Mechanical equipment control system

Abstract

The objective is to provide a machine equipment control system that can ensure the safety of workers working within safety fences while also shortening the time it takes to restart machinery and equipment due to the prolonged absence of workers. [Solution] The configuration of the machine equipment control system 100 according to the present invention comprises a robot 110 having an equipment-specific ID, a teaching terminal 120 having a terminal-specific ID, and an operation restriction device 130 that can communicate with the robot 110 and the teaching terminal 120 and restricts and releases the operation of the robot 110 in accordance with the operation of the teaching terminal 120. The operation restriction device 130 is characterized in that when the teaching terminal 120 receives an input from the worker to start work, it links the equipment-specific ID and the terminal-specific ID to restrict the operation of the robot 110, and when the same teaching terminal 120 receives an input from the worker to end work, it releases the operation restriction of the robot 110.

Description

Technical Field

[0001] The present invention relates to a machine equipment control system including machine equipment and an instruction terminal for controlling the operation thereof.

Background Art

[0002] In recent years, industrial robots such as robotic arms and manipulators (hereinafter collectively referred to as machine equipment) have been used at production sites such as factories. Generally, a safety fence is provided around the operating range of the machine equipment. This can prevent workers from entering the operating range of the machine equipment and ensure the safety of the workers.

[0003] However, when replacing a jig or performing maintenance on the machine equipment, etc., a worker may enter the safety fence. At this time, if the machine equipment is operating, there is a possibility that the operating machine equipment and the worker may come into contact. Therefore, conventionally, for example, opening and closing management of a safety fence door using a safety plug as in Patent Document 1 has been performed.

[0004] The safety plug of Patent Document 1 includes a safety fence plug used to lock the safety fence door so that it cannot be opened, and a portable plug carried by a worker inside the safety fence. According to Patent Document 1, the safety fence plug cannot be removed unless the portable plug is removed by an engagement mechanism, and the door cannot be opened, so it is said that safety can be improved. Also, in Patent Document 1, an insertion hole into which the portable plug is inserted when the safety fence plug is removed is blocked by an insertion hole blocking mechanism, so it is said that it is possible to surely prevent a conductive material from being inserted into the insertion hole due to malice or mischief, etc., and the controlled object from operating.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] In situations where workers are working inside a safety fence and need to leave for urgent matters or breaks, if they leave without closing the gate of the safety fence where they were working, the machinery will remain stopped, leading to a decrease in production efficiency. Therefore, if the machinery will be stopped for an extended period due to the absence of workers, it is necessary to find the worker who has the key to the safety fence gate and have them close the gate.

[0007] However, with methods that use physical tools such as the safety plug for safety fences and portable plug described in Patent Document 1, it is difficult to identify the worker who has the key, and after identifying the worker, that worker needs to go and close the door of the safety fence. As a result, it takes time and effort to restart the operation of the machinery and equipment.

[0008] In view of these problems, the present invention aims to provide a machine equipment control system that can ensure the safety of workers working within a safety fence while shortening the time it takes to restart machine equipment due to the prolonged absence of workers. [Means for solving the problem]

[0009] To solve the above problems, a typical configuration of the machine equipment control system according to the present invention comprises machine equipment having a unique equipment ID, a teaching terminal having a unique terminal ID, and an operation restriction device that can communicate with the machine equipment and the teaching terminal and restricts and releases the operation of the machine equipment in accordance with the operation of the teaching terminal. The operation restriction device is characterized in that, when the teaching terminal receives an input from the worker to start work, it links the unique equipment ID and the unique terminal ID to restrict the operation of the machine equipment, and when the same teaching terminal receives an input from the worker to end work, it releases the operation restriction of the machine equipment.

[0010] The above teaching terminal has a camera, and a barcode with a unique equipment ID is displayed near the machinery. The operation of the machinery can be restricted and unrestricted by reading the barcode on the machinery using the teaching terminal's camera.

[0011] The above-mentioned machinery and equipment is equipped with a camera nearby, and a barcode with a terminal-specific ID is displayed on the teaching terminal. The operation of the machinery and equipment is restricted and unrestricted by reading the barcode on the teaching terminal with the camera.

