Robot control device

Abstract

To provide a robot control device which can efficiently perform parameter adjustment.SOLUTION: A robot control device comprises: a first application part which applies a setting parameter to a first safety parameter for verification in a verification mode; a first update part which updates first safety information regarding a robot in the verification function based on the first safety parameter in the verification mode; a replication part which copies the setting parameter; a second application part which applies the setting parameter copied by the replication part to a second safety parameter after the verification mode is switched to a safety mode by a switching part; and a second update part which updates second safety information regarding the robot in the safety function based on the second safety parameter in the safety mode.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, a robot control device has been proposed that restricts the operation of a robot until a predetermined safety condition is satisfied based on signals from detectors that detect the presence or absence of obstacles within the operation range of the robot and safety devices such as emergency stop switches (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Such a robot control device has a safety function (for example, a dual safety check function) that mutually checks input and output signals using two CPUs.

[0005] However, in the safety function, when changing the restriction of the operation area of the robot, if even one parameter is changed, password input becomes necessary, and the parameter adjustment work becomes troublesome. In addition, the adjustment of parameters such as the coordinates of the vertices of the operation area of the robot and the limit speed of the robot often involves trial and error, and since the number of parameter changes is large, the number of password inputs increases, and the parameter adjustment work becomes troublesome.

[0006] Therefore, it has been desired to efficiently adjust parameters in a robot control device.

Means for Solving the Problems

[0007] According to the present disclosureThe control device includes one or more memories and one or more processors. The one or more processors are configured to be switchable between a safety mode that executes a safety function for safely operating the robot and a verification mode that executes a verification function for verifying the setting of the safety function. The control device receives an input of setting parameters, and in the verification mode, sets safety parameters of the verification function based on the setting parameters. When setting the safety parameters of the safety function based on the setting parameters in the safety mode, the control device receives user authentication.

Advantages of the Invention

[0008] According to the present invention, parameters can be adjusted efficiently.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5

Modes for Carrying Out the Invention

[0010] Hereinafter, an example of an embodiment of the present invention will be described. FIG. 1 is a diagram showing an overview of a robot system 100 according to this embodiment. As shown in FIG. 1, the robot system 100 includes a robot 1, a robot control device 2, a safety device 3, an input / output device 4, a sensor 5, and an external device 6.

[0011] The robot 1 is an industrial robot having an arbitrary structure. The robot 1 may be, for example, a 6-axis articulated robot. The robot control device 2 is a control device for causing the robot 1 to perform a predetermined operation or the like by controlling the robot 1.

[0012] The safety device 3 is composed of a detector that detects the presence or absence of obstacles within the operating range of the robot 1, an emergency stop switch, an encoder attached to the motor of the robot 1, and the like. The input / output device 4 is composed of a switch, a teaching operation panel, etc. connected to the robot control device 2. The input / output device 4 inputs various signals from the robot control device 2 or outputs various signals to the robot control device 2.

[0013] The sensor 5 is composed of a vision sensor (for example, a camera), a force sensor, etc., and outputs the detected signal to the robot control device 2. The external device 6 is various devices connected to the robot control device, and is composed of, for example, a server, another robot control device, etc.

[0014] The robot control device 2 further includes a first control unit 21, a second control unit 22, an I / O unit 23, a signal processing unit 24, a communication unit 25, and a storage unit 26.

[0015] The first control unit 21 is a processor such as a CPU (Central Processing Unit). By executing the program stored in the storage unit 26, the first control unit 21 executes various processes related to the drive control of the robot 1 (for example, a servo motor, etc.). Also, based on the signal from the safety device 3, the first control unit 21 restricts the operation of the robot 1 until a predetermined safety condition is satisfied. The first control unit 21 has a dual-check safety function for performing mutual check of input / output signals with the second control unit 22.

[0016] The second control unit 22 is a processor such as a CPU. Based on the signal from the safety device 3, the second control unit 22 restricts the operation of the robot 1 until a predetermined safety condition is satisfied. The second control unit 22 has a dual-check safety function for performing mutual check of input / output signals with the first control unit 21.

[0017] The I / O unit 23 includes, for example, an I / O port, and inputs and outputs signals from the input / output device 4 connected to the robot control device 2 to and from the first control unit 21 and the second control unit 22.

[0018] The signal processing unit 24 performs various processes (such as image processing, etc.) on the signal from the sensor 5. The communication unit 25 communicates with the external device 6 via Ethernet (registered trademark), field bus, or the like.

[0019] FIG. 2 is a diagram showing the configuration of the first control unit 21 according to the present embodiment. As shown in FIG. 2, the first control unit 21 includes a function control unit 211, a switching unit 212, a reception unit 213, a first application unit 214, a first update unit 215, a duplication unit 216, a second application unit 217, a second update unit 218, and a display control unit 219.

