Communication terminal device and control system for robot

Abstract

To provide a communication terminal device which can prevent an operator having no operation qualification from performing operation related to teaching control of an industrial device.SOLUTION: A communication terminal device comprises: a switch part 11 which is in an on state in a pressed state from an external part; a biological sensor 22 which is provided around the switch part 11, and detects biological information of an operator when the hand H of the operator touches; a cover part 12 for covering the switch part 11 and the biological sensor 22, and deforming so that the biological sensor 22 is exposed and the switch part 11 is pressed when being gripped by the hand H of the operator; and an operation reception part 41 for receiving operation related to teaching control, when the switch part 11 is in the on state and biological information detected by the biological sensor 22 is the biological information of a prescribed operator.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a communication terminal device and a robot control system. [Background technology]

[0002] Operations relating to the teaching control of industrial equipment, for example, industrial robots, can only be performed by workers who have completed special training on the relevant operations and have acquired operating qualifications.

[0003] In order to ensure that only workers who are qualified to operate the above operations can perform the above operations, the following Patent Documents 1 and 2 disclose techniques for authenticating users using passwords, two-dimensional codes, biometric information, etc. when performing the above operations. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-287180 A [Patent Document 2] Patent Publication No. 2021-089575 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when using a password or two-dimensional code, there is a risk that the password or two-dimensional code will be leaked to others or that the same password or two-dimensional code will be reused within a team, so it is not possible to fully prevent unauthorized workers from performing the above operations.

[0006] In addition, when biometric information is used, in places where dirt is likely to occur, such as spot welding sites, dirt may adhere to the biometric sensor that reads the biometric information, making it impossible to correctly identify the worker. Furthermore, a worker who is qualified to operate the device may first authenticate the biometric information, and then another worker may take over and perform the above operation. Therefore, it is not possible to sufficiently prevent unqualified workers from performing the above operation.

[0007] In view of the above-mentioned problems, an object of the communication terminal device and robot control system according to the present invention is to prevent an unqualified worker from performing operations related to teaching control of industrial equipment. [Means for solving the problem]

[0008] In order to solve the above problems, the communication terminal device of the present invention is a communication terminal device that performs operations related to the teaching control of industrial equipment, and includes a switch unit that is turned on when pressed from the outside, a biosensor that is provided around the switch unit and detects the bioinformation of a worker when contacted by the worker's hand, a cover unit that covers the switch unit and the biosensor and that deforms when held in the worker's hand and the switch unit is pressed and the biosensor is exposed, and an operation receiving unit that accepts operations related to the teaching control when the switch unit is on and the bioinformation detected by the biosensor is that of a specified worker.

[0009] The cover portion has a slit formed at a position facing the biosensor, and when the cover portion is held in the hand, the slit is deformed to open, thereby exposing the biosensor.

[0010] The cover portion is thinnest at the portion where the slit is formed, and becomes thicker as it moves away from the slit.

[0011] Further, a robot control system according to the present invention includes the communication terminal device described in claim 1, and a robot control device that controls the operation of a robot main body based on teaching data output from the communication terminal device, wherein the communication terminal device further includes a bioinformation output unit that outputs information on an on / off state of the switch unit and the bioinformation detected by the biosensor, and the robot control device includes a bioinformation input unit to which each piece of information output by the bioinformation output unit is input, a judgment unit that, when information on the on state of the switch unit and the bioinformation are input to the bioinformation input unit, judges whether the bioinformation input to the input unit belongs to the specified worker, and a permission unit that, when the judgment result of the judgment unit is a positive judgment, permits the operation receiving unit to accept operations related to the teaching control, and, otherwise, does not permit the operation receiving unit to accept operations related to the teaching control.

[0012] In addition, when the judgment result is a positive judgment, the judgment unit identifies the specified worker, the permission unit limits the permitted range of operations depending on the worker identified by the judgment unit, and the operation receiving unit accepts operations related to the teaching control within the operation range limited by the permission unit.