[0012] The teaching terminal or the mechanical equipment may be equipped with a contactless IC reader in its vicinity, or an IC chip in its vicinity, and the operation of the mechanical equipment may be restricted and released by reading the IC chip with the contactless IC reader. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a machine equipment control system that can ensure the safety of workers working within a safety fence while shortening the time it takes to restart machine equipment due to the prolonged absence of workers. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram illustrating the configuration of the mechanical equipment control system according to this embodiment. [Figure 2] This is a flowchart illustrating the operation of the operation limiting device in the control system of this embodiment. [Figure 3] Figure 2 is a flowchart illustrating the operation of the subroutine's exception handling. [Figure 4] This is an example of a dialog box displayed on the touch panel of a teaching terminal. [Modes for carrying out the invention]

[0015] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. The dimensions, materials, and other specific numerical values ​​shown in these embodiments are merely illustrative to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0016] Figure 1 is a schematic diagram illustrating the configuration of the mechanical equipment control system (hereinafter referred to as the control system 100) according to this embodiment. As shown in Figure 1, the control system 100 of this embodiment is composed of a robot 110, a teaching terminal 120, and an operation limiting device 130. In the embodiments described below, the robot 110 is used as an example of mechanical equipment, but the system is not limited to this. The control system 100 of this embodiment can also be applied to mechanical equipment such as traveling devices, rotary tables driven by servo motors, belt conveyors, presses, and machine tools.

[0017] The robot 110 is an industrial machine that performs tasks such as processing and transporting workpieces, and can communicate with the motion limiting device 130 (described later) via wired or wireless means. In this embodiment, an example is shown in which the motion limiting device 130 and the robot 110 are connected by an I / O cable 132. A safety fence 102 is placed around the operating range of the robot 110, and the safety fence 102 is equipped with a door 104 for the entry and exit of workers P. In addition to the robot 110, a processing device 106 for processing workpieces (not shown) is also placed inside the safety fence 102.

[0018] In the control system 100 of the present embodiment, the robot 110 has a facility-specific ID which is information for identifying itself. Such a facility-specific ID is displayed as a two-dimensional barcode 112 as an example of ID presentation means outside the safety fence 102 near the robot 110. In the present embodiment, a two-dimensional barcode is exemplified as the facility-specific ID, but it is not limited thereto, and an image, a character string, a mark, etc. for identifying the robot 110 can also be used as the facility-specific ID.

[0019] The teaching terminal 120 is a so-called teaching pendant, and is an input and operation terminal for creating an operation program of the robot 110 and performing teaching work. In the present embodiment, the teaching terminal 120 is configured by installing a teaching pendant application on a commercially available tablet terminal. Further, in the present embodiment, the teaching terminal 120 has a terminal-specific ID which is information for identifying itself.

[0020] The teaching terminal 120 can communicate wirelessly with the operation restriction device 130 and can be carried by the worker P. Further, the teaching terminal 120 has a touch panel 122 that functions as a display unit for displaying a dialog (notification) and an input unit for receiving an operation of the worker, and a camera 124 as an example of ID acquisition means. The teaching terminal 120 can acquire the facility-specific ID by photographing the two-dimensional barcode 112 using the camera 124.

[0021] The operation restriction device 130 can communicate with the robot 110 and the teaching terminal 120, and restricts and releases the operation of the robot 110 according to the operation (input) of the teaching terminal 120. Further, in the present embodiment, the operation restriction device 130 is attached outside the safety fence 102 and also performs the opening and closing operation of the door 104 of the safety fence 102.

[0022] FIG. 2 is a flowchart for explaining the operation of the operation restriction device 130 in the control system 100 of the present embodiment. FIG. 3 is a flowchart for explaining the operation of the exception handling of the subroutine in FIG. 2. FIG. 4 is an example of a dialog displayed on the touch panel 122 of the teaching terminal 120.

