Apparatus, teaching apparatus, and method for setting security parameters

Abstract

To simplify a work for setting a safe parameter because an operator having expert knowledge conventionally needs to set a safety parameter for a safety function one by one from the start.SOLUTION: A device 70 includes a parameter setting part 66 for setting a safety parameter for securing safety of a work by an industrial machine 36, a storage part 52 for storing a sample of a previously prepared safety parameter, an input reception part 62 for receiving input for selecting a sample stored in the storage part 52, and an import part 68 for reading out the selected sample from the storage part 52, and importing the sample to the parameter setting part 66, wherein the parameter setting part 66 sets the imported sample as a new safety parameter.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an apparatus, a teaching apparatus, and a method for setting safety parameters.

Background Art

[0002] A system with a safety function implemented to ensure the safety of robot operations is known (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] Conventionally, when constructing a new mechanical system, an operator with specialized knowledge has had to set safety parameters for the safety function one by one from the beginning. There is a need to simplify such a safety parameter setting operation.

Means for Solving the Problems

[0005] In one aspect of the present disclosure, the apparatus includes a parameter setting unit that sets safety parameters for ensuring the safety of work by a machine, a storage unit that stores samples of safety parameters prepared in advance, an input reception unit that receives an input for selecting a sample stored in the storage unit, and an import unit that reads out the sample selected through the input reception unit from the storage unit and imports it into the parameter setting unit. The parameter setting unit sets the imported sample as new safety parameters.

[0006] In one aspect of the present disclosure, a method for setting safety parameters to ensure the safety of machine operations includes storing a sample of pre-prepared safety parameters in a storage unit, a processor executing a function for setting safety parameters, receiving an input for selecting a sample stored in the storage unit, reading out the sample selected by the input from the storage unit and importing it into the function, and setting the imported sample as new safety parameters.

Advantages of the Invention

[0007] According to the present disclosure, an operator can simply construct a framework of safety parameters for the machine by only selecting a desired sample from the pre-prepared samples according to the actual machine. Therefore, compared with the conventional method of setting safety parameters one by one from the beginning, the work required for setting safety parameters can be greatly simplified.

Brief Description of the Drawings

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In various embodiments described below, the same reference numerals are assigned to the same elements, and duplicate descriptions are omitted. First, with reference to FIGS. 1 and 2, a machine system 10 according to an embodiment will be described. The machine system 10 performs predetermined work (work handling, processing, welding, etc.) on a workpiece.

[0010] Specifically, the machine system 10 includes a robot 12, a peripheral device 14, a control device 16, and a teaching device 18. In the present embodiment, the robot 12 is a vertically articulated robot and has a robot base 20, a swivel body 22, a lower arm portion 24, an upper arm portion 26, a wrist portion 28, and an end effector 30.

[0011] The robot base 20 is fixed on the floor of the work cell. The swivel body 22 is provided on the robot base 20 so as to be rotatable around a vertical axis. The lower arm portion 24 is provided on the swivel body 22 so as to be rotatable around a horizontal axis. The upper arm portion 26 is rotatably provided at the tip of the lower arm portion 24. The wrist portion 28 is rotatably provided at the tip of the upper arm portion 26.

[0012] The end effector 30 is detachably attached to the tip of the wrist part 28 (so-called wrist flange). The end effector 30 is, for example, a robot hand capable of gripping a workpiece, a welding torch or a welding gun for welding a workpiece, or a tool for processing a workpiece, etc., and performs an operation (work handling, welding, processing) on the workpiece.

[0013] A plurality of servo motors (not shown) are respectively provided in the robot base 20, the swivel body 22, the lower arm part 24, the upper arm part 26, and the wrist part 28. These servo motors rotate each movable element (that is, the swivel body 22, the lower arm part 24, the upper arm part 26, the wrist part 28) of the robot 12 in response to commands from the control device 16, thereby moving the end effector 30 to an arbitrary position.

