Robot control device

Abstract

A robot control device (20) is provided that controls a robot.The robot control device (20) comprises: a standard function unit (250) that controls the activation of standard functions of the robot and has a function for monitoring the robot; a safety function unit (260) that controls a safety function for managing the safety of the robot; a setting unit (240) for setting information relating to setting entries that are used jointly when controlling the safety function by the safety function unit (260) and when monitoring the robot by the standard function unit (250); and a switching unit (241) that switches between activating the safety function based on the setting information by the safety function unit (260) and monitoring the robot based on the setting information by the standard function unit (250).

Description

Technical area

[0001] The present invention relates to a robot control device. Related prior art

[0002] For user safety and device protection, an industrial robot system is preferably equipped with a safety function in addition to a standard function for robot control. Patent 1 describes an example as follows: "A control system for controlling a device, the control system comprising: a standard function unit that performs control of the operation of the device; a safety function unit that performs control for managing the safety of the device; a standard function setting unit that performs setting of a setting item related to the control by the standard function unit; andand a safety function setting unit that performs setting of a setting item related to the control by the safety function unit, wherein, when a content of a first setting item is set in one of the standard function setting unit and the safety function setting unit, a second setting item related to the first setting item is automatically set to a predetermined content corresponding to the content of the first setting item in the other of the standard function setting unit and the safety function unit." (claim 1).;

[0003] PTL 2 relates to a robot control device and describes as follows: "In the invention according to claim 2, a servo motor of a robot drives the robot under the control of a servo control unit, and a position detection unit detects an operating position of the robot (such as the position, angle, position change, or angle change of each component of the robot) that changes according to the driving by the servo motor. Then, each calculation unit individually determines whether the detected operating position is within a preset permissible operating position, and the servo motor is stopped even if only one of the calculation units determines that the operating position is outside the permissible operating position." (paragraph 0012).

[0004] PTL 3 relates to a device for limiting the movement of a manipulator and describes as follows: “In order to achieve an intended task, the device is configured to define data for the area L by a mathematical function, to determine the presence of interference in a movement-limiting area L as a surface included in a polyhedron with an interference determination unit 11, and to determine the presence of interference of a manipulator 12 based on the data for the area L.” (Abstract).PTL 4 describes as follows: “An apparatus is configured to control the release / lock of a brake such that the joint movement speed of a robot arm when the brake is released is maintained within a certain value even when the shape, posture, and load state of the arm change, by detecting the joint movement position of the robot arm with a position detecting device, calculating the joint movement speed from a change in the joint movement position and an elapsed time, and comparing the calculated speed with an allowable movement speed.” (Summary). Citation listPatent literature [PTL 1] Unexamined Japanese Patent Publication (Kokai) No. 2018-136715 A [PTL 2] Unexamined Japanese Patent Publication (Kokai) No. 2007-136617 A [PTL 3] Unexamined Japanese Patent Publication (Kokai) No. H07-108487 A [PTL 4] Publication of international application No. WO 2003 / 086718 A1 SummaryTechnical problem

[0005] While the safety function described above provides a high level of safety in a working environment where an operator can enter the workspace of a robot, the safety function has the aspect of imposing considerable effort on an operator when operating the safety function, e.g., due to an authentication process required for changing the setting parameters of the safety function. On the other hand, a robot controller may include a function for monitoring an operating state of a robot as one of the standard functions of a regular robot controller. However, the safety function and the function for monitoring the operating state of the robot based on the standard function are usually provided as separate, independently executed functions.A robot control device is desired that allows the user to seamlessly switch between the safety function and the function for monitoring the operating status of a robot based on the standard function. Solution to the problem

[0006] One embodiment of the present disclosure is a robot control device for controlling a robot, the robot control device comprising: a standard function unit configured to control the operation of a standard function as a robot and having a function for monitoring the robot; a safety function unit configured to control a safety function for managing the safety of the robot; a setting unit configured to set setting information related to a setting item commonly used in the control of the safety function by the safety function unit and the monitoring of the robot by the standard function unit;and a switching unit configured to switch between the operation of the safety function performed by the safety function unit based on the setting information and the monitoring of the robot performed by the standard function unit based on the setting information.; Advantageous effects of the invention

[0007] The configuration described above allows a user to seamlessly switch between a safety function and a robot monitoring function based on a standard function.