[0020] The function control unit 211 controls a safety function for safely operating the robot and a verification function for verifying the setting of the safety function.

[0021] Specifically, the function control unit 211 controls safety function software for safely operating the robot 1 and verification function software for verifying the setting of the safety function software.

[0022] In the present embodiment, an example of safety function software including a safety function and verification function software including a verification function will be used for explanation. However, the safety function and the verification function are not limited to separate software, and may be implemented as separate functions within one software, for example.

[0023] The switching unit 212 switches between a safety mode for executing the safety function software and a verification mode for executing the verification function software. Specifically, the switching unit 212 switches between the safety mode and the verification mode according to an input operation by the input / output device 4.

[0024] In the verification mode, the reception unit 213 receives the input of the setting parameters by the input / output device 4. Here, the setting parameters may be input as numerical values by the input / output device 4, or may be changed by dragging and dropping the coordinates of the vertices of the area displayed on the input / output device 4.

[0025] In the verification mode, the first application unit 214 applies the setting parameters to the first safety parameters for verification. By applying the setting parameters to the first safety parameters in this way, the verification function software can change the first safety parameters using the setting parameters and perform verification using the changed first safety parameters.

[0026] In addition, when the first application unit 214 applies the setting parameters to the first safety parameters, it does not require the input of a password. Usually, the change of the first safety parameters often involves trial and error to find the optimal first safety parameters, and the number of parameter changes is also large. Therefore, the number of password inputs increases, and the parameter adjustment work becomes troublesome.

[0027] Since the verification function software according to this embodiment applies the setting parameters to the first safety parameters without requiring the input of a password, verification using the first safety parameters can be performed efficiently.

[0028] In the verification mode, the first update unit 215 updates the first safety information regarding the position and speed of the robot 1 in the verification function based on the first safety parameters. Here, the first safety information includes information regarding the position and speed of the robot 1, such as the operation area of the robot 1 and the limit speed of the robot 1. In addition, the first safety information is used in the verification mode and not in the safety mode.

[0029] When ending the verification function software, the duplication unit 216 copies the setting parameters used in the verification function software. Then, the duplication unit 216 provides the copied setting parameters to the second application unit 217.

[0030] After the second application unit 217 is switched from the verification mode to the safety mode by the switching unit 212, the second application unit 217 applies the set parameters copied by the copying unit 216 to the second safety parameters.

[0031] Also, when the second application unit 217 applies the set parameters to the second safety parameters, it requires the input of a password. By requiring the input of a password in this way, the safety function software can safely apply the second safety parameters that may affect the safety of the robot 1.

[0032] In the safety mode, the second update unit 218 updates the second safety information regarding the position and speed of the robot 1 in the safety function software based on the second safety parameters. Here, the second safety information includes information regarding the position and speed of the robot 1, such as the operating area of the robot 1 and the limit speed of the robot 1. Also, the second safety information is used in the safety mode and not in the verification mode.

[0033] The display control unit 219 displays, on the display unit (for example, the display unit of the teaching operation panel) of the input / output device 4, a screen for setting the safety function software and the verification function software. Specifically, the display control unit 219 displays, on the display unit of the input / output device 4, a screen for inputting the numerical values of the set parameters by the input / output device 4 and a screen for designating the area of the set parameters.

[0034] In addition, in the automatic mode, when the verification function software without a safety function is valid, since the robot control device 2 allows malfunction of the robot due to reasons such as a failure during automatic operation, there is a possibility that the user may be endangered by the malfunction of the robot. Therefore, in the automatic mode in which the function control unit 211 automatically operates the robot 1, when the verification function software is valid, the function control unit 211 stops the start of the automatic operation of the robot 1. Thereby, the robot control device 2 can safely execute the operation of the verification function software.

[0035] In addition, the safety function and the verification function software include functions for checking the position and speed. Specifically, the safety function and the verification function software include functions for checking the position of each axis of the robot 1, the speed of each axis of the robot 1, the orthogonal position of the robot 1, and the orthogonal speed of the robot 1.

[0036] FIG. 3 is a diagram showing an operation example of the safety function software and the verification function software. As shown in FIG. 3, when the function control unit 211 is switched from the safety mode to the verification mode by the switching unit 212, the function control unit 211 activates the verification function software 2111.

[0037] The reception unit 213 receives the input of the setting parameter P1 by the input / output device 4 on the safety function screen D1 displayed on the input / output device 4. Then, the first application unit 214 sets and refers to the received setting parameter P1 (refer to (1) setting / reference in FIG. 3).

[0038] Next, the first application unit 214 applies the setting parameter P1 to the first safety parameter P2 for verification in the verification mode (refer to (2) application in FIG. 3). Next, the first update unit 215 refers to the first safety parameter P2 (refer to (3) reference in FIG. 3), and updates the first safety information regarding the position and speed of the robot 1 in the verification function F1 based on the first safety parameter P2.