[0014] A robot coordinate system C is set for the robot 12. The robot coordinate system C is a coordinate system for automatically controlling each movable element of the robot 12. In the present embodiment, the robot coordinate system C is set for the robot 12 such that its origin is arranged at the center of the robot base 20 and its z-axis coincides with the rotation axis of the swivel body 22.

[0015] The peripheral device 14 is arranged around the robot 12. The peripheral device 14 is, for example, a conveyor for conveying a workpiece in one direction, or a worktable device for moving an installed workpiece within the x-y plane of the robot coordinate system C, and has a base part 32 fixed to the work cell, a movable part 34 movably provided on the base part 32, and a servo motor (not shown) for driving the movable part 34.

[0016] The peripheral device 14 drives the servo motor in response to a command from the control device 16 to move the movable part 34, thereby performing an operation different from that of the robot 12 (such as a workpiece conveying operation) on the workpiece. Thus, the robot 12 and the peripheral device 14 cooperate with each other to perform an operation on the workpiece. Therefore, the robot 12 and the peripheral device 14 constitute a machine 36 (specifically, an industrial machine) for performing an operation on the workpiece.

[0017] The control device 16 controls the operation of the machine 36 (the robot 12 and the peripheral device 14). Specifically, the control device 16 is a computer having a processor (such as a CPU or GPU) and a storage unit (such as a ROM or RAM). The processor of the control device 16 generates commands to each servo motor of the machine 36 (the robot 12 and the peripheral device 14) according to the operation program OP, and operates the machine 36.

[0018] The teaching device 18 teaches the operation of the machine 36. Specifically, as shown in FIG. 2, the teaching device 18 is a computer having a processor 50, a storage unit 52, an I / O interface 54, an input device 56, and a display device 58. The processor 50 has a CPU or GPU, etc., and is communicably connected to the storage unit 52, the I / O interface 54, the input device 56, and the display device 58 via a bus 60, and performs arithmetic processing for setting safety parameters described later while communicating with these components.

[0019] The storage unit 52 has a RAM or ROM, etc., and temporarily or permanently stores various data used in the arithmetic processing executed by the processor 50 and various data generated during the arithmetic processing. The I / O interface 54 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and communicates data with an external device by wire or wirelessly under the command from the processor 50.

[0020] In the present embodiment, the control device 16 is communicably connected to the I / O interface 54. The input device 56 has a push button, a keyboard, a mouse, a touch panel, etc., and receives data input from an operator. The display device 58 has a liquid crystal display or an organic EL display, etc., and visibly displays various data.

[0021] Here, when the machine 36 is performing an operation, in order to ensure the safety of the operation, a safety function for restricting the operation of the machine 36 (for example, the robot 12) may be executed. For such a safety function, safety parameters SP are set for the machine 36. The safety parameters SP include restriction parameters RP that define a restricted area RE and a restricted speed V, etc. of the machine 36 (for example, the robot 12), and model data MD of the machine 36 (robot 12).

[0022] Hereinafter, with reference to FIGS. 3 and 4, the restriction parameter RP will be described. FIG. 3 shows a restricted area RE1 that permits the entry of the robot 12 during operation. When the restricted area RE1 is set for the robot 12, the robot 12 is permitted to move a part (for example, the end effector 30) set as the monitoring target inside the restricted area RE1, while the operation of moving the part outside the restricted area RE1 is prohibited. If the robot 12 moves the part to be monitored outside the restricted area RE1 during operation, the control device 16 will immediately stop the robot 12.

[0023] Alternatively, when the robot 12 moves the part to be monitored outside the restricted area RE1 during operation, the control device 16 may reduce the operation speed V of the robot 12 (specifically, the part to be monitored) from the normal speed V0 defined as the required value during operation to a lower restricted speed V1 (<V0), and move the part to be monitored along a predetermined evacuation route PT for evacuation.