[0013] In addition, the judgment unit resets the judgment result each time information that the switch unit is in the on state or the biometric information is no longer input to the input unit, and when the judgment result is reset, the permission unit does not permit the operation receiving unit to accept the operation until the next time the judgment unit makes a positive judgment. Effect of the Invention

[0014] The communication terminal device and robot control system according to the present invention can prevent an unqualified worker from performing operations related to the teaching control of industrial equipment. [Brief description of the drawings]

[0015] [Figure 1]1 is a diagram illustrating an example of an overall configuration of a robot control system according to a first embodiment of the present invention. [Diagram 2] 2 is a block diagram showing an example of a hardware configuration of the teach pendant and the robot control device in FIG. 1. [Diagram 3] FIG. 2 is a rear view showing the teach pendant of FIG. 1; [Figure 4] FIG. 4 is a side view of the teach pendant in FIG. 3 as viewed from direction IV. [Diagram 5] 2 is a side view showing the teach pendant of FIG. 1 being held by an operator's hand. [Figure 6] 2 is a block diagram showing an example of a functional configuration of the teach pendant and the robot control device shown in FIG. 1. [Figure 7] 5 is a flowchart illustrating an example of a flow when an operator performs teaching control using the robot control system according to the first embodiment of the present invention. [Figure 8] FIG. 11 is a front view showing a schematic diagram of a teach pendant according to a second embodiment of the present invention. [Figure 9] 9 is a side view of the teach pendant in FIG. 8 as viewed from direction IX. [Figure 10] FIG. 11 is a block diagram showing a functional configuration of a robot control system according to a third embodiment of the present invention. [Figure 11] FIG. 13 is a block diagram showing a functional configuration of a robot control system according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same reference numerals are used to designate the same components in each drawing, and duplicated description will be omitted as appropriate.

[0017] ===First embodiment=== <Overall composition> FIG. 1 is a diagram illustrating an example of an overall configuration of a robot control system 1 according to a first embodiment of the present invention (hereinafter, referred to as "this embodiment").

[0018] As shown in Fig. 1, a robot control system 1 includes a robot 1A and a teach pendant 2. Fig. 1 illustrates an example in which the teach pendant 2 and a robot control device 3 are connected by a communication cable C1, and the robot control device 3 and a robot main body 4 are connected by a communication cable C2. However, the connections are not limited to such wired connections, and each device may be connected wirelessly.

[0019] The robot 1A is an industrial device such as a vertical articulated robot, and includes a robot control device 3 and a robot body 4. In Fig. 1, the robot control device 3 and the robot body 4 are illustrated as separate entities. However, the robot control device 3 and the robot body 4 may be integrated together.

[0020] The robot body 4 has, for example, a plurality of arms and joints connecting the arms, and each joint is provided with a drive motor (not shown). The robot control device 3 controls the rotation and stopping of the drive motor, thereby controlling the operation of the arms of the robot body 4.

[0021] The robot control device 3 controls the operation of the robot body 4 based on a control program stored in a memory or the like, teaching data output from the teach pendant 2, and the like.

[0022] The robot controller 3 also has a changeover switch 3a. The changeover switch 3a is a physical switch that switches the operation mode of the teach pendant 2 between a teaching mode or a non-teaching mode in response to an operation by an operator, etc. The robot controller 3 outputs information indicating the operation mode switched by the changeover switch 3a to the teach pendant 2.

[0023] The operation modes include, for example, a teaching mode for teaching the robot 1A and a non-teaching mode other than the teaching mode. Teaching, for example, refers to providing teaching data such as a predetermined program to the robot 1A to teach the robot 1A to perform a desired operation, and is also called teaching. The teaching mode is, for example, a mode in which a work program for causing the robot 1A to perform a predetermined operation is created as teaching data, and the non-teaching mode is, for example, a playback mode in which the robot 1A automatically operates the work program.

[0024] The teach pendant 2 is a communication terminal device (teaching terminal device) that is communicatively connected to industrial equipment such as the robot 1A and performs operations related to various controls (particularly teaching control) of the industrial equipment.

[0025] In this embodiment, the teach pendant 2 is configured to be held and operable by an operator, and receives operations related to various teaching controls from the operator. The teach pendant 2 outputs teaching data acquired based on the operator's operation to the robot control device 3.

[0026] <Hardware configuration of the teach pendant> FIG. 2 is a block diagram showing an example of a hardware configuration of the teach pendant 2 and the robot control device 3 shown in FIG.

[0027] As shown in FIG. 2, the teach pendant 2 physically includes, for example, an enable switch 21, a biosensor 22, a storage device 23, a control device 24, an operation device 27, a communication device 28, and a display 29.

[0028] The enable switch 21 is an external physical switch, and is a safety switch intended to prevent malfunction. As will be described in detail later, the enable switch 21 is turned on when held by the operator's hand, and turned off when the operator releases the switch.

[0029] The biometric sensor 22 detects biometric information of the worker when the worker's hand comes into contact with the biometric sensor 22. The biometric information here refers to information including at least one of a fingerprint, veins, and the like.

