Operation device of robot

Abstract

To provide an operation device of a robot that can stop motion of the robot by a method that is different from methods using an emergency stop switch and an enable switch.SOLUTION: An operation device of a robot comprises: a display unit that displays information; an input unit that receives operation-input from a user; a display processing unit that executes display processing for controlling contents displayed by the display unit; and a stop processing unit that executes stop processing for stopping the robot on the basis of software processing. The display processing includes processing for displaying, on the display unit, a stop button for making the stop processing unit execute the stop processing. The stop processing unit executes the stop processing when operation in which a plurality of operation including operation to the stop button is combined is inputted thereto.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a robot manipulation device. [Background technology]

[0002] To ensure the safety of workers, the operating device used to teach the robot is equipped with an emergency stop switch to bring the robot to an emergency stop and an enable switch to allow the robot to operate only while the worker is operating it as intended. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-110873 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in order to further improve safety and convenience for workers, there is a demand for a method of stopping the operation of a robot that differs from conventional methods such as an emergency stop switch or an enable switch.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a robot operating device that can stop the robot's operation using a method different from an emergency stop switch or an enable switch. [Means for solving the problem]

[0006] A robot operation device according to an embodiment includes a display unit that displays information, an input unit that receives operation input from a user, a display processing unit that executes display processing to control the display content of the display unit, and a stop processing unit that executes stop processing to stop the robot based on software processing. The display processing includes processing to display a stop button on the display unit for executing the stop processing, and the stop processing unit executes the stop processing when an operation that combines multiple operations including an operation on the stop button is input. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of an example of a robot operation device according to an embodiment. [Figure 2] FIG. 1 is a diagram illustrating an electrical configuration of an example of a robot operating device according to an embodiment. [Figure 3] 1A and 1B are diagrams showing an example of an image displayed on a display unit of an example of a robot operating device according to an embodiment, in which FIG. 1A shows a state before a screen switching button is operated, and FIG. 1B shows a state after the screen switching button is operated. [Figure 4] 1A and 1B are examples of images displayed on a display unit of an example of a robot operating device according to an embodiment, in which (A) shows a state before a stop button is operated, and (B) shows a state in which a guidance display is displayed after the stop button is operated once. [Figure 5] 1A and 1B are examples of images displayed on a display unit of an example of a robot operating device according to an embodiment, in which (A) shows a state before the first stop button and the second stop button are operated, and (B) shows a state in which only one of the first stop button and the second stop button is operated and a guidance display is displayed. [Figure 6] 1A and 1B are diagrams showing examples of images displayed on a display unit of an example of a robot manipulation device according to an embodiment, in which (A) shows a state in which the stop button is disabled, and (B) shows a state in which the stop button is enabled. [Figure 7]1A and 1B are examples of images displayed on a display unit of an example of a robot manipulation device according to an embodiment, in which (A) shows a state in which the enable switch is not gripped and the stop button is disabled, and (B) shows a state in which the enable switch is gripped and the stop button is enabled. DETAILED DESCRIPTION OF THE INVENTION

[0008] An example in which the robot manipulation device of the present disclosure is applied to a teaching device such as a teaching pendant will be described with reference to the drawings. In each drawing, components having the same functions are denoted by the same reference numerals. The manipulation device 10 shown in FIGS. 1 and 2 is communicably connected to a robot controller 91, and manipulates the movement of a robot 92 via the robot controller 91. The robot 92 is the object to be manipulated by the manipulation device 10, and is envisioned to be an industrial robot, such as a vertically articulated robot, a horizontally articulated robot, or a parallel link robot.

[0009] The robot controller 91 includes a non-safety system control device 911 and a safety system control device 912. The non-safety system control device 911 is a device that mainly controls the operation of the robot 92, such as by generating and outputting control commands based on settings and instructions from the operation device 10. The safety system control device 912 is a device that mainly performs safety-related control, such as by cutting off the power supply to the robot 92 to stop it when an emergency stop operation is input, for example.