[0008] The objects, features and advantages of the present invention, as well as other objects, features and advantages, will become more apparent from the detailed description of typical embodiments of the present invention illustrated in the accompanying drawings. Brief description of the drawings

[0009] They show: Fig. 1 is a diagram showing the configuration of a device of a robot system according to an embodiment; Fig. 2 is a diagram for describing a motion range check function by a robot control device; Fig. 3 is a diagram for describing an example of an interference check function of the robot control device; Fig. 4 is a diagram for describing another example of the interference check function by the robot control device; Fig. 5 is a diagram showing examples of the hardware configuration of the robot control device and an external input device; Fig. 6 a conceptual diagram describing the configurations and coordination between a safety function and a standard function; Fig. 7 is a functional block diagram of the robot control device; Fig. 8 is a diagram showing an example of a UI screen for setting parameters related to a position check; Fig. 9 is a diagram showing an example of a UI screen for parameter setting related to a speed test; Fig. 10 is a diagram describing an operation flow when the safety function is switched to the standard function on a UI screen; Fig. 11 is a diagram describing the operation flow when the standard function is switched to the safety function on a UI screen; Fig. 12A is a diagram for describing the operation when a setting parameter is changed on a UI screen on which the standard function is selected; and Fig. 12B is a diagram schematically showing a state of an actual movement test when the setting change in Fig. 12A is carried out. Description of implementation examples

[0010] An example of the present disclosure will be described below with reference to the drawings. In the referenced drawings, similar components or functional parts are designated by similar reference numerals. To facilitate understanding, different scales are used in the drawings. Furthermore, the configurations illustrated in the drawings are examples for implementing the present invention, and the present invention is not limited to the illustrated configurations.

[0011] Fig. 1 is a diagram showing the configuration of a device of a robot system 100 according to an embodiment. As shown in Fig. As shown in Figure 1, the robot system 100 includes a robot 10, a robot controller 20 that controls the robot 10, and an external input device 40 connected to the robot controller 20. The external input device 40 is, for example, a teaching pendant. An information processing device such as a tablet, a smartphone, or a personal computer (PC) can be used as the external input device 40. As an example, assume that the robot 10 is a six-axis articulated-arm robot. Depending on the work objective, various types of robots, such as parallel-joint robots and dual-arm robots, can be used as the robot 10. The joint axes of the robot 10 are referred to as the J1 axis, J2 axis, J3 axis, J4 axis, J5 axis, and J6 axis in this order from the base side. The axes J1 to J6 correspond to the rotation axes of the actuators provided for the respective axes. Fig. 1 the directions of rotation of the axes are indicated by the arrows J1 to J6.

[0012] The robot 10 can perform the desired task using an end effector attached to the wrist. The end effector is an external device that can be replaced depending on the intended use, e.g., a hand, a welding gun, or a tool. Fig. Figure 1 shows an example of using a hand as an end effector.

[0013] A function of the robot system 100 for human safety and device protection will be described. The robot control device 20 is equipped with a safety function (including a function for stopping the robot when an abnormality in the position or speed of the robot is detected) for managing safety in the operation of the robot 10, in addition to a standard function related to the control of the robot 10 and the peripheral devices. The safety function is configured, for example, to meet the requirements of the international safety standards ISO13849-1 and IEC61508 and to be implemented in a highly reliable operating environment.For example, a safety function configuration is used where the safety function is executed under the control of a dedicated processor separate from a processor that handles the standard function, or a configuration where the position and speed of a motor for each axis are doubly monitored by a dual processor, so that if an abnormality is detected, the drive power of the servo control system can be shut down by any of the independent systems. In general, the safety function has the aspect that an operator is subjected to a significant burden when operating the safety function, for example, due to an authentication process and a system restart required when applying changed setting parameters of the safety function.