[0030] The storage device 23 is an auxiliary storage device that stores programs and various information required for executing processes in the control device 24, and information on the results of the processes. The storage device 23 stores various programs and various information required for executing processes in the teach pendant 2, and information on the results of the processes.

[0031] The control device 24 includes a CPU (Central Processing Unit) 25 and a memory 26 (main storage device). The CPU 25 controls the operation of various components of the teach pendant 2. The memory 26 stores various programs and the like required for executing processes in the teach pendant 2.

[0032] In addition, the control device 24 has the function of controlling the enable switch 21, the biosensor 22, the storage device 23, the operating device 27, the communication device 28, and the display 29 by the CPU 25 executing a predetermined program stored in the storage device 23 or the memory 26, etc.

[0033] The operation device 27 is a button operated by the worker, and has an input function of receiving input information from the worker in response to the operation of the worker.

[0034] The communication device 28 inputs and outputs various information by communicating with the robot control device 3. The communication device 28 is configured with a communication interface such as wireless communication, wired communication, USB, etc.

[0035] The display 29 has a display function for displaying a predetermined image, and is, for example, a liquid crystal display or an organic EL (Electro Luminescence) display.

[0036] Note that FIG. 2 only shows a portion of the main hardware configuration of the teach pendant 2, and the teach pendant 2 may include other configurations that are generally included in a computer.

[0037] Here, FIG. 3 is a rear view that diagrammatically illustrates the teach pendant 2 shown in FIG. As shown in Fig. 3, two enable switches 21 are provided on the back of the teach pendant 2. One enable switch 21 is provided at the left end of the back of the teach pendant 2 in Fig. 3, and the other enable switch 21 is provided at the right end of the back of the teach pendant 2 in Fig. 3. However, the two enable switches 21 are provided for right-handed and left-handed users, and an operator will actually only operate one of the enable switches 21.

[0038] The enable switch 21 includes a switch portion 11 and a cover portion 12 as main portions.

[0039] The switch portion 11 is in an ON state when pressed from the outside, and in an OFF state when not pressed. The cover portion 12 is made of a flexible material, such as rubber, and covers the switch portion 11.

[0040] When the operator holds the cover portion 12, the switch portion 11 is pressed and the switch portion 11 is switched from the OFF state to the ON state. When the operator releases the cover portion 12, the switch portion 11 is switched from the ON state to the OFF state.

[0041] The biosensor 22 is provided near (around) the switch portion 11, and is covered by the cover portion 12 together with the switch portion 11 when the cover portion 12 is in its natural state, and is exposed from the cover portion 12 when the cover portion 12 is held by the operator's hand and deformed.

[0042] Further, the cover portion 12 has a slit 13 formed at a position facing the biosensor 22, and when the cover portion 12 is held by the hand of an operator, the slit 13 is deformed to open, thereby exposing the biosensor 22.

[0043] 3, the biosensor 22 and the slit 13 are provided near the center in the longitudinal direction of the cover part 12, and the switch part 11 is provided above it, but the positions of the switch part 11, the biosensor 22, and the slit 13 are not limited to this. For example, the switch part 11 may be provided near the center in the longitudinal direction, and the biosensor 22 and the slit 13 may be provided at a position other than the switch part 11 within the cover part 12. Alternatively, the biosensor 22 may be provided on the surface of the switch part 11 (i.e., the switch part 11 and the biosensor 22 overlap). In either case, however, the slit 13 is formed at the position of the biosensor 22.

[0044] FIG. 4 is a side view of the teach pendant in FIG. 3 as viewed from the direction IV. As shown in FIG. 4, the cover portion 12 is thinnest at the portion where the slit 13 is formed, and becomes thicker as it moves away from the slit 13.

[0045] FIG. 5 is a side view (corresponding to FIG. 4) showing the teach pendant 2 of FIG. 1 being held by an operator's hand. 5, when an operator holds the teach pendant 2, the cover portion 12 is held by the operator's hand H. Then, the switch portion 11 is pressed through the cover portion 12, the switch portion 11 is turned on, and the cover portion 12 is deformed to open the slit 13, and the biosensor 22 is exposed.

[0046] At this time, since the cover part 12 is thinnest at the portion where the slit 13 is formed and becomes thicker as it moves away from the slit 13, the cover part 12 deforms so that the portion farther away from the slit 13 is crushed. As a result, the slit 13 opens widely.