[0010] As shown in FIG. 1 , the operation device 10 includes a housing 11, a power switch 12, physical buttons 13, an emergency stop switch 14, an enable switch 15, a display unit 16, and an input unit 17. The housing 11 is configured to be sized so that an operator can hold it in his / her hand. The power switch 12 is used to turn the power of the operation device 10 on and off. When the power switch 12 is operated to turn on the power, the operation device 10 executes a process to safely start up the operation device 10. When the power switch 12 is operated to turn off the power, the operation device 10 executes a process to safely shut down the operation device 10. The physical buttons 13 are made up of a plurality of physical buttons that receive input operations from the operator.

[0011] The emergency stop switch 14 is for bringing the robot 92 to an emergency stop according to stop category 0 or 1 in accordance with the IEC 60204-1 standard. Stop category 0 is a stop mode in which the robot 92 is stopped by cutting off its drive source. Stop category 1 is a stop mode in which the robot 92 is stopped by control and then its drive source is cut off. And stop category 2 is a stop mode in which the robot 92 is stopped by control while its drive force is still applied.

[0012] The emergency stop switch 14 is configured, for example, by an electromechanical switch having normally closed physical contacts. Each contact of the emergency stop switch 14 is connected to the safety system control device 912. When the emergency stop switch 14 is not operated, the contacts are closed and the switch is on, allowing the safety system control device 912 to supply power to the robot 92. When the emergency stop switch 14 is operated by an operator, the contacts are opened and the switch is turned off, thereby cutting off the power supply to the robot 92 from the safety system control device 912 and bringing the robot 92 to an emergency stop. Stopping the robot 92 by operating the emergency stop switch 14 takes priority over all other functions. In other words, the emergency stop switch 14 plays a role in reliably stopping the robot 92 in an emergency.

[0013] The enable switch 15 is used to stop the robot 92 in either stop category 0, 1, or 2 according to the IEC 60204-1 standard, and enables the execution of functions when operated continuously. The enable switch 15 is provided, for example, on the back side of the housing 11. The enable switch 15 enables the execution of functions such as manually operating the robot 92 only when, for example, an operator holding the operating device 10 continues to operate the enable switch 15 intentionally. In other words, the enable switch 15 serves as an interlock to prevent accidents due to operator operation errors.

[0014] The enable switch 15 is configured as an electromechanical switch such as a three-position switch. In this case, the enable switch 15 is turned off when it is pressed firmly and not pressed firmly, and turned on when it is pressed lightly, i.e., in the intermediate position between the two off positions. The safety system control device 912 permits manual operation of the robot 92 when the enable switch 15 is turned on, and prohibits, i.e., stops, manual operation of the robot 92 when the enable switch 15 is turned off. Note that the execution of other functions can be permitted or prohibited depending on the operation of the enable switch 15. Furthermore, a configuration may be provided in which multiple enable switches 15 are provided to accommodate cases where the robot is held with the right hand and cases where it is held with the left hand, for example.

[0015] The display unit 16 is a user interface capable of displaying images, etc., and can be configured, for example, by a liquid crystal display, an organic EL display, etc. The input unit 17 is a user interface that receives operational input from the user in response to information displayed on the display unit 16, and can be configured, for example, by a mouse, a keyboard, or a touch panel, etc. The input unit 17 includes at least a pointing device or a touch device that can specify a specific position on the screen displayed on the display unit 16.

[0016] When a liquid crystal display or an organic EL display is used as the display unit 16 and a touch panel is used as the input unit 17, the display unit 16 and the input unit 17 can be configured as an integrated touch panel display. The display unit 16 can also be configured as a wearable display that is worn on the worker's head, for example. In this case, the input unit 17 can be configured to detect the operation input by the worker based on the movement of the worker's fingers wearing the display unit 16 or the movement of a pointing device used by the worker. In this configuration, the worker inputs an operation to the input unit 17 by virtually touching, for example, an icon displayed on the display unit 16 with the worker's fingers or a pointing device.

[0017] As shown in Fig. 2, the operation device 10 further includes a control unit 20, an input processing unit 21, a display processing unit 22, and a stop processing unit 23. The control unit 20 is housed inside the housing 11. The control unit 20 is mainly composed of a microcomputer having, for example, a CPU 201 and a storage area 202 such as a ROM, a RAM, and a rewritable flash memory, and controls the operation of the entire operation device 10. The storage area 202 stores computer programs. The display unit 16 and the input unit 17 operate under the control of the control unit 20. The display unit 16 and the input unit 17 operate based on the control of the control unit 20.