[0023] As shown in FIG. 2, in the control system 100 of the present embodiment, when an operator P photographs and reads a two-dimensional barcode 112 arranged on the safety fence 102 of the robot 110 with the camera 124 of the teaching terminal 120 in a state where the door 104 of the safety fence 102 is locked (safety fence locked state), a notification indicating that the facility unique ID has been acquired is transmitted from the teaching terminal 120 to the operation restriction device 130. At this time, the terminal unique ID is also transmitted from the teaching terminal 120 to the operation restriction device 130. When the operation restriction device 130 receives a notification that the facility unique ID has been acquired (YES in S202), it transmits dialog information to the teaching terminal 120 and causes the start confirmation dialog illustrated in FIG. 4(a) to be displayed on the touch panel 122 of the teaching terminal 120 (S204).

[0024] The operator P inputs whether to perform work or not within the safety fence 102 according to the start confirmation dialog shown in FIG. 4(a). The teaching terminal 120 transmits this input result to the operation restriction device 130. Here, the "play mode" illustrated in FIG. 4(a) is a mode in which the robot 110 is put into full operation (a mode in which it operates at an unrestricted speed).

[0025] When the operation restriction device 130 receives the work start input of the operator P received by the teaching terminal 120 as an input result (YES in S206), it associates the facility unique ID of the robot 110 with the terminal unique ID of the teaching terminal 120 and restricts the operation of the robot 110 (S208). Examples of this operation restriction include stopping the operation of the robot 110 or operating it in a "low-speed mode" in which it operates at a speed lower than the play mode.

[0026] When the motion limiting device 130 limits the operation of the robot 110, it transmits a control signal to the robot 110 to either stop operation or operate in low-speed mode. In conjunction with limiting the operation of the robot 110, the motion limiting device 130 also controls and unlocks the door 104 of the safety fence 102 (S209). As a result, once the operation limiting of the robot 110 is complete, the door 104 of the safety fence 102 is unlocked (safety fence unlocked state), allowing worker P to enter the safety fence and begin work.

[0027] As described above, in this embodiment, the motion restriction device 130 restricts the operation of the robot 110 after linking the equipment-specific ID of the robot 110 with the terminal-specific ID of the teaching terminal 120. This makes it possible for the motion restriction device 130 to store and manage information on which worker P is working within the safety fence 102 surrounding which robot 110.

[0028] While the robot 110's operation is restricted, in other words, while worker P is working inside the safety fence 102, the operation restriction device 130 performs exception processing to monitor for the occurrence of an exceptional event (S210). As shown in Figure 4, the exception processing subroutine S210 determines whether the robot was operated within a predetermined time (S212), whether other equipment-specific IDs were acquired (S214), and whether a restriction release input was received from another teaching device (S216).

[0029] These decision processes can be performed in any order and do not necessarily have to be in this sequence. Furthermore, it is not necessary to execute all of these decision processes; it is possible to configure the system to not perform any of these decisions (i.e., not perform exception handling S210), or to perform only some of the decision processes.

[0030] (S212: Determination of whether or not robot operation occurred within the specified time) In S212, the operation restriction device 130 determines whether or not the worker P operated the robot 110 within a predetermined time. If the worker P did not operate the robot 110 within the predetermined time (YES in S212), the operation restriction device 130 sends an error notification (error signal) to the teaching terminal 120 (S218). Upon receiving the error notification, the teaching terminal 120 notifies the worker P of the error by outputting a warning sound, vibrating the terminal, flashing a lamp, etc., and displays an error dialog, as illustrated in Figure 4(b), on the touch panel 122.

[0031] An example of a situation where no robot operation occurs within a predetermined time is when worker P leaves the safety fence 102 without releasing the restrictions on robot 110. In such a case, the teaching terminal 120 notifies worker P of an error, making it possible to recognize that worker P had not released the restrictions on robot 110. Therefore, it is possible to effectively prevent worker P from forgetting to release the restrictions on robot 110.

[0032] Another example of a situation where the robot is not operated within the specified time is when worker P is performing a task that does not require operation of the robot 110 for an extended period of time. In such a case, worker P can enter "No" in the error dialog on the touch panel 122, thereby continuing the restriction on the operation of the robot 110. This ensures the safety of worker P while working within the safety fence 102.