[0047] Then, when the biosensor 22 is exposed, the worker can bring a part of the hand H (for example, the middle finger F) into contact with the biosensor 22. This causes the biosensor 22 to detect bioinformation of the worker.

[0048] <Hardware configuration of the robot control device> Returning to FIG. 2, the robot control device 3 physically includes, for example, a storage device 31, a control device 32, and a communication device 35.

[0049] The storage device 31 is an auxiliary storage device that is configured with a hard disk or the like arranged inside the robot control device 3 and stores programs and various information required for executing processes in the control device 32, as well as information on the results of the processing. This storage device 31 stores various programs and various information required for executing processes in the robot control device 3, as well as information on the results of the processing.

[0050] The control device 32 includes a CPU 33 and a memory (main storage device) 34. The CPU 33 controls the operation of various components of the robot control device 3. The memory 34 stores various programs and the like required for the robot control device 3 to execute processes.

[0051] Moreover, the control device 32 realizes a functional configuration described below by the CPU 33 executing a predetermined program stored in the storage device 31, the memory 34, or the like. The program may be stored in a storage device or the like external to the robot control device 3. The program may be provided by being recorded on a computer-readable recording medium, or may be provided in a format in which it can be installed via a network such as the Internet.

[0052] The communication device 35 inputs and outputs various information by communicating with the robot body 4 and the teach pendant 2. The communication device 35 is configured with a communication interface such as wireless communication, wired communication, USB, etc.

[0053] The robot control device 3 can be realized using a dedicated or general-purpose computer, etc. Also, Fig. 2 shows only a part of the main hardware configuration of the robot control device 3, and the robot control device 3 can include other configurations that a computer generally includes.

[0054] <Functional configuration of the teach pendant> FIG. 6 is a block diagram showing an example of a functional configuration of the teach pendant 2 and the robot control device 3 shown in FIG. 6, the teach pendant 2 functionally comprises an operation receiving unit 41, a bioinformation output unit 42, an operation information output unit 43, and a permission information input unit 44. These functional configurations are realized by the CPU 25 of the control device 24 executing a predetermined program stored in the memory 26, the storage device 23, etc., and operating the hardware configuration of the connection destination under the control of the control device 24.

[0055] The operation reception unit 41 receives an operation related to the teaching control of the robot 1A when the switch unit 11 shown in Fig. 3 etc. is in an on state and the bio-information detected by the bio-sensor 22 shown in Fig. 3 etc. is that of a predetermined operator. In other cases, the operation is not received. The operation is performed by the operator operating a button (operation device 27 shown in Fig. 2).

[0056] However, the above-mentioned operations related to the teaching control of the robot 1A include an operation of inputting teaching data for teaching the operation of the robot body 4, and an operation of switching between a teaching mode and a non-teaching mode (playback mode), and the like.

[0057] The above-mentioned predetermined operator refers to, for example, an operator who has completed special training on the operation related to the teaching control of the robot 1A and has the operating qualifications.

[0058] The above-mentioned determination is performed by the robot control device 3. Furthermore, as will be described in detail later, the operation reception unit 41 limits the range of operations that it accepts from each worker based on information input from the robot control device 3 for each worker.

[0059] The bioinformation output unit 42 outputs information on the on / off state of the switch unit 11 to the robot control device 3. Furthermore, while the bioinformation is being detected by the biosensor 22, the bioinformation output unit 42 outputs the bioinformation to the robot control device 3.

[0060] The operation information output unit 43 outputs the operation information related to the teaching control of the robot 1A received by the operation receiving unit 41 to the robot control device 3.

[0061] The permission information input unit 44 receives permission or non-permission information, which will be described later, from the robot control device 3. When permission information is input to the permission information input unit 44, information regarding the operation range, which will be described later, is also input.

[0062] The display unit 40 displays the various pieces of information input by the permission information input unit 44 on a screen.

[0063] <Functional configuration of the robot control device> 6, the robot control device 3 functionally comprises a storage unit 45, a biometric information input unit 46, a determination unit 47, a permission unit 48, an operation information input unit 49, and a control unit 50. These functional configurations are realized by the CPU 33 of the control device 32 executing a predetermined program stored in the memory 34, the storage device 23, etc., and operating the hardware configuration of the connection destination under the control of the control device 32.

[0064] The operation information input unit 49 receives the operation information output by the operation information output unit 43 of the teach pendant 2 .

[0065] Based on the operation information input to the operation information input unit 49, the control unit 50 performs teaching control or non-teaching control on the robot 1A.

