characterized in that, The industrial machinery also has a force sensor that detects the external force applied to the robot. The motion command unit performs the following direct teaching function: moves the robot and the welding torch according to the external force detected by the force sensor.

12. The apparatus according to claim 11, characterized in that, The device further includes a continuity determination unit, which determines whether the welding wire and the workpiece are connected after the input receiving unit receives the input following the execution of the direct teaching function by the action command unit to cause the robot to move. If the continuity determination unit determines that the welding wire is not connected to the workpiece, the action command unit does not send the command to the industrial machinery.

13. A method for causing industrial machinery to move, characterized in that, The processor performs the following processing: Accept input to operate the start button for causing the industrial machinery to perform a predetermined action; After receiving the input, a timer begins to run. as well as When the elapsed time reaches a predetermined standby time, a command to start the operation is sent to the industrial machine.

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

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