[0033] (S214: Determining whether or not other equipment-specific IDs have been obtained) In S214, the motion restriction device 130 determines whether the worker has acquired a unique ID for equipment other than the robot 110 on which the motion restriction is currently being applied. If worker P has acquired a unique ID for equipment other than the robot 110 (YES in S214), the motion restriction device 130 sends an error notification (error signal) to the teaching terminal 120 (S218).

[0034] An example of a situation where another equipment-specific ID is obtained is when worker P has finished working within the safety fence 102 surrounding robot 110, which currently has movement restrictions imposed on it, but attempts to start working within the safety fence 102 surrounding another robot or other piece of machinery without releasing the movement restrictions on robot 110. In such a case, the teaching terminal 120 notifies worker P of an error, making it possible to recognize that worker P has forgotten to release the restrictions on robot 110.

[0035] (S216: Determination of whether or not a restriction release input has been received by another teaching device) In S216, the motion restriction device 130 determines whether another teaching device, i.e., another worker P who has another teaching device, has input to release the restriction on the robot 110 whose operation is currently restricted. If an instruction to release the motion restriction is input from another teaching device (YES in S216), the motion restriction device 130 sends an error notification (error signal) to the teaching terminal 120 (S218).

[0036] An example of a situation where another teaching device inputs a restriction release is that another worker outside the safety fence 102 may not be able to recognize worker P working inside the safety fence 102, and mistakenly believe that there is no worker inside the safety fence 102, attempting to release the operation restriction on the robot 110. In such a case, by notifying worker P of the error via the teaching terminal 120, worker P, who is working inside the safety fence 102, can recognize that the operation restriction on the robot 110 is about to be released.

[0037] While executing the exception processing described above (S210), the operation restriction device 130 monitors whether it has received a "notification of acquisition of equipment-specific ID" from the same teaching terminal 120 that restricted the operation of the robot 110 (S222). When worker P leaves the safety fence 102 after completing the work and photographs and reads the two-dimensional barcode 112 placed on the safety fence 102 with the camera 124 of the teaching terminal 120, a notification that the equipment-specific ID has been acquired is sent from the teaching terminal 120 to the operation restriction device 130.

[0038] When the operation restriction device 130 receives notification that it has acquired the equipment-specific ID (YES in S222), it sends dialog information to the teaching terminal 120, and displays the completion confirmation dialog shown in Figure 4(c) on the touch panel 122 of the teaching terminal 120 (S224). Worker P inputs whether to complete or not complete the work within the safety fence 102 according to the completion confirmation dialog shown in Figure 4(c). The teaching terminal 120 sends this input result to the operation restriction device 130.

[0039] When the operation restriction device 130 receives the worker P's work completion input from the teaching terminal 120 as an input result (YES in S226), it controls and locks the door 104 of the robot 110's safety fence 102 (S227). The operation restriction device 130 then sends a restriction release signal to the robot 110, releasing the operation restriction on the robot 110 (S228). As a result, the robot 110 restarts operation in regeneration mode with the worker P outside the safety fence 102 and the door 104 of the safety fence 102 locked again (safety fence locked state), thus ensuring the worker P's safety.

[0040] As described above, in the control system 100 of this embodiment, the equipment-specific ID of the robot 110 is linked to the terminal-specific ID of the teaching terminal 120, and the acquisition of the equipment-specific ID of the robot 110 on the same teaching terminal triggers the restriction and release of the robot 110's operation. As a result, the robot 110 can be put back into play mode only when the equipment-specific ID of the robot 110 and the terminal-specific ID of the teaching terminal 120 match at the time of input for the start and end of work within the safety fence 102. Therefore, the release of the robot 110's restrictions (incorrect input) due to operation by other workers P can be eliminated, and the safety of workers P can be ensured.

[0041] Furthermore, because the unique ID of the robot 110 and the unique ID of the teaching terminal 120 are linked, the worker P who is restricting the operation of the robot 110 can be quickly identified. By notifying the teaching terminal 120 carried by worker P of the error, worker P can realize early that they have forgotten to deactivate the robot. Therefore, the time it takes for the robot 110 to resume operation due to the prolonged absence of worker P is shortened.