[0014] While the safety function provides a high level of safety, for example, in a work environment where an operator can enter a robot's workspace, the safety function has the aspect that a considerable amount of time is required for the operation of the safety function, for example, due to the presence of an authentication process as described above. From this point of view, the robot control device 20 is provided with a function for monitoring the position and speed of a motor for each axis to detect an abnormality in the robot's operation, as a standard function that can be performed by a single processor that performs regular robot control.This function does not need to meet requirements related to an operating environment and a protection level of a setting parameter, as is the case with the safety function described above, and therefore has the aspect that the burden for the operation of the standard function is relatively low.

[0015] A function for limiting the movement range of the robot 10, which is executed in the safety function or the standard function, will be explained below with reference to Fig. 2 described. Fig. 2 shows an example of setting a movement range R1 around the robot 10 within which the robot 10 is allowed to move. When the movement range R1 is set, the robot 10 is stopped when the robot 10 executes a movement outside the movement range R1. When performing such an interference check, cylindrical or spherical models (a robot model 101M) can be arranged around the robot 10 to cover the arm, joints, and a tool section, and the robot 10 can be stopped when the robot model 101M executes a movement that leaves the movement range R1.

[0016] A boundary area can be defined into which the robot 10 is not allowed to enter. In this case, the robot 10 will be stopped if the robot 10 (or the robot model 101M) performs a movement that causes it (or it) to enter the boundary area.

[0017] An interference check function executed in the safety function or the standard function is described with reference to Fig. 3 and Fig. 4 described. Fig. 3 describes a situation in which a plurality of robots 10A and 10B are working on a workpiece W. In a situation as in Fig. 3, for example, a control device of the robot 10A acquires position information of the robot 10B and stops the robot 10A when the robot 10A performs a movement that obstructs the robot 10B.

[0018] Fig. 4 describes an interference test between the robot 10 and a peripheral device. In Fig. 4, a model R3 representing a peripheral device D1 and a model R2 representing a peripheral device D2 are set. By performing an interference check between the robot model 101M and the models R2 and R3 of the peripheral devices, the occurrence of interference between the robot and the peripheral device due to misoperation or the like during robot teaching can be prevented.

[0019] Fig. 5 shows examples of the hardware configuration of the robot control device 20 and the external input device 40. The robot control device 20 may have a configuration as a general computer including a memory 22 (e.g., a ROM, a RAM, or a non-volatile memory), various input / output interfaces 23, an operation unit 24 having various operation switches, etc., which are connected to a processor 21 via a bus. The input / output interfaces 23 include a network interface, a serial interface, a sensor signal interface, and other interfaces for external devices. When the robot control device 20 is configured as a dual-CPU system, a processor 28 is provided that can exchange information with the processor 21. Similar to the processor 21, the processor 28 can communicate with the memory 22 (e.g.,a ROM, a RAM or a non-volatile memory), the various input / output interfaces 23, the control unit 24 including various control switches, etc.

[0020] The external device 40 may be configured as a general computer, including a memory 42 (e.g., a ROM, a RAM, or a non-volatile memory), a display unit 43, an operation unit 44 with an input device such as a keyboard (or a software keyboard), various input / output interfaces 45, etc., connected to a processor 41 via a bus. The input / output interfaces 45 include a network interface, a serial interface, and other interfaces for external devices.

[0021] The robot control device 20 according to the present embodiment is configured to switch between the safety function and the standard function, allowing a user to select the safety function or the standard function as needed. In this case, the setting parameters are shared between the safety function and the standard function from a user perspective.

[0022] Fig. 6 shows a conceptual diagram describing the configurations and coordination between the safety function and the standard function. A section enclosed by a rectangular frame in the diagram represents the safety function. A section on the left side of the rectangular frame in the diagram represents the standard function. A setting parameter 202 can be set on a screen 201 provided in the safety function. A safety function parameter 211 is protected so that it cannot be directly edited. When the setting parameter 202 set via the safety function screen 201 is subjected to an application process, the setting parameter 202 can be used as the safety function parameter 211 by the safety function 210. The application process includes an authentication process, such as entering a password.