[0066] The storage unit 45 includes worker information 45A. The worker information 45A includes information that links a specific worker's ID, the specific worker's biometric information, and an operation range related to teaching control that is limited for each specific worker.

[0067] The bioinformation input unit 46 receives the various pieces of information output by the bioinformation output unit 42 of the teach pendant 2.

[0068] When information indicating that the switch unit 11 is in an on state is input to the biometric information input unit 46, the determination unit 47 determines whether or not the biometric information input to the biometric information input unit 46 is that of a specific worker, based on the worker information 45A stored in the storage unit 45. Furthermore, when the determination is positive, the determination unit 47 identifies the specific worker (the worker's ID).

[0069] If the judgment by the judgment unit 47 is a positive judgment, the permission unit 48 permits the control unit 50 to perform teaching control over the robot 1A (lock state released), and otherwise (if the judgment is a negative judgment or if no judgment result has been obtained; same below), the permission unit 48 does not permit the control unit 50 to perform teaching control over the robot 1A (lock state).

[0070] Furthermore, when the determination by the determination unit 47 is a positive determination, the permission unit 48 permits the operation reception unit 41 to receive the operation related to the teaching control, and in other cases, does not permit the operation reception unit 41 to receive the operation. Furthermore, when permitting, the permission unit 48 limits the permitted range of operations depending on the identified operator.

[0071] The permission information output unit 48A outputs, to the permission information input unit 44 of the teach pendant 2, information regarding permission or denial by the permission unit 48, and, if permission is granted, the operation range limited to each identified worker.

[0072] The determination unit 47 resets the determination result every time information indicating that the switch unit 11 is in an off state is input to the biometric information input unit 46 or every time biometric information is no longer input to the biometric information input unit 46. Then, when the determination result of the determination unit 47 is reset, the permission unit 48 does not permit the control unit 50 to perform teaching control on the robot 1A until the determination unit 47 next makes an affirmative determination.

[0073] Furthermore, when the non-permission information is input from the permission information output unit 48A of the robot control device 3 to the permission information input unit 44 of the teach pendant 2, the operation receiving unit 41 does not accept the operation. Furthermore, when the permission information and the operation range are input to the permission information input unit 44, the operation receiving unit 41 accepts operations from the operator within the operation range.

[0074] Furthermore, when the permission information output unit 48A of the robot control device 3 inputs the permission or non-permission information to the permission information input unit 44 of the teach pendant 2, the display unit 40 displays the information on the screen. In addition, in the case of permission information, the display unit 40 also displays the operation range.

[0075] <Motion Control> 7 is a flowchart illustrating an example of a flow when an operator performs teaching control using the robot control system 1. Note that the following steps are an example, and the order and contents of the steps can be changed as appropriate.

[0076] (Step SP1) When the robot control system 1 is turned on, first, the permission unit 48 of the robot control device 3 enters a state in which the control unit 50 is not permitted to perform teaching control on the robot 1A, and further, the operation receiving unit 41 enters a state in which it does not accept operations related to teaching control. After that, the process proceeds to step SP2.

[0077] (Step SP2) When an operator holds the teach pendant 2 and grips the enable switch 21, the switch section 11 is turned on. When the cover section 12 of the enable switch 21 is deformed and the biosensor 22 is exposed, the biosensor 22 detects the operator's bioinformation by touching the biosensor 22 with the operator's hand H (e.g., middle finger F). Information on the on state of the switch unit 11 and the biological information detected by the biological sensor 22 are output from the biological information output unit 42 of the teach pendant 2 to the biological information input unit 46 of the robot control device 3. After that, the process proceeds to step SP3.

[0078] (Step SP3) The determination unit 47 of the robot control device 3 determines whether or not the biometric information input to the biometric information input unit 46 belongs to a predetermined worker. If the determination is positive, the predetermined worker (worker ID) is identified and the process proceeds to step SP4, whereas if the determination is negative, the process returns to step SP2.

[0079] (Step SP4) The permission unit 48 of the robot control device 3 permits the control unit 50 to perform teaching control on the robot 1A. In addition, the permission information output unit 48A of the robot control device 3 outputs operation permission information to the permission information input unit 44 of the teach pendant 2, so that the operation reception unit 41 can receive operations related to teaching control. However, the operation range is limited for each worker. After that, the process proceeds to step SP5.

[0080] (Step SP5) An operation receiving unit 41 receives operations related to teaching control by an operator. Moreover, the operation information is output from the operation information output unit 43 to the operation information input unit 49, and the control unit 50 performs an operation related to teaching control on the robot body 4 based on the operation information. After that, the process proceeds to step SP6.