[0042] In this embodiment, the operation restriction device 130 is configured to release the operation restriction on the robot 110 when it receives a work completion input from worker P received by the teaching terminal 120 as an input result. However, this assumes that there is only one worker P working inside one safety fence 102, and is not limited to that.

[0043] If there are multiple workers P working within a single safety fence 102, the operation restriction device 130 sets the status of the worker P who has received a work completion input to "operation restriction released". Then, in S226, when the operation restriction device 130 has received work completion inputs from all workers P as input results, it releases the operation restriction on the robot 110 (S228).

[0044] In this embodiment, the teaching terminal 120 is shown to have a camera 124 as an example of an ID acquisition means, and a two-dimensional barcode 112 is shown on the safety fence 102 near the robot 110 as an example of an ID presentation means. However, the embodiment is not limited to this, and a camera may be placed near the robot 110, and the terminal-specific ID of the teaching terminal 120 may be displayed on the touch panel 122 of the teaching terminal 120. In this case, the operation restriction device 130 may be used as a trigger to restrict and release the operation of the robot 110 when the camera of the robot 110 reads the barcode (two-dimensional barcode) of the teaching terminal 120.

[0045] Furthermore, as another configuration of the control system 100 of this embodiment, a contactless IC reader may be provided as an example of an ID acquisition means near either the teaching terminal 120 or the robot 110, and an IC chip may be provided as an example of an ID presentation means near the other. In other words, a contactless IC reader may be used instead of a camera, and an IC chip may be used instead of a barcode. With such a configuration, it is possible to restrict and release the operation of the robot 110 as a trigger when an IC chip is detected by the contactless IC reader.

[0046] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. [Industrial applicability]

[0047] The present invention can be used as a machine equipment control system including a teaching terminal that controls the operation of the machine equipment. [Explanation of symbols]

[0048] 100...Control system, 102...Safety fence, 104...Door, 106...Processing equipment, 110...Robot, 112...Two-dimensional barcode, 120...Teaching terminal, 122...Touch panel, 124...Camera, 130...Motion restriction device, 132...I / O cable, P...Worker

Claims

1. Mechanical equipment with a unique equipment ID and A teaching terminal having a terminal-specific ID, An operation restriction device that can communicate with the aforementioned machinery and equipment and the teaching terminal, and which restricts and releases the operation of the machinery and equipment in accordance with the operation of the teaching terminal, Equipped with, The aforementioned operation limiting device is When the teaching terminal receives the operator's input to start work, it links the equipment's unique ID with the terminal's unique ID and restricts the operation of the machine equipment. During the restriction of the operation of the aforementioned machinery and equipment, exception handling is performed to monitor for the occurrence of an exceptional event, and if an exceptional event occurs, an error notification is sent to the same teaching terminal. When the same teaching terminal receives the worker's input indicating the end of work, it releases the operational restrictions on the machinery and equipment. The aforementioned exceptional events include at least one of the following: when the machine equipment is not operated within a predetermined time; when the same teaching terminal acquires another equipment-specific ID; or when another teaching device inputs a restriction release. The aforementioned operation limiting device is a machine equipment control system characterized by monitoring the exceptional event and performing exception processing.

2. The aforementioned teaching terminal has a camera, A barcode with the equipment's unique ID is displayed near the aforementioned machinery and equipment. The machine equipment control system according to claim 1, characterized in that the operation restriction and release of the operation restriction of the machine equipment are performed by reading the barcode of the machine equipment with the camera of the teaching terminal.

3. A camera is installed near the aforementioned machinery and equipment. The teaching terminal displays a barcode of the terminal's unique ID, The machine equipment control system according to claim 1, characterized in that the operation restriction and release of the operation restriction of the machine equipment are performed by reading the barcode on the teaching terminal with the camera.

4. The teaching terminal or the vicinity of the machine equipment is equipped with a contactless IC reader, and the other is equipped with an IC chip. The machine equipment control system according to claim 1, characterized in that the operation restriction and release of the operation restriction of the machine equipment are performed by reading the IC chip with the contactless IC reader.

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