[0018] The control unit 20 virtually realizes the input processing unit 21, the display processing unit 22, the stop processing unit 23, etc. by software by executing a computer program in the CPU 201. Note that the input processing unit 21, the display processing unit 22, and the stop processing unit 23 may also be realized by hardware including electrical components such as integrated circuits, transistors, or switching relays that operate in cooperation with the control unit 20.

[0019] The input processing unit 21 has a function of generating commands for controlling the operation of the robot 92 based on operation inputs received by the input unit 17, and transmitting the commands to, for example, a non-safety control device 911 of the robot controller 91. The non-safety control device 911 operates the robot 92 based on commands received from the operation device 10, for example, when the operation of the robot 92 is permitted.

[0020] The stop processing unit 23 executes stop processing to stop the robot 92 based on software processing. Here, "based on software processing" means that the operation by the operator does not directly cause the robot 92 to stop, as in the case of the electromechanically configured emergency stop switch 14, but rather the operation by the operator goes through software processing in the CPU 201 and the stop processing is executed by an instruction from the CPU 201. The stop processing is processing to stop the operation of the robot 92 in stop category 0 or 1 according to the IEC 60204-1 standard.

[0021] In this embodiment, the stop processing by the stop processing unit 23 is assumed to be configured such that an instruction to stop the robot 92 is output from the stop processing unit 23 to the robot controller 91. In this case, the safety system control device 912 stops the robot 92 when it receives the instruction to stop from the stop processing unit 23.

[0022] It is also possible to configure the robot 92 such that a normally closed switch connected to the safety system controller 912 is provided inside the housing 11. In this configuration, when the stop processing unit 23 executes the stop processing, it turns off the switch provided inside the housing 11 in response to an instruction from the CPU 201. Then, the safety system controller 912 stops the robot 92 based on the fact that the switch has been turned off. This makes it possible to realize the stop processing of the robot 92 in the same manner as the emergency stop switch 14.

[0023] The display processing unit 22 executes a display process that controls the display content of the display unit 16. The display process includes, for example, a process of displaying on the display unit 16 figures and numerical values ​​indicating the posture of the robot 92, various setting information and input information, etc., according to the operating status of the robot 92. The display process also includes, for example, a process of displaying on the display unit 16 a stop button 30 that is operated to execute a stop process, as shown in Fig. 1. When the stop button 30 displayed on the display unit 16 is operated by the worker, the stop processing unit 23 executes the stop process that stops the robot 92 in accordance with a stop category that has been set in advance for the stop process.

[0024] Here, the stop button 30 has the function of stopping the robot 92 when operated, similar to the emergency stop switch 14 and the enable switch 15. Therefore, for example, if a user who is unfamiliar with operating the robot 92 operates the stop button 30 by mistake, the robot 92 will be stopped unnecessarily, resulting in a decrease in work efficiency.

[0025] Therefore, in this embodiment, the stop processing unit 23 executes the stop processing when a combination of multiple operations including an operation on the stop button 30 is input. For example, in the example of Fig. 3, the stop processing is executed by a combined operation of the screen switching button 41 and the stop button 30. On the display unit 16, for example, as shown in Fig. 3, buttons 611 for accepting various operations, a display window 612 for displaying various information, and the like are displayed.

[0026] In the example of FIG. 3, as shown in (A) of FIG. 3, the display processing unit 22 does not display the stop button 30 on the normal screen for operating the robot 92. In this case, the display processing unit 22 displays a screen switching button 41 that displays "STOP" instead of the stop button 30. Although the screen switching button 41 displays "STOP," it does not have the function of executing a stop process when operated, but has the function of switching the display content of the display unit 16. When the screen switching button 41 is operated, for example, the display processing unit 22 switches the display content of the display unit 16 as shown in (B) of FIG. 3.