[0023] The setting parameter 202 is also used as the standard function parameter 221 for the standard function 220. In this process, the authentication process can be omitted.

[0024] According to the present embodiment, a check function based on the safety function and the standard function includes the following.

[0025] (Function 1) Abnormal position detection function: A function for monitoring the position of a robot and checking whether the robot (or a robot model set to the robot) has left a movement range or whether the robot (or the robot model set to the robot) has entered a limitation range. The term "position of a robot" here can include any position of the robot from the base of the robot to the arm tip and a tool. Likewise, a movement of the tool (a tool model) or the arm (a geometric model of the arm) of the robot that leaves the movement range can be detected as an abnormality. The abnormality detection function can include a function for checking whether each axis position of the robot is outside a specified movement range (angular range).

[0026] (Function 2) Posture abnormality detection function: for example, a function for checking an abnormality in the posture of a robot by comparing the posture of a flange surface of an arm tip of a robot or a tool (the rotation angle positions around the X, Y, and Z axes in a standard coordinate system) with a standard posture (W, P, R).

[0027] (Function 3) Model interference detection function: a function to check whether the set models interfere with each other.

[0028] (Function 4) Abnormal speed detection function: A function that checks whether a predetermined control section (e.g., a tool center point (TCP)) of a robot exceeds a specified speed limit. The abnormal speed detection function may include a function that checks whether the speed of each axis exceeds a specified speed limit.

[0029] Fig. 7 shows a functional block diagram of the robot control device 20. As in Fig. As shown in Fig. 7, the robot control device 20 includes a switching unit 241 that provides a function for switching between the safety function and the standard function.

[0030] The robot control device 20 includes a setting unit 240 for setting setting information, including a setting item used jointly in the safety function and the monitoring of the operation of the robot 10 by the standard function. The setting unit 240 includes a range setting unit 242, a pose limit setting unit 243, a model setting unit 244, and a speed limit setting unit 245.

[0031] The area setting unit 242 enables the setting of the position and size of a movement area or a limitation area.

[0032] The position limit setting unit 243 provides a function for setting a standard position (W, P, R) of the flange surface or the tool and an upper limit (degree) for a change in the position relative to the standard position.

[0033] The model setting unit 244 enables the setting of a model covering the robot, a robot tool, or a peripheral device. During a range check (position check) and a model interference check, calculations for a violation check are performed based on the models.

[0034] The speed limit setting unit 245 enables setting of speed limits of a predetermined control section (e.g., a TCP) of the robot and each axis of the robot.

[0035] The robot control device 20 includes a safety function unit 260 that performs the safety function. The safety function unit 260 includes a position-posture-speed calculation unit 261, an abnormal position detection unit 262, an abnormal posture detection unit 263, a model interference detection unit 264, and an abnormal speed detection unit 265. The robot control device 20 further includes a stop instruction unit 270.

[0036] The position-posture-velocity calculation unit 261 can determine the position of the robot 10, the position of each axis of the robot 10, the velocity of the robot 10, and the velocity of each axis of the robot 10 through kinematic calculations based on a signal from a sensor unit 11 (such as a encoder) mounted on each joint axis of the robot 10. The position-posture-velocity calculation unit 261 can also determine the posture of the flange surface or tool of the robot 10 based on the output signal of the sensor unit 11 on each axis.

[0037] Based on the position of the robot 10 detected by the position-posture-velocity calculation unit 261, the abnormal position detection unit 262 checks whether the position of the robot 10 has left the movement range or entered the limitation range. If an abnormality is detected, the abnormal position detection unit 262 notifies the stop instruction unit 270 of the abnormality.

[0038] The abnormal posture detection unit 263 checks whether a change in the posture of the robot 10 from the standard posture (W, P, R) detected by the position-posture-speed calculation unit 261 exceeds the upper limit. If an abnormality is detected, the abnormal posture detection unit 263 notifies the stop instruction unit 270 of the abnormality.