[0039] Further, the display control unit 219 reflects the updated first safety information on the screen for setting the verification function software 2111. Then, the display control unit 219 displays the screen for setting the verification function software 2111 on the display unit of the input / output device 4 (for example, the display unit of the teaching operation panel) (see the reflection in (4) of FIG. 3).

[0040] Next, the copying unit 216 copies the setting parameter P1 used in the verification function software 2111. Then, the copying unit 216 provides the copied setting parameter P3 to the second application unit 217 (see the copy in (5) of FIG. 3).

[0041] Next, when the function control unit 211 is switched from the verification mode to the safety mode by the switching unit 212, the safety function software 2112 is activated. Also, the second application unit 217 sets and refers to the copied setting parameter P3.

[0042] Then, the second application unit 217 applies the setting parameter P3 copied by the copying unit 216 to the second safety parameter P4 (see the application in (6) of FIG. 3). Next, the second update unit 218 updates the second safety information regarding the position and speed of the robot 1 in the safety function F2 based on the applied second safety parameter P4.

[0043] Further, the display control unit 219 reflects the updated second safety information on the screen for setting the safety function software 2112. Then, the display control unit 219 displays the screen for setting the safety function software 2112 on the display unit of the input / output device 4 (for example, the display unit of the teaching operation panel).

[0044] FIGS. 4A and 4B are diagrams showing specific examples of the update of the first safety information or the second safety information. FIG. 4A shows the operation area R1 of the robot 1 as the first safety information or the second safety information before the update. That is, the robot 1 can operate within the operation area R1.

[0045] Then, in the verification mode, the first update unit 215 updates the first security information based on the first security parameter, or in the security mode, the second update unit 218 updates the second security information based on the second security parameter.

[0046] FIG. 4B shows the operation area R2 of the robot 1 as the updated first security information or second security information. That is, the robot 1 can operate within the operation area R2. By updating the first security information or the second security information in this way, the robot control device 2 can change the operation area of the robot 1 from the operation area R1 to the operation area R2.

[0047] FIG. 5 is a flowchart showing the processing flow of the robot control device 2 according to the present embodiment. In step S1, the function control unit 211 determines whether it has been switched from the security mode to the verification mode by the switching unit 212. If it has been switched to the verification mode (YES), the process proceeds to step S2. If it has not been switched to the verification mode, that is, if it is in the security mode (NO), the process proceeds to step S7.

[0048] In step S2, the reception unit 213 receives the input of the setting parameter by the input / output device 4 in the verification mode. In step S3, the first application unit 214 applies the setting parameter to the first security parameter for verification in the verification mode.

[0049] In step S4, the first update unit 215 updates the first security information regarding the position and speed of the robot 1 in the verification function based on the first security parameter in the verification mode.

[0050] In step S5, the function control unit 211 determines whether to end the verification mode. If it is to end the verification mode (YES), the process proceeds to step S6. If it is not to end the verification mode (NO), the process returns to step S2.

[0051] In step S6, when the duplication unit 216 terminates the verification function software, it copies the setting parameters used in the verification function software. In step S7, the reception unit 213 receives the input of the setting parameters by the input / output device 4 in the safe mode.

[0052] In step S8, the second application unit 217 applies the setting parameters copied by the duplication unit 216 in step S6, or the setting parameters received by the reception unit 213 in step S7, to the second safety parameters. Also, when applying the setting parameters to the second safety parameters, the second application unit 217 requires the input of a password by the input / output device 4.

[0053] In step S9, after applying the setting parameters to the second safety parameters, the first control unit 21 restarts the robot control device 2. Thereby, the safety function software can enable the applied second safety parameters.

[0054] In step S10, the second update unit 218 updates the second safety information regarding the position and speed of the robot 1 in the safety function software based on the second safety parameters in the safe mode.

[0055] In step S11, the function control unit 211 determines whether to end the settings of the safety function software and the verification function software. If the settings are to be ended (YES), the function control unit 211 ends the settings of the safety function software and the verification function software. If the settings are not to be ended (NO), the process returns to step S1.

[0056] As described above, according to the present embodiment, the robot control device 2 includes a function control unit 211 that controls a safety function for safely operating the robot 1 and a verification function for verifying the setting of the safety function, a switching unit 212 that switches between a safety mode for executing the safety function and a verification mode for executing the verification function, a reception unit 213 that receives an input of setting parameters in the verification mode, a first application unit 214 that applies the setting parameters to first safety parameters for verification in the verification mode, a first update unit 215 that updates first safety information regarding the position and speed of the robot 1 in the verification function based on the first safety parameters in the verification mode, a duplication unit 216 that duplicates the setting parameters, a second application unit 217 that applies the setting parameters duplicated by the duplication unit 216 to second safety parameters after being switched from the verification mode to the safety mode by the switching unit 212, and a second update unit 218 that updates second safety information regarding the position and speed of the robot 1 in the safety function based on the second safety parameters in the safety mode.