[0081] (Step SP6) The determination unit 47 determines whether the switch unit 11 is in the OFF state or whether biological information is not being detected (i.e., whether the operator has released the hand H from the enable switch 21). If the switch unit 11 is in the OFF state or biological information is not being detected, the positive determination in step SP3 is reset and the process proceeds to SP1. If the switch unit 11 is not in the OFF state or in the non-detection state, this step is repeated until the switch unit 11 is in the OFF state or in the non-detection state.

[0082] <Action and effect> In this embodiment, the biosensor 22 is used to determine whether the worker is a specified worker or not. This eliminates the risk of leakage or reuse, as occurs with passwords and one-dimensional codes. Furthermore, when the cover part 12 is in its natural state, the biosensor 22 is covered by the cover part 12, so it is difficult for dirt to adhere to the biosensor 22. This allows the biometric information of the worker to be correctly detected when the cover part 12 is gripped and deformed, exposing the biosensor 22. Therefore, in this embodiment, it is possible to prevent an operator who is not qualified to operate the device from performing operations related to the teaching control. In addition, in this embodiment, when the worker grips the enable switch 21 to perform the above operation, the biosensor 22 detects bioinformation from the worker's hand H. Therefore, the worker does not have to take extra effort to detect the bioinformation.

[0083] In this embodiment, the cover part 12 has a slit 13 formed at the position of the biosensor 22, and when the cover part 12 is held and deformed by the operator's hand H, the slit 13 opens to expose the biosensor 22. Therefore, the cover part 12 can cover and expose the biosensor 22 with a simple configuration.

[0084] In this embodiment, the cover part 12 is thinnest at the portion where the slit 13 is formed and becomes thicker as it moves away from the slit 13, so that when the cover part 12 is held by the operator's hand H and deformed, the slit 13 opens widely. This ensures that the biosensor 22 comes into contact with the operator's hand H.

[0085] In addition, the range of operations that can be performed by each worker varies depending on the qualifications that each worker possesses. Therefore, in this embodiment, the range of operations is limited according to the identified worker, and operations are accepted within the limited range of operations. This makes it possible to set the range of operations according to the worker.

[0086] In this embodiment, the determination result by the determination unit 47 is reset every time the operator releases the hand H from the enable switch 21, that is, every time the operator's hand H leaves the biosensor 22, and determination is made again every time the operator grips the enable switch 21 again. This makes it possible to prevent the operator from being replaced by another operator in the middle of an operation.

[0087] === Second embodiment === In a second embodiment of the present invention (hereinafter referred to as "this embodiment"), the teach pendant 2A is a tablet type. In the following, the same configuration as in the first embodiment will be omitted as much as possible.

[0088] <Hardware configuration of the teach pendant> FIG. 8 is a front view that shows a schematic diagram of the teach pendant 2A according to the present embodiment. 8, the teach pendant 2A, which is a communication terminal device, differs from the first embodiment in that the display 29A is a touch panel display. Therefore, the other configurations are the same as those of the first embodiment, and therefore the description thereof will be omitted.

[0089] Display 29A has a display function and an input function, and displays a predetermined image and receives input information from the worker in response to the worker's screen operation (hereinafter, referred to as touch operation). Note that, as a functional configuration, this is received by operation reception unit 41 shown in FIG. 6. The detection method may be any of known methods such as electrostatic capacitance type, resistive film type (pressure sensitive type), electromagnetic induction type, etc. Also, the operator performing the touch operation may be the worker's finger or hand, a stylus, etc.

[0090] FIG. 9 is a side view of the teach pendant in FIG. 8 as viewed from direction IX. 9, an enable switch 21 is disposed on the rear side of the teach pendant 2A. Although not shown, two enable switches 21 are disposed, as in the first embodiment. The configuration of the enable switch 21 is also the same as in the first embodiment.

[0091] The tablet-type teach pendant 2A may be integrated with a dedicated case or may be separate from the case.

[0092] <Action and effect> According to this embodiment, similarly to the first embodiment, even in the tablet-type teach pendant, it is possible to prevent an operator who is not qualified to operate the tablet from performing operations related to teaching control.

[0093] In the first and second embodiments, the operation reception unit 41 may receive a password input, and the biometric information output unit 42 may output the password to the biometric information input unit 46. In this case, the worker information 45A includes a password associated with each worker. The determination unit 47 compares the biometric information detected by the biometric sensor 22 and the password received by the operation reception unit 41 with the biometric information and password included in the worker information 45A, and determines whether they belong to a specific worker.