[0039] The model interference detection unit 264 checks whether interference has occurred between the set models based on the positions of the models calculated by the position-attitude-velocity calculation unit 261. If an abnormality is detected, the model interference detection unit 264 notifies the stop instruction unit 270 of the abnormality.

[0040] The abnormal speed detection unit 265 checks whether the speed of the robot 10 or the speed of each axis of the robot 10, detected by the position-posture-speed calculation unit 261, exceeds the set speed limit. If an abnormality is detected, the abnormal speed detection unit 265 notifies the stop instruction unit 270 of the abnormality.

[0041] When the abnormal position detection unit 262, the abnormal posture detection unit 263, the model interference detection unit 264, or the abnormal speed detection unit 265 detects an abnormality, the stop instruction unit 270 stops the robot 10.

[0042] The safety function unit 260 may further function as a diagnostic unit that performs a diagnosis of whether each abnormality detection unit is operating normally in a state where the safety function is operating. For example, the diagnostic function may be implemented such that monitoring of the status of a program and hardware and monitoring of the correctness of parameters are periodically performed.

[0043] The robot control device 20 further includes a standard function unit 250 that monitors the operation of the robot 10 in the standard function. The standard function unit 250 includes a position-pose-speed calculation unit 251, an abnormal position detection unit 252, an abnormal pose detection unit 253, a model interference detection unit 254, and an abnormal speed detection unit 255.

[0044] The position-posture-velocity calculation unit 251 can determine the position of the robot 10, the position of each axis of the robot 10, the speed of the robot 10, and the speed of each axis of the robot 10 through kinematic calculations based on a signal from the sensor unit 11 (e.g., a encoder) mounted on each joint axis of the robot 10. The position-posture-velocity calculation unit can also determine the posture of the flange surface or tool of the robot 10 based on the output signal of the sensor unit 11 on each axis.

[0045] Based on the position of the robot 10 detected by the position-posture-speed calculation unit 251, the abnormal position detection unit 252 checks whether the position of the robot 10 has left the movement range or entered the limitation range. If an abnormality is detected, the abnormal position detection unit 252 notifies the stop instruction unit 270 of the abnormality.

[0046] The abnormal position detection unit 253 checks whether a change in the posture of the robot 10 from the standard posture (W, P, R) detected by the position-posture-speed calculation unit 251 exceeds the upper limit. If an abnormality is detected, the abnormal posture detection unit 253 notifies the stop instruction unit 270 of the abnormality.

[0047] The model interference detection unit 254 checks whether there is interference between the set models based on the positions of the models calculated by the position-posture-velocity calculation unit 251. The interference check by the model interference detection unit 254 includes checking the interference between the robot model and the model of the peripheral device, the interference between a geometric model of the tool and a geometric model of the arm on the robot, and so on. If an abnormality is detected, the model interference detection unit 254 notifies the stop instruction unit 270 of the abnormality.

[0048] The abnormal position detection unit 255 checks whether the speed of the robot 10 or the speed of each axis of the robot 10, which is detected by the position-posture-speed calculation unit 251, exceeds the set speed limit. If an abnormality is detected, the abnormal speed detection unit 255 notifies the stop instruction unit 270 of the abnormality.

[0049] When the abnormal position detection unit 252, the abnormal posture detection unit 253, the model interference detection unit 254, or the abnormal speed detection unit 255 detects an abnormality, the stop instruction unit 270 stops the robot 10.

[0050] Monitoring by the functional block related to the safety function (the position-posture-speed calculation unit 261, the abnormal position detection unit 262, the abnormal posture detection unit 263, the model interference detection unit 264, and the abnormal speed detection unit 265) can be duplicated by the two processors (the processors 21 and 28) included in the robot controller 20, so that the monitoring function can be achieved with a high level of reliability and a high level of throughput. The drive power of the robot motor can be reliably shut off in two independent ways when an abnormality is detected in the safety function.Furthermore, the two processors in the safety function can operate in such a way that they mutually verify the processing contents and the data used in the processing to maintain the reliability of the safety function. To prevent an accumulation of latent errors, the safety function can also regularly perform self-diagnosis of the hardware and software related to the safety function.