[0057] In this way, the robot control device 2 verifies using the setting parameters in the verification mode, duplicates the verified setting parameters, and applies the duplicated setting parameters in the safety mode. Thereby, since the robot control device 2 can apply the setting parameters verified in the verification mode in the safety mode, the parameter adjustment can be efficiently performed.

[0058] Further, the first application unit 214 does not require the input of a password when applying the setting parameters to the first safety parameters, and the second application unit 217 requires the input of a password when applying the setting parameters to the second safety parameters.

[0059] As a result, in the verification function software, the robot control device 2 can efficiently perform verification using the first safety parameter by applying the setting parameter to the first safety parameter without requiring the input of a password. Also, by requiring the input of a password, the safety function software can safely apply the second safety parameter that may affect the safety of the robot 1.

[0060] The robot control device 2 further includes a display control unit 219 that displays, on the display unit of the input / output device 4, a screen for setting the safety function and the verification function. Thereby, an operator using the robot control device 2 can appropriately set the safety function and the verification function.

[0061] Also, in the automatic mode in which the robot 1 is automatically operated, when the verification function without the safety function is valid, the function control unit 211 stops the start of the automatic operation of the robot 1. Thereby, the robot control device 2 can prevent the malfunction of the robot due to reasons such as a failure during automatic operation and prevent danger to the user.

[0062] The safety function and the verification function include functions for checking the position of each axis of the robot 1, the speed of each axis of the robot 1, the orthogonal position of the robot 1, and the orthogonal speed of the robot 1. Thereby, the robot control device 2 can monitor the position and speed of the robot 1. And when the robot 1 becomes in a non-safe state satisfying the set conditions or exceeds the limit speed, the robot control device 2 can cut off the power to the drive circuit of the robot 1.

[0063] As described above, embodiments of the present invention have been explained. The above-described robot control device 2 can be realized by hardware, software, or a combination thereof. Also, the control method performed by the above-described robot control device 2 can be realized by hardware, software, or a combination thereof. Here, being realized by software means being realized by a computer reading and executing a program.

[0064] The program can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., hard disk drive), magneto-optical recording media (e.g., magneto-optical disk), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

[0065] Also, each of the above-described embodiments is a preferred embodiment of the present invention, but the scope of the present invention is not limited to only the above-described embodiments. It is possible to implement in various modified forms without departing from the gist of the present invention. For example, the first safety information may include information other than the position and speed of the robot. Also, the second application unit 217 may use an unlocking key other than a password.

Explanation of Reference Numerals

[0066] 1 Robot 2 Robot control device 3 Safety device 4 Input / output device 5 Sensor 6 External device 21 First control unit 22 Second control unit 23 I / O unit 24 Signal processing unit 25 Communication unit 26 Memory unit 211 Function control unit 212 Switching unit 213 Reception unit 214 First application unit 215 First update unit 216 Duplication unit 217 Second application unit 218 Second update unit 219 Display control unit

Claims

1. One or more memories; one or more processors; The one or more processors: The robot is configured to be switchable between a safety mode in which a safety function for safely operating the robot is executed and a verification mode in which a verification function for verifying settings of the safety function is executed, Accepts input of configuration parameters, In the verification mode, setting safety parameters of the verification function based on the configuration parameters; a control device that accepts user authentication when setting a safety parameter of the safety function based on the setting parameter in the safety mode.

2. The one or more processors include: The control device according to claim 1 , wherein in the verification mode, a safety parameter of the verification function can be set based on the setting parameter regardless of whether the user authentication has been accepted or not.

3. A control device as described in claim 1 or 2, wherein the user authentication is input of a password.

4. The one or more memories include storing verification function software for executing the verification function and safety function software for executing the safety function; The one or more processors: The control device according to claim 1 , further comprising: a screen for performing the safety function based on the safety function software; or a screen for setting the verification function based on the verification function software.

5. The one or more processors include: The control device according to claim 4 , wherein the control device enables the verification function software or the safety function software in response to switching to the verification mode or the safety mode.

6. The one or more processors include: The control device according to claim 4 or 5, wherein when the verification function software is valid, starting of automatic operation of the robot is stopped.

7. The one or more processors: The control device according to claim 1 , further comprising: a controller configured to copy the setting parameters to the one or more memories after receiving information indicating completion of verification of safety parameters of the verification function in the verification mode.

8. A control device as described in Claim 7, wherein the information indicating the termination is at least one of information when verification function software executing the verification function is terminated, and information when switching from the verification mode to the safety mode.

9. A control device as described in any one of claims 1 to 8, wherein the safety functions and the verification functions include functions for checking the position and speed of the robot.

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