[0027] 3B, the display processing unit 22 displays the stop button 30. In this case, the display processing unit 22 displays the stop button 30 in a manner that makes it more noticeable than the screen switching button 41. The manner in which the stop button 30 is more noticeable than the screen switching button 41 may be, for example, by displaying the stop button 30 larger than the screen switching button 41, by displaying it brighter, or by displaying it in a flashing manner, but is not limited to these.

[0028] Furthermore, the display processing unit 22 displays a cancel button 50 on the same screen as the stop button 30 on the screen of Fig. 3(B). That is, the display processing unit 22 displays the cancel button 50 alongside the stop button 30 on the screen of Fig. 3(B). The cancel button 50 is used to cancel the operation of the screen switching button 41, that is, to remove the display of the stop button 30. That is, the cancel button 50 is used to return the screen of the display unit 16 to the content of Fig. 3(A). When the cancel button 50 is operated, the display processing unit 22 switches to the screen of Fig. 3(A) and removes the display of the stop button 30.

[0029] In this configuration, while the robot 92 is being taught, the display unit 16 displays, for example, the screen shown in FIG. 3(A). When the user operates the screen switching button 41 in this state, the screen displayed on the display unit 16 switches from FIG. 3(A) to FIG. 3(B), causing the stop button 30 to be displayed. If the user intends to stop the robot 92, the user operates the stop button 30 to stop the robot 92. On the other hand, if the operation of the screen switching button 41 is an error and the user does not intend to stop the robot 92, the user operates the cancel button 50. This causes the screen on the display unit 16 to return to that shown in FIG. 3(A), allowing the user to continue operating the robot 92.

[0030] As described above, the operating device 10 of the embodiment includes the display unit 16, the display processing unit 22, and the stop processing unit 23. The display unit 16 displays various information. The display processing unit 22 executes display processing to control the display content of the display unit 16. The stop processing unit 23 executes stop processing to stop the robot 92 based on software processing. This allows the operation of the robot 92 to be stopped in a manner different from that of the emergency stop switch 14 or the enable switch 15.

[0031] Furthermore, the stop processing unit 23 executes the stop process when a combined operation of the stop button 30 and the screen switching button 41 is input. In the example of Fig. 3, the display processing unit 22 does not display the stop button 30 on the display unit 16 and displays the screen switching button 41 on the normal screen for operating the robot 92, as shown in Fig. 3(A). Then, when the screen switching button 41 is operated, the display processing unit 22 displays the stop button 30 in a manner that is more noticeable than the screen switching button 41, as shown in Fig. 3(B).

[0032] According to this, the operation for executing the stop process is a stepwise operation, such as operating the screen switching button 41 and then operating the stop button 30. Therefore, compared to a case where the stop button 30 is always displayed and the stop process is executed immediately when the stop button 30 is operated, it is possible to reduce the number of erroneous operations of the stop button 30. As a result, it is possible to reduce the number of situations where the robot 92 is stopped unnecessarily due to an erroneous operation of the stop button 30, and as a result, it is possible to reduce a decrease in work efficiency due to an erroneous operation of the stop button 30.

[0033] The example in FIG. 4 is an example in which the stop button 30 is operated multiple times in succession, for example, two consecutive times, as a combination of multiple operations including an operation on the stop button 30. In this case, the display processing unit 22 displays the stop button 30 on the normal screen for operating the robot 92, as shown in FIG. 4(A). Then, the stop processing unit executes the stop process when the stop button 30 is operated, for example, two consecutive times, in the state of FIG. 4(A). Operating the stop button 30 twice in succession means that no other operation is performed between the two times the stop button 30 is operated.

[0034] On the other hand, when the stop button 30 is operated once and a predetermined period of time, for example, from a few tenths of a second to several seconds, has elapsed without a second operation being input, the display processing unit 22 switches to the screen shown in FIG. 4(B). In this case, in FIG. 4(B), a guide display 621 is displayed together with the cancel button 50. The guide display 621 is a display for informing the user of the next operation to be performed to stop the robot 92. The user looks at this guide display 621 and, if they want to stop the robot 92, operates the stop button 30 again. This executes the stop process and stops the robot 92. On the other hand, if they do not want to stop the robot 92, they operate the cancel button 50. This switches to the screen shown in FIG. 4(A).