[0094] ===Third Embodiment=== <Functional configuration of the robot control system> FIG. 10 is a block diagram showing the functional configuration of a robot control system 10 according to a third embodiment of the present invention (hereinafter, referred to as "this embodiment"). As shown in FIG. 10, a robot control system 10 according to this embodiment includes a teach pendant 5, which is a communication terminal device, a robot control device 6, and a robot main body 7 as main components.

[0095] The teach pendant 5 functionally comprises a gripping detection unit 51 and a password input unit 52.

[0096] The grip detection unit 51 extracts features of the grip when the operator grips the enable switch. In addition, it is preferable that the features are not easily influenced by the environment (e.g., finger pressure, gripping position and angle, hand size, etc.).

[0097] In order to realize the function of grip detection unit 51, a hardware configuration is provided that includes an enable switch provided with a pressure sensor and / or a contact sensor.

[0098] An operator inputs a password into the password input unit 52. It is noted that either the extraction of the gripping style by the gripping style detection unit 51 or the input of the password into the password input unit 52 may be performed first.

[0099] The robot control device 6 functionally comprises a pattern authentication unit 61, a user determination unit 62, and a user pattern discrimination unit 63.

[0100] The pattern authentication unit 61 identifies the worker based on the feature amount extracted by the grip detection unit 51.

[0101] The user determination unit 62 identifies the worker associated with the password entered in the password entry unit 52 .

[0102] The user pattern discrimination unit 63 judges whether the worker identified by the pattern authentication unit 61 matches the worker identified by the user judgment unit 62 or not.

[0103] Functionally, the robot body 7 is equipped with a servo processing unit 71. The servo processing unit 71 performs processing for a servo motor (not shown).

[0104] If the user pattern discriminator 63 judges positive, it permits the servo processor 71 to perform teaching control, and if the user pattern discriminator 63 judges negative, it prohibits the servo processor 71 from performing teaching control.

[0105] The user pattern discrimination unit 63 performs its judgment by acquiring features for each worker multiple times, and then performs statistical analysis using regression analysis or deep learning on the data, and calculates the false rejection rate (FRR), false acceptance rate (FRA), etc.

[0106] In this embodiment, the feature amounts obtained from a plurality of robot control devices 6 may be managed on a server, and may be used for authenticating a worker when using another robot body 7.

[0107] Furthermore, since different workers place different priorities, such as safety or convenience, the percentage used for judgment may be set by a worker who has a certain degree of authority.

[0108] ===Fourth embodiment=== <Functional configuration of the robot control system> A robot control system 10A according to a fourth embodiment of the present invention (hereinafter referred to as "this embodiment") differs from the third embodiment in that a device that performs processing to determine a grip pattern and a device that performs processing to identify a user based on a password are separate. In the following description, the same configuration as in the third embodiment will be omitted as much as possible.

[0109] FIG. 11 is a block diagram showing the functional configuration of a robot control system 10A according to this embodiment. As shown in FIG. 11, a robot control system 10A according to this embodiment includes a teach pendant 5A which is a communication terminal device, a signal output device 8, a robot control device 6A, and a robot main body 7 as main components.

[0110] The teach pendant 5A functionally comprises a grip detection unit 51, a password input unit 52, and a touch panel character input unit 53. Of these, the grip detection unit 51 and the password input unit 52 perform the same processes as those described in the third embodiment.

[0111] The touch panel character input unit 53 is used by an operator to input characters or the like onto a touch panel with his / her finger.

[0112] The signal output device 8 functionally comprises a pattern authentication unit 61A and a signal input / output unit 81.

[0113] The pattern authentication unit 61A identifies the worker based on the feature amount extracted by the grip detection unit 51 and the feature amount of the character pattern input by the worker on the touch panel.

[0114] The signal input / output unit 81 outputs the worker information identified in the pattern authentication unit 61A to the robot control device 6A.

[0115] The robot control device 6A functionally comprises a user determination unit 62 and a user pattern determination unit 63. The robot body 7 also comprises a servo processing unit 71. These functional configurations perform the same processing as that explained in the third embodiment.

[0116] According to this embodiment, the processing performed by the robot control device 6A is only identification by the user determination unit 62 and judgment by the user pattern discrimination unit 63, so the load on the processing by the robot control device 6A is reduced and the impact on the control of the robot body 7 is reduced.

[0117] The teach pendant 5A may also store on / off information of a signal such as a digital signal in advance, associated with each worker. The teach pendant 5A may then transmit a signal to the robot control device 6A according to the on / off information associated with the worker indicated by the password information inputted in the password input unit 52. In this case, the user determination unit 62 can identify the worker only based on the on / off of the received signal. This further reduces the processing load on the robot control device 6A.

[0118] === Variations === The present invention is not limited to the above-described embodiment. In other words, the above-described specific example may be modified by a person skilled in the art as appropriate, and the modifications may be included in the scope of the present invention as long as they include the features of the present invention. In addition, the elements of the above-described embodiment and the following modifications may be combined to the extent technically possible, and the combinations of these may be included in the scope of the present invention as long as they include the features of the present invention.

[0119] For example, in the first embodiment, it has been described that there is only one slit 13 formed in the cover portion 12, but this is not limited thereto, and the slits 13 formed in the cover portion 12 may be multiple slits that intersect with each other.

[0120] In the first embodiment, the two enable switches 21 are provided on the teach pendant 2, and the operator actually operates one of the enable switches 21. However, the settings may be changed so that the teach pendant 2 accepts operations related to teaching control by simultaneously operating (grabbing) the two enable switches 21 and simultaneously turning on the two switch sections 11. In this case, the biosensor 22 may be provided on both of the two enable switches 21, or on one of the enable switches 21. Furthermore, only one enable switch 21 (instead of two) may be provided.

[0121] Furthermore, in the first embodiment, it has been described that the permission unit 48 determines whether or not the control unit 50 is able to perform instruction control, and also determines whether or not the operation reception unit 41 is able to accept operations. However, it may also be configured to determine whether or not only either the control unit 50 is able to perform instruction control or the operation reception unit 41 is able to accept operations.

[0122] Furthermore, in the first embodiment, the judgment unit 47 is described as making a judgment based on the worker information 45A stored in the memory unit 45. However, instead, the judgment may be made by performing a statistical analysis using regression analysis or the like, or an analysis using deep learning or the like. [Explanation of symbols]

[0123] 1, 10, 10A: robot control system, 2, 2A, 5, 5A: teach pendant (communication terminal device), 3, 6, 6A: robot control device, 11: switch section, 12: cover section, 13: slit, 21: enable switch, 22: biosensor, 41: operation reception section, 44: permission information input section, 47: judgment section, 48: permission section

Claims

1. A communication terminal device for performing operations related to teaching control of industrial equipment, a switch portion that is turned on when pressed from the outside; a biosensor provided around the switch unit and configured to detect bioinformation of an operator when the operator touches the biosensor; a cover portion that covers the switch portion and the biosensor, and that is deformed by being held by the operator's hand so that the switch portion is pressed and the biosensor is exposed; an operation receiving unit that receives an operation related to the teaching control when the switch unit is in an on state and the biological information detected by the biological sensor is that of a predetermined operator; A communication terminal device comprising:

2. 2. The communication terminal device according to claim 1, wherein the cover portion has a slit formed at a position facing the biosensor, and the biosensor is exposed by deforming the cover portion so that the slit opens when the cover portion is held in the hand.

3. 3. The communication terminal device according to claim 2, wherein the cover portion is thinnest at a portion where the slit is formed, and becomes thicker as it moves away from the slit.

4. The communication terminal device according to claim 1 ; a robot control device that controls the operation of a robot main body based on the teaching data output from the communication terminal device; Equipped with The communication terminal device a bioinformation output unit that outputs information on an on / off state of the switch unit and the bioinformation detected by the biosensor, The robot control device includes: a biometric information input unit to which each piece of information output by the biometric information output unit is input; a determination unit that, when information indicating that the switch unit is in an on state and the biometric information are input to the biometric information input unit, determines whether or not the biometric information input to the input unit is that of the predetermined operator; a permission unit that permits the operation reception unit to receive the operation related to the teaching control when a judgment result of the judgment unit is a positive judgment, and does not permit the operation reception unit to receive the operation related to the teaching control in other cases; A robot control system comprising:

5. When the determination result is a positive determination, the determination unit identifies the specified worker, The permission unit limits a permitted operation range in accordance with the operator identified by the determination unit, The robot control system according to claim 4 , wherein the operation reception unit receives operations related to the teaching control within the operation range limited by the permission unit.

6. the determination unit resets a determination result each time information indicating that the switch unit is in an on state or the biological information is no longer input to the input unit, The robot control system according to claim 4 , wherein when the determination result is reset, the permission unit does not permit the operation reception unit to receive the operation until the determination unit next makes a positive determination.

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