[0051] On the other hand, the functional blocks related to the monitoring function in the standard function (the position-posture-speed calculation unit 251, the abnormal position detection unit 252, the abnormal posture detection unit 253, the model interference detection unit 254, and the abnormal speed detection unit 255) may be implemented as functions to be executed by a single processor (such as the processor 21 responsible for controlling regular operation). In this case, the dual monitoring by two processors, mutual verification by two processors, and self-diagnosis, as in the safety function, may not be performed.

[0052] Next, details of the parameter setting by the range setting unit 242, the position limit setting unit 243, the model setting unit 244, and the speed limit setting unit 245 will be described. The range setting unit 242, the position limit setting unit 243, the model setting unit 244, and the speed limit setting unit 245 may be configured to accept parameter setting via a user interface (UI) screen. For example, the UI screen may be displayed on a display screen of the display unit 43 of the external input device 40, and input to the UI screen may be accepted by the operation unit 44.

[0053] The Fig. The setting contents shown in Figure 8 on the user interface screen 310 (UI screen 310) are examples of setting contents used when performing the position check of the robot. The UI screen 310 includes - a specified field 311 for the termination of a surveillance procedure, - a specified field 312 for specifying a model used in the position check, and - a specified field 313 for specifying the position and size of the movement area or the boundary area as three-dimensional coordinates.

[0054] The setting contents in specified field 311 for setting a monitoring method, specified field 312 for specifying a model, and specified field 313 for specifying the position and size of the moving area or the limit area can be used for checks in the anomaly position detection units 252 and 262. The specified field 312 for specifying a model can be used for interference checks in the model interference detection units 254 and 264.

[0055] The movement range or the limit range for the position check, posture check, or model interference check can be selected as the monitoring method. The UI screen 310 switches to a screen where the settings used for the position check, posture check, or model interference check are configured according to the method specified in the specified field 311.

[0056] The UI screen 310 also includes a selection field 318 for switching between the safety function and the standard function. Whether the setting parameters set on the UI screen 310 are used as a safety function or as a standard function can be selected by performing an operation on the selection field 318. The function of selecting between the safety function and the standard function via the selection field 318 is provided by the switching unit 241. The switching unit 241 switches between the safety function and the standard function according to the selection in the selection field 318. The UI screen 310 in Fig. 8 describes a state in which the safety function is selected.

[0057] If a variety of types of position checks, posture checks, and model interference checks are to be performed, a variety of UI screens 310 can be prepared. In this case, the Fig. 8, which is a setting screen at an upper level, shows that four parameter sets 301 to 304 are prepared for corresponding monitoring targets. A section on the right side in Fig. 8 shows the UI screen 310 for detailed setting of parameter set 301. The UI screen 310 can be opened, for example, by selecting parameter set 301 on the UI screen 300. In this case, the user can select for each parameter set whether to use the parameter set as a safety function or as a standard function. In this case, the function of switching between the position check, posture check, and model interference check can be implemented such that screens for entering settings to be used in the position check, posture check, and model interference check can be opened separately from the UI screen 300, instead of switching between the position check, posture check, and model interference check using the specified field 311 on the UI screen 310.

[0058] Fig. Figure 9 shows an example of a UI screen 360 for setting the speed test parameters. The UI screen 360 includes - a specified field 361 to indicate a direction of the speed test, and - a specified field 362 for indicating a speed limit. Fig. 9 shows an example in which “ALL” is set to indicate each movement direction as the direction in which the speed check is performed in the specified field 361 and “250,000 mm / sec” is set as the speed limit in the specified field 362.

[0059] The UI screen 360 also includes a selection field 368 for switching between the safety function and the standard function. Whether the setting parameters set in the UI screen 360 are used as a safety function or as a standard function can be selected by performing an operation on the selection field 368. The function of selecting between the safety function and the standard function via the selection field 368 is provided by the switching unit 241. The switching unit 241 switches between the safety function and the standard function according to the selection in the selection field 368. The UI screen 360 in Fig. 9 describes a state in which the safety function is selected.