[0035] According to this, the operation for executing the stop process is to operate the stop button 30 multiple times in succession. In other words, according to this configuration, executing the stop process requires a more complicated operation than the simple operation of simply tapping the stop button 30 once. Therefore, even if the stop button 30 is always displayed, the possibility of erroneous operation of the stop button 30 can be reduced. This makes it possible to prevent situations in which the robot 92 is stopped unnecessarily due to erroneous operation of the stop button 30, and as a result, it is possible to prevent a decrease in work efficiency due to erroneous operation of the stop button 30.

[0036] Furthermore, with this configuration, if the number of times the stop button 30 is operated is not enough to execute the stop process, a guide display 621 is displayed on the display unit 16. Therefore, by looking at the guide display 621, the user can easily determine what operation to perform next to stop the robot 92. This reduces the number of erroneous operations of the stop button 30, and as a result, it is possible to more effectively prevent a decrease in work efficiency due to the erroneous operation of the stop button 30.

[0037] The example in Fig. 5 is an example in which simultaneous operation of multiple, for example, two stop buttons 301 and 302 is set as an operation combining multiple operations including an operation on the stop button 30. In this case, the display processing unit 22 displays a first stop button 301 and a second stop button 302 as the stop buttons 30 on the normal screen for operating the robot 92, as shown in Fig. 5(A). Then, the stop processing unit executes stop processing when the first stop button 301 and the second stop button 302 are operated simultaneously in the state of Fig. 5(A).

[0038] On the other hand, when the first stop button 301 and the second stop button 302 are not operated simultaneously, i.e., when only one of the first stop button 301 and the second stop button 302 is operated, the display processing unit 22 switches to the screen shown in FIG. 5(B). In this case, in FIG. 5(B), a guidance display 622 is displayed together with the cancel button 50. The guidance display 622, like the guidance display 621 in FIG. 4, is a display for presenting to the user what operation to perform next to stop the robot 92. The user looks at this guidance display 622 and operates the first stop button 301 and the second stop button 302 simultaneously if he or she wishes to stop the robot 92. On the other hand, if the user does not wish to stop the robot 92, he or she operates the cancel button 50. This switches to the screen shown in FIG. 5(A).

[0039] According to this, the operation for executing the stop process is to simultaneously operate the first stop button 301 and the second stop button 302. That is, according to this configuration, executing the stop process requires a more complicated operation than the simple operation of simply tapping the stop button 30 once. Therefore, even if the stop button 30 is always displayed, the possibility of erroneous operation of the stop button 30 can be reduced. As a result, it is possible to prevent the robot 92 from being stopped unnecessarily due to erroneous operation of the stop button 30, and as a result, it is possible to prevent a decrease in work efficiency due to erroneous operation of the stop button 30.

[0040] Furthermore, with this configuration, when only one of the first stop button 301 and the second stop button 302 is operated, a guidance display 622 is displayed on the display unit 16. By looking at the guidance display 622, the user can easily determine what operation to perform next to stop the robot 92. This reduces the number of erroneous operations of the stop button 30, and as a result, it is possible to more effectively prevent a decrease in work efficiency due to the erroneous operation of the stop button 30.

[0041] The example in Fig. 6 is an example in which switching between enabling and disabling the stop button 30 using the enable / disable switch button 42 is set as an operation that combines multiple operations including an operation on the stop button 30. In this case, the display processing unit 22 displays the stop button 30 and the enable / disable switch button 42 on the normal screen for operating the robot 92, as shown in Fig. 6(A). The enable / disable switch button 42 can be configured, for example, with an image of an operable toggle switch, and in this case, can also be referred to as an enable / disable switch.

[0042] The enable / disable switching button 42 is a button for switching between enable and disable of the stop button 30. As shown in FIG. 6(A), when the enable / disable switching button 42 is "disabled," operation on the stop button 30 is disabled. That is, in this case, the stop processing unit 23 does not execute stop processing even if operation is performed on the stop button 30. When the enable / disable switching button 42 is "disabled," the display processing unit 22 may notify the user that operation is disabled by, for example, graying out the stop button 30, as shown in FIG. 6(A).