[0024] FIG. 4 shows a restricted area RE2 that prohibits the entry of the robot 12 during operation. When the restricted area RE2 is set for the robot 12, the robot 12 is prohibited from moving the part to be monitored inside the restricted area RE2, while the operation of moving the part outside the restricted area RE2 is permitted.

[0025] When the robot 12 moves the part to be monitored inside the restricted area RE2 during operation, the control device 16 either stops the robot 12 immediately or reduces the operating speed V of the robot 12 from the normal speed V0 to the restricted speed V1 and moves the robot 12 along the evacuation path PT. Each of the restricted areas RE1 and RE2 can be defined as a group of coordinates P1(x1, y1, z1), P2(x2, y2, z2), ··· P n (x n , y n , z n ) in the robot coordinate system C.

[0026] On the other hand, separately from the restricted areas RE (RE1 or RE2), a restricted speed V2 that defines the maximum allowable speed during operation is set for the robot 12. For example, when the part of the robot 12 (end effector 30) set as the monitoring target exceeds the restricted speed V2, the control device 16 immediately stops the robot 12. Alternatively, when the part to be monitored exceeds the restricted speed V2, the control device 16 may reduce the operating speed V of the part to be monitored to be equal to or lower than the restricted speed V2. These restricted areas RE1 and RE2, restricted speeds V1 and V2, and evacuation path PT constitute the restriction parameter RP.

[0027] The model data MD is for setting the machine 36 to be monitored for the restriction parameter RP, and includes machine information MD1 indicating the type, dimensions, or specifications of the machine 36, and a machine model MD2 obtained by modeling the machine 36 (robot 12, peripheral device 14).

[0028] Specifically, the machine information MD1 of the robot 12 includes an identification number ID (such as a product number) that identifies the type of the main body of the robot 12 (an assembly of the robot base 20, swivel body 22, lower arm 24, upper arm 26, and wrist 28). Also, the machine information MD1 of the robot 12 includes, as the specification of the main body of the robot 12, the distance (i.e., the maximum reach distance) d from the origin of the robot coordinate system C to the maximum reach point that the robot 12 can reach with the end effector 30 MAX .

[0029] In addition, the machine information MD1 of the robot 12 may include information on the type, specifications, dimensions, or end effector attachment position of the end effector 30. On the other hand, the machine model MD2 includes the machine model MD2 of the main body of the robot 12 _1 and the machine model MD2 of the end effector 30 _2 . The machine model MD2 of the main body of the robot 12 _1 includes at least one of the drawing data MD2 of the main body of the robot 12 _1A (for example, 3D CAD data), and the monitoring model MD2 representing the monitoring target of the main body _1B . The monitoring model MD2 _1B is data set on the main body of the robot 12 so as to include a part (for example, the wrist part) of the main body of the robot 12, and is for schematically showing the part of the main body to be monitored

[0030] In addition, the machine model MD2 of the end effector 30 _2 includes at least one of the drawing data MD2 of the end effector 30 _2A (for example, 3D CAD data), and the monitoring model MD2 representing the monitoring target of the end effector 30 _2B . The monitoring model MD2 _2B is data set on the end effector 30 so as to include a part (for example, the finger part or the suction part) of the end effector 30 of the robot 12, and is for schematically showing the part of the end effector 30 to be monitored

[0031] The limit parameter RP and the model data MD are set as safety parameters SP for safety functions. In the present embodiment, the operator operates the teaching device 18 to set these safety parameters SP (restricted area RE, restricted speed V, model data MD, etc.)

[0032] The method for setting the safety parameter SP will be described below. Here, in the present embodiment, the storage unit 52 stores a plurality of samples SP' of the safety parameter SP prepared in advance. Specifically, the storage unit 52 stores, as the sample SP', a sample (limiting value sample) RP' of the limiting parameter RP, a sample (model sample) MD' of the model data MD, and a composite sample CS in advance.

[0033] The limiting value sample RP' includes a sample (limiting value sample) RE1' of the limiting region RE1, a sample (limiting value sample) RE2' of the limiting region RE2, a sample (limiting value sample) V' of the limiting speed V1 or V2, and a sample (limiting value sample) PT' of the evacuation path PT. The limiting value samples RE1' and RE2' are each a group of coordinates (x n , y n , z n )(n = 1, 2, 3 ···) of the robot coordinate system C that defines the limiting regions RE1 and RE2, and a plurality of limiting value samples RE1' and RE2' having different coordinate groups (x n , y n , z n ) are respectively stored in the storage unit 52.

[0034] For example, the storage unit 52, as a plurality of limiting value samples RE1' (or RE2'), the first group of coordinates (x _1 (or RE2' _1 ) that defines the first limiting value sample RE1' 1_1 , y 1_1 , z 1_1 )~(x n_1 , y n_1 , z n_1 ), the second group of coordinates (x _2 (or RE2' _2 ) that defines the second limiting value sample RE1' 1_2 , y 1_2 , z 1_2 )~(x n_2 , y n_2 , z n_2 ), ··· the m-th limiting value sample RE1' _m (or RE2' _mDefine the coordinates of the m-th group (x 1_m , y 1_m , z 1_m ) ~ (x n_m , y n_m , z n_m ) and store them.

[0035] Also, a plurality of different limit value samples V' are stored in the storage unit 52 as values of the speed V. For example, the storage unit 52 stores the first limit value sample V' _1 = 10 [m / sec], the second limit value sample V' _2 = 20 [m / sec], ··· the m-th limit value sample V' _m = 100 "m / sec" and stores them. Also, the storage unit 52 stores a plurality of limit value samples PT' _1 , PT' _2 , ··· PT' _m . The limit value sample PT' is represented, for example, as the coordinates of the coordinate system C.

[0036] In this embodiment, the model sample MD' includes the mechanical information MD1 of the end effector 30 of the robot 12 and the mechanical model MD2 of the end effector 30 _2 (specifically, the drawing data MD2 _2A and the monitoring model MD2 _2B ). Different types of model samples MD' are stored in the storage unit 52. The model sample MD' includes, for example, a group of model samples MD'1 of the robot hand 30A that grips an object with a plurality of finger parts, a group of model samples MD'2 of the robot hand 30B that grips an object with a suction part (for example, an electromagnet, a suction cup, or a vacuum device), a group of model samples MD'3 of the welding torch 30C, and a group of model samples MD'4 of the welding gun 30D.

[0037] For example, the storage unit 52 stores a group of model samples MD' of the robot hand 30A 1_1 , MD' 1_2 , ··· MD' 1_m and a group of model samples MD' of the robot hand 30B 2_1 , MD' 2_2, ··· MD’ 2_m and a group of model samples MD’ of the welding torch 30C 3_1 , MD’ 3_2 , ··· MD’ 3_m and a group of model samples MD’ of the welding gun 30D 4_1 , MD’ 4_2 , ··· MD’ 4_m and stores them.

[0038] The composite sample CS is one sample in which data of a plurality of safety parameters SP are combined and stored. This composite sample CS will be described with reference to FIG. 5. FIG. 5 shows an example of a work cell in which the robot 12 is arranged. In the example shown in FIG. 5, as a restricted area RE1 that permits the entry of the robot 12, a first restricted area RE1 indicated by a broken line _1 and a second restricted area RE1 indicated by a one-dot chain line _2 and a third restricted area RE1 indicated by a two-dot chain line _3 are set so as to surround the robot 12.

[0039] The first restricted area RE1 _1 defines the outermost edge of the allowable operating range of the robot 12 during operation. For example, in all steps of the operation, the robot 12 is prohibited from moving outside the first restricted area RE1 _1 . The second restricted area RE1 _2 is arranged on the plus side of the y-axis of the robot coordinate system C as viewed from the robot 12 inside the first restricted area RE1 _1 . On the other hand, the third restricted area RE1 _3 is arranged on the minus side of the y-axis of the robot coordinate system C as viewed from the robot 12 inside the first restricted area RE1 _1 .

[0040] Also, in the example shown in FIG. 5, the first restricted area RE1 _1Adjacent to the plus side of the x-axis of the robot coordinate system C, two sensor detection areas SE1 and SE2 are set. The sensor detection area SE1 is defined by, for example, a first object detection sensor 38 capable of detecting the entry of an object without contact, and a second restriction area RE1 _2 is arranged adjacent to the plus side of the x-axis of the robot coordinate system C.

[0041] When the first object detection sensor 38 detects the entry (or approach) of the operator A into the sensor detection area SE1, it transmits a safety signal S1 as "ON" (or "1") to the control device 16. Then, when the operator A exits (or separates from) the sensor detection area SE1, the first object detection sensor 38 sets the safety signal S1 to "OFF".

[0042] On the other hand, the sensor detection area SE2 is adjacent to the minus side of the y-axis of the robot coordinate system C of the sensor detection area SE1, and a third restriction area RE1 32 is arranged adjacent to the plus side of the x-axis of the robot coordinate system C. The sensor detection area SE2 is defined by, for example, a second object detection sensor 40 capable of detecting the entry of an object without contact. When the second object detection sensor 40 detects the entry (or approach) of the operator A into the sensor detection area SE2, it transmits the safety signal S2 as "ON" to the control device 16, and when the operator A exits (or separates from) the sensor detection area SE1, the safety signal S2 is set to "OFF".

[0043] In a work cell as shown in FIG. 5, the operator A may perform work in cooperation with the robot 12 (for example, workpiece handling in which the workpiece is transferred between the operator A and the robot 12). In such a case, as an example, the control device 16 executes the following safety function. Specifically, the control device 16 enables the first restriction area RE1 _1 for the entire period of the work, and prohibits the robot 12 from moving outside the first restriction area RE1 _1 in all steps of the work.

[0044] During operation, when operator A enters (or approaches) the sensor detection area SE1 and the safety signal S1 received from the first object detection sensor 38 becomes "ON", the control device 16 activates the third restricted area RE1 _3 and prohibits the robot 12 from moving outside the third restricted area RE1 _3 .

[0045] This prevents the robot 12 from entering the side in the positive y-axis direction of the robot coordinate system C (i.e., the side where operator A is present), thereby preventing a collision with operator A. When operator A exits (or moves away from) the sensor detection area SE1 and the safety signal S1 from the first object detection sensor 38 becomes "OFF", the control device 16 deactivates the third restricted area RE1 _3 .

[0046] On the other hand, when operator A enters (or approaches) the sensor detection area SE2 and the safety signal S2 received from the second object detection sensor 40 becomes "ON", the control device 16 activates the second restricted area RE1 _2 and prohibits the robot 12 from moving outside the second restricted area RE1 _2 . This prevents the robot 12 from entering the side in the negative y-axis direction of the robot coordinate system C (i.e., the side where operator A is present), thereby preventing a collision with operator A. When operator A exits (or moves away from) the sensor detection area SE2 and the safety signal S2 from the second object detection sensor 40 becomes "OFF", the control device 16 deactivates the second restricted area RE1 _2 .

[0047] In this way, a safety function that combines and uses a plurality of safety parameters SP (restricted areas RE1 _1 , RE1 _2 , RE1 _3 ) may be executed. In the composite sample CS, data of such a plurality of safety parameters SP are stored in combination, and the storage unit 52 stores a plurality of composite samples CS1, CS2,... CS mstores it.

[0048] Specifically, the composite sample CS m stores, for example, the data (a set of coordinates) of the first restricted area RE1 shown in FIG. 5 _1 , the data of the second restricted area RE1 _2 , the data of the third restricted area RE1 _3 , and the mechanical model MD2 of the robot 12, in combination. The composite sample CS m stores the restricted areas RE1 _1 , RE1 _2 and RE1 _3 . The data of these restricted areas RE1 constitute the restricted value sample RE1'. Note that the composite sample CS m may further have the restriction area switching information SI that defines the relationship between the "ON" / "OFF" of the safety signals S1 and S2 and the validity / invalidity of the second restricted area RE1 _2 and the third restricted area RE1 _3 .

[0049] Here, in the present embodiment, the storage unit 52 stores a plurality of sample sets SS in each of which one restricted value sample RE1', one restricted value sample RE2', one model sample MD', and one composite sample CS are stored (sample sets SS1, SS2, ··· SS m ). For example, one sample set SS m stores the above-described restricted value sample RE1' _m , the restricted value sample RE2' _m , the model sample MD' 1_m , and the composite sample CS m as a set. Note that only one of the restricted value sample RE1', the restricted value sample RE2', the model sample MD', and the composite sample CS may be stored in the sample set SS.

[0050] Thus, a plurality of types of samples SP’ (limit value samples RE1’, RE2’, model sample MD’, composite sample CS) are stored in the sample set SS. The storage unit 52 stores a plurality of sample sets SS1, SS2, ··· SS in which various combinations of samples SP’ are stored respectively. m are stored.

[0051] The various samples SP’ (limit value samples RE1’, RE2’ and V’, model sample MD’, composite sample CS) and the sample set SS described above are created in advance as data in the first format FM1 (extension: “.abc”) using, for example, a computer separate from the teaching device 18, and stored in the first storage area 52A of the storage unit 52.

[0052] Based on these samples SP’ and the sample set SS, the operator sets the safety parameter SP. When starting to set the safety parameter SP, the operator operates the input device 56 to give a setting start command to the processor 50 of the teaching device 18. When the processor 50 receives the setting start command through the input device 56, first, it generates the image data of the sample set selection image 100 shown in FIG. 6 and displays it on the display device 58.

[0053] The sample set selection image 100 is a graphical user interface (GUI) that enables the operator to select the sample set SS, and is generated as image data of computer graphics (CG). In the example shown in FIG. 6, the sample set selection image 100 includes a plurality of sample set selection button images 102 and a scroll bar image 104. The plurality of sample set selection button images 102 are respectively associated with the sample sets SS1, SS2, ··· SS stored in the storage unit 52. m are associated.

[0054] The operator can operate the input device 56 to click on one of the sample set selection button images 102 on the image, so as to select the sample set SS associated with the clicked sample set selection button image 102. Also, the operator can operate the input device 56 to slide the scroll bar image 104 up and down on the image, so as to change the displayed sample set SS.

[0055] In addition, information about the corresponding sample set SS (for example, a simple description or drawing of the stored samples RE1’, RE2’, MD’ and CS) may be displayed within the sample set selection button image 102. Hereinafter, the case where the operator operates the input device 56 to click on the sample set selection button image 102 of the sample set SS m will be described.

[0056] In this case, the processor 50 receives the input IP1 for selecting the sample set SS from the input device 56. Thus, in this embodiment, the processor 50 functions as an input reception unit 62 (FIG. 2) that receives the input IP1. When the processor 50 receives the input IP1, it generates the image data of the sample selection image 110 shown in FIG. 7 and displays it on the display device 58. The sample selection image 110 is a GUI that enables the operator to select the samples SP’ stored in the sample set SS, and is generated as the image data of the CG. m In the example shown in FIG. 7, the sample selection image 110 has a first image area 112, a second image area 114, and a third image area 116. In the first image area 112, there is a mechanical model MD2 of the main body of the robot 12 m (for example, the drawing data MD2

[0057] (e.g., drawing data MD2 _1 (e.g., drawing data MD2 _1A) is being displayed. On the other hand, in the third image area 116, a button image 122 for selecting the limit value sample RE1’, a button image 124 for selecting the limit value sample RE2’, a button image 126 for selecting the model sample MD’ to be monitored, and a button image 128 for selecting the composite sample CS are being displayed.

[0058] The operator can operate the input device 56 and click on one of the button images 122, 124, 126, and 128 on the image to select the sample SP’ to be imported from among the limit value sample RE1’, the limit value sample RE2’, the model sample MD’, and the composite sample CS. Note that the import of the sample SP’ will be described later.

[0059] On the other hand, in the second image area 114, a sample list image 118 and a detailed setting image 120 are being displayed. As shown in FIG. 7, when the button images 122, 124, 126, and 128 for selecting the sample SP’ are being displayed in the third image area 116, the sample list image 118 is highlighted.

[0060] When the operator operates the input device 56 and selects the limit value sample RE1’, the limit value sample RE2’, the model sample MD’, or the composite sample CS on the image, the processor 50 functions as an input reception unit 62 and receives, through the input device 56, an input IP2 for selecting the limit value sample RE1’, the limit value sample RE2’, the model sample MD’, or the composite sample CS.

[0061] For example, if the operator operates the input device 56 and clicks on the button image 126 for selecting the model sample MD’, the processor 50 generates, in response to the input IP2 for selecting the model sample MD’, the image data of the sample explanation image 130 shown in FIG. 8 as CG and displays it on the display device 58.

[0062] The sample description image 130 is a GUI for explaining the sample SP' selected in the sample selection image 110 of FIG. 7. In the sample description image 130 shown in FIG. 8, the processor 50 places the mechanical model MD2 included in the selected model sample MD' in the first image area 112 _2 (Specifically, the drawing data MD2 _2A and the monitoring model MD2 _2B ) are displayed.

[0063] Thus, in this embodiment, the processor 50 functions as an image generation unit 64 (FIG. 2) that generates the image 130 on which the mechanical model MD2 _2 is displayed. Note that in this embodiment, since the sample set SS m is selected in FIG. 6, the mechanical model MD2 1_m included in the model sample MD' _2 is displayed in the first image area 112. Note that only the monitoring model MD2 _2B (or the drawing data MD2 _2A ) may be displayed in the first image area 112.

[0064] On the other hand, in the third image area 116, an explanation text 132 of the mechanical information MD1 of the model sample MD', a decision button image 134, and a cancel button image 136 are displayed. By looking at the explanation text 132, the operator can confirm the mechanical information MD1 of the selected model sample MD' 1_m and the configurable items. 1_m

[0065] Also, the operator can operate the input device 56 to click the decision button image 134 or the cancel button image 136 on the image. When receiving the input IP3 that clicks the cancel button image 136, the processor 50 redisplay the sample selection image 110 shown in FIG. 7 on the display device 58.

[0066] On the other hand, when an input IP4 of clicking the decision button image 134 is received, the processor 50 functions as the image generation unit 64 to generate image data of a sample import image 140 shown in FIG. 9 as CG and display it on the display device 58. The sample import image 140 is a GUI for importing the selected sample SP' into a function FC for setting the safety parameters SP. Here, the function FC for setting the safety parameters SP is implemented as an application in the teaching device 18, and is stored in the storage unit 52 as application software.

[0067] The processor 50 executes this function FC to set the safety parameter FP. Thus, the processor 50 functions as a parameter setting unit 66 (FIG. 2) that sets the safety parameter FP. The function FC that sets the safety parameter SP (i.e., the function of the parameter setting unit 66) will be described later with reference to FIG.

[0068] In the sample import image 140 shown in FIG. 9, the first image area 112 includes a machine model MD2, as in the sample description image 130 shown in FIG. _2 is displayed, while in the third image area 116, a monitoring target setting image 142, an import button image 144, and a stop button image 136 are displayed.

[0069] The monitoring target setting image 142 is a selected model sample MD' 1_m is used to assign an identification number (or a setting destination address number) N when importing the monitored object into function FC as a monitored object. Specifically, monitored object setting image 142 has a number input image 146 for inputting identification number N. An operator can input identification number N into number input image 146 by operating input device 56. In the example shown in FIG. 9, identification number N: "1" is input into number input image 146.

[0070] The import button image 144 is used to import the selected sample SP' (in FIG. 9, the model sample MD' 1_m) is for importing into the function FC that sets the safety parameter SP. The operator can operate the input device 56 to click on the import button image 144 on the image.

[0071] When the input IP5 for clicking the import button image 144 is received through the input device 56, the processor 50 reads out the selected sample SP' from the storage unit 52 and imports it into the function FC. Therefore, in the present embodiment, the processor 50 functions as an import unit 68 (FIG. 2) for importing the sample SP'.

[0072] Then, the processor 50 functions as a parameter setting unit 66 to set the imported sample SP' as a new safety parameter SP” in the function FC and store it in the second storage area 52B of the storage unit 52. This second storage area 52B is a storage area of the storage unit 52 different from the first storage area 52A for storing the sample SP' and the sample set SS.

[0073] For example, when the processor 50 receives the input IP5, it functions as an import unit 68 to read out the sample SP' from the first storage area 52A of the storage unit 52. Then, the processor 50 converts the data format of the read sample SP' from the first format FM1 to a second format FM2 (extension: “.efg”) compatible with the function FC, imports it into the function FC, and may store it in the second storage area 52B as a temporary safety parameter SP”.

[0074] In the case of the example shown in FIG. 9, when the processor 50 receives the input IP5 for clicking the import button image 144, it imports the selected model sample MD' 1_m as a monitoring target with the identification number “1” into the function FC and stores it in the second storage area 52B as a new safety parameter SP”.

[0075] Then, the processor 50 functions as an image generation unit 64, generates the image data of the sample adjustment image 150 shown in FIG. 10 as CG, and displays it on the display device 58. On the other hand, when the processor 50 receives the input IP3 for clicking the cancel button image 136, it redisplays the sample selection image 110 shown in FIG. 7 on the display device 58.

[0076] The sample adjustment image 150 shown in FIG. 10 is a GUI for executing the function FC of setting the safety parameter SP by the operator's input operation. In the example shown in FIG. 10, in the first image area 112, the imported model sample MD’ 1_m of the machine model MD2 _2 is displayed. Also, in the second image area 114, the detailed setting image 120 is highlighted.

[0077] On the other hand, in the third image area 116, a parameter display image 152 and a parameter adjustment image 154 are displayed. The parameter display image 152 shows a list of the safety parameters SP” newly set by the function FC. Note that the initial safety parameter SP” before the adjustment described later is the same as the imported sample SP’.

[0078] The parameter display image 152 includes a restricted area display image 156 and a monitoring target display image 158. The restricted area display image 156 shows the restricted area RE set as the safety parameter SP” (that is, imported). Note that the restricted area display image 156 will be described later.

[0079] The monitoring target display image 158 shows the model sample MD’ set as the monitoring target in the safety parameter SP”. For example, in FIG. 9, since the model sample MD’ 1_m was imported as the monitoring target with the identification number “1”, the model sample MD’ 1_m is set as the monitoring target with the identification number “1” in the safety parameter SP” and is displayed as the monitoring target “No. 1” in the monitoring target display image 158.

[0080] The operator can import a plurality of model samples MD’ by the method described with reference to FIGS. 7 to 9, while assigning an identification number N and making them importable to the function FC. Each time a model sample MD’ is imported, the monitoring target displayed on the monitoring target display image 158 will increase, such as "No. 1", "No. 2", "No. 3", and so on. In this way, the operator can import a plurality of model samples MD’ and set them in the safety parameter SP” in a form that can be identified by the identification number N.

[0081] The parameter adjustment image 154 