[0060] Fig. 9 also shows an example of a user interface 350 in an upper layer when a plurality of setting parameter sets are created. The above-described UI screen 360 is associated with the UI screen 350 in the upper layer as a parameter set 351, which is one of a plurality of parameter sets prepared on the UI screen 350.

[0061] Fig. 10 is a diagram for describing an operation flow when a state of a selection box 418 on a UI screen 410 is switched from the security function to the standard function. As indicated in a box 411, switching from the security function to the standard function is selected on the UI screen 410. In this case, since an operation for releasing the security function, that is, an operation related to changing the security function, is performed, an application process for inputting the passcode number, confirming the parameter contents, and restarting is requested as an authentication process (box 412). A user performs the input of the passcode number and confirmation of the parameters, and inputs an instruction for the application process by operating via a display screen of the external input device 40 and the operation unit 44.The application process allows setting parameters on the UI screen 410 that can be used as standard function parameters 221, as shown in . Fig. 6 (one field 413).

[0062] Fig. 11 shows a diagram for describing an operation flow when the setting in a selection box 428 on a UI screen 420 is switched from the standard function to the safety function. As indicated in a box 421, switching from the standard function to the safety function is assumed to have been selected on the UI screen 420. Since an operation to re-enable the safety function is performed in this case, an application process including input of the passcode number, confirmation of the parameter content, and restart is required (box 422). A user performs the input of the passcode number and confirmation of the parameter, and inputs an instruction for the application process through an operation via the display screen of the external input device 40 and the operation unit 44.The application process allows setting parameters on the UI screen 420 that can be used as safety function parameters 211, as shown in . Fig. 6 (one field 423).

[0063] As described above, according to the present embodiment, with respect to the check function that uses the setting items common to the safety function and the standard function, switching between executing the check function as a safety function and executing the check function as a standard function can be easily performed, and thus the time required for performing the porting of setting information between the safety function and the standard function and rechecking the setting information can be saved, and the transition between the safety function and the standard function can be performed efficiently.

[0064] Fig. 12A shows a diagram for describing the operation of applying changes to setting parameters on a UI screen 430 where the default function is selected. When parameters are changed and the changed parameters are applied on the UI screen 430 where the default function is selected, as indicated in a field 431, the authentication process, as is the case with the security function, is not required. In this case, the setting parameters changed on the UI screen 430 are applied immediately. Alternatively, the parameters can be applied immediately when a predetermined operation for applying parameters is performed via the operation unit 44.As an example, assume that the parameter-based position check function before the setting change on the UI screen 430 is set for a position check of a robot model 102M and a motion range R111, as shown on the left side in . Fig. 12B. It is also assumed that the position check function after the setting change on the UI screen 430 is an interference check function between a user model 10M and a boundary area R112, as shown in Fig. 12B. In this case, the position check function immediately changes from the one on the left to Fig. 12B shown state in the right side in Fig. 12B as an immediate response to the setting change on the UI screen 430.

[0065] As described above, the above-described configuration according to the present embodiment allows the user to seamlessly switch between the safety function and the robot monitoring function based on the standard function.

[0066] Although the present invention has been described above with reference to its typical embodiments, it will be apparent to those skilled in the art that changes and various other modifications, omissions and additions can be made to the above-described embodiments without departing from the scope of the present invention.

[0067] The arrangement of the functional blocks in the Fig. The functional block diagram of the robot control device shown in Figure 7 is an example, and various modified examples can be configured with respect to the arrangement of the functional blocks. For example, the function of the setting unit 240 may be arranged on the external input device 40 side. In this case, an integrated function that integrates the function as the external input device 40 and the function as the robot control device 20 can be defined as the robot controller.

[0068] While the position-position-speed calculation units 251 and 261 are located in the standard functional unit 250 and the safety functional unit 260, respectively, a single position-position-speed calculation unit can be shared by the standard functional unit 250 and the safety functional unit 260, as shown in the functional block diagram in Fig. 7 shown.

[0069] The functional blocks in Fig. 7 may be provided by the execution of various types of device-stored software by the processor in the robot control device or by a primarily hardware-based configuration such as an application-specific integrated circuit (ASIC).

[0070] A program that executes various types of processing in the above-described embodiment may be recorded on various computer-readable recording media (e.g., semiconductor memories such as a ROM, an EEPROM, and a flash memory, a magnetic recording medium, and optical disks such as a CD-ROM and a DVD-ROM). List of reference symbols 10 robots 11 Sensor unit 20 Robot control device 40 External input device 21, 28 processor 22 storage 23 I / O interface 24 Control unit 41 processor 42 storage 43 Display unit 44 Control unit 45 I / O interface 100 robot system 240 setting unit 241 switching unit 242 Range setting unit 243 Position limit adjustment unit 244 Model setting unit 245 Speed ​​limit setting unit 250 standard functional unit 251 Calculation unit for position-position-speed 252 Anomaly Position Detection Unit 253 Anomaly Position Detection Unit 254 Model Interference Detection Unit 255 Anomaly Speed ​​Detection Unit 260 Safety function unit 261 Calculation unit for position-position-speed 262 Anomaly Position Detection Unit 263 Anomaly Position Detection Unit 264 Model Interference Detection Unit 265 Anomaly Speed ​​Detection Unit QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2018-136715 A

[0004] JP 2007-136617 A

[0004] JP 07-108487 A

[0004] WO 2003 / 086718 A1

[0004]

Claims

[1] A robot control device for controlling a robot, the robot control device comprising: a standard function unit configured to control the operation of a standard function as a robot and having a function for monitoring the robot; a safety function unit configured to control a safety function for managing safety during operation of the robot; a setting unit configured to set setting information related to a setting item commonly used in the control of the safety function by the safety function unit and the monitoring of the robot by the standard function unit; and a switching unit configured to switch between the operation of the safety function performed by the safety functional unit based on the setting information and the monitoring of the robot performed by the standard functional unit based on the setting information. [2] The robot control device according to claim 1, further comprising a stop instruction unit configured to stop the robot when an abnormality is detected in the safety function performed by the safety function unit or an abnormality is detected in the monitoring of the robot performed by the standard function unit. [3] A robot control device according to claim 1 or 2, wherein each safety function performed by the safety function unit and the monitoring of the robot performed by the standard function unit each comprise at least one of the following: Detection of an anomaly in a position of the robot, Detection of an anomaly in a position of the robot, Detection of interference between the robot and a peripheral device, and Detecting an anomaly in the robot's speed. [4] A robot control device according to any one of claims 1 to 3, wherein the setting entry comprises at least one of a setting entry relating to the detection of an anomaly in a position of the robot, a setting entry relating to the detection of an anomaly in a position of the robot, a setting entry related to the detection of interference between the robot and a peripheral device, and a setting entry related to the detection of an anomaly in the robot's speed. [5] The robot control device according to any one of claims 1 to 4, wherein the setting unit provides a user interface screen for accepting input of setting information related to the setting item commonly applied to control of the safety function by the safety function unit and monitoring of the robot by the standard function unit. [6] Robot control device according to claim 5, wherein the user interface screen includes a selection field for selecting one of the operation of the safety function by the safety functional unit and the monitoring of the robot by the standard functional unit, and the switching unit switches between the operation of the safety function by the safety function unit and the monitoring of the robot by the standard function unit in response to a selection operation on the selection field. [7] The robot control device according to any one of claims 1 to 6, wherein each of the safety function unit and the standard function unit detects an abnormality in the operation of the robot using a model representing the robot. [8] The robot control device according to any one of claims 1 to 7, wherein the safety function unit has a function for performing a diagnosis as to whether a function for monitoring the robot as a safety function operates normally. [9] A robot control device according to any one of claims 1 to 8, comprising two processors for dually executing the monitoring of the robot based on the safety function executed by the safety function unit. [10] A robot control device according to any one of claims 1 to 9, comprising a single processor for performing monitoring of the robot based on the standard function.

Images