[0043] On the other hand, when the user operates the enable / disable switch button 42 and the enable / disable switch button 42 is set to "enabled" as shown in Fig. 6(B), the operation on the stop button 30 is enabled. That is, in this case, the stop processing unit 23 executes the stop process when the stop button 30 is operated.

[0044] According to this, the operation for executing the stop process is to operate the enable / disable switch button 42 to switch the stop button 30 to enabled, and then operate the stop button 30. In other words, according to this configuration, executing the stop process requires a more complicated operation than the simple operation of simply tapping the stop button 30 once. Therefore, even if the stop button 30 is always displayed, the possibility of erroneous operation of the stop button 30 can be reduced. As a result, it is possible to prevent the robot 92 from being stopped unnecessarily due to erroneous operation of the stop button 30, and as a result, it is possible to prevent a decrease in work efficiency due to erroneous operation of the stop button 30.

[0045] The example in Fig. 7 is an example in which the operation of the enable switch 15 is set as a combination of multiple operations including an operation on the stop button 30. In this case, the display processing unit 22 displays the stop button 30 on the normal screen for operating the robot 92, as shown in Fig. 7(A). When the user is not holding and operating the enable switch 15, that is, when the enable switch 15 is turned off, the stop button 30 is disabled, as shown in Fig. 7(A).

[0046] When the user is not holding the enable switch 15 and the stop button 30 is disabled, the stop processing unit 23 does not execute the stop processing even if an operation is performed on the stop button 30. When the enable / disable switching button 42 is disabled, the display processing unit 22 may notify the user that the operation is disabled by, for example, graying out the stop button 30, as shown in Fig. 7(A).

[0047] On the other hand, when the user is holding and operating the enable switch 15, that is, when the enable switch 15 is on, the stop button 30 is enabled as shown in Fig. 7(B). Then, when the stop button 30 is operated while it is enabled, the stop processing unit 23 executes the stop processing. As a result, the robot 92 is stopped.

[0048] According to this, the operation for executing the stop process is to operate the stop button 30 while the user is holding and operating the enable switch 15. In other words, even with this configuration, executing the stop process requires a more complicated operation than simply tapping the stop button 30 once. Therefore, even if the stop button 30 is always displayed, the possibility of erroneous operation of the stop button 30 can be reduced. As a result, it is possible to prevent the robot 92 from being stopped unnecessarily due to erroneous operation of the stop button 30, and as a result, it is possible to prevent a decrease in work efficiency due to erroneous operation of the stop button 30.

[0049] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure. [Explanation of symbols]

[0050] 10...operation device, 15...enable switch, 16...display unit, 17...input unit, 22...display processing unit, 23...stop processing unit, 30...stop button, 31...stop button, 301...stop button, first stop button, 302...stop button, second stop button, 41...screen switching button, 42...enable / disable switching button, 50...cancel button, 92...robot

Claims

1. a display unit that displays information; an input unit that receives operation input from a user; a display processing unit that executes a display process to control the display content of the display unit; a stop processing unit that executes a stop process to stop the robot based on software processing, the display process includes a process of displaying a stop button on the display unit for causing the stop process to be executed, the stop processing unit executes the stop processing when a combination of a plurality of operations including an operation on the stop button is input. Robot operating device.

2. the display processing includes processing of not displaying the stop button on the display unit, but displaying a screen switching button for switching screens, and displaying the stop button in a more prominent manner than the screen switching button when the screen switching button is operated. The robot operating device according to claim 1 .

3. the stop processing unit executes the stop processing when the stop button is operated multiple times in succession. The robot operating device according to claim 2 .

4. the display process displays a plurality of the stop buttons on the display unit; the stop processing unit executes the stop processing when a plurality of the stop buttons are operated simultaneously. The robot operating device according to claim 2 .

5. the display process includes a process of displaying the stop button and a cancel button for erasing the display of the stop button on the same screen on the display unit. The robot operating device according to claim 2 .

6. the display process includes a process of displaying the stop button and an enable / disable switch button for switching between enable and disable of the stop button on the same screen. The robot operating device according to claim 1 .

7. Further provided with an enable switch, The display process includes a process of enabling the stop button when the enable switch is operated. The robot operating device according to claim 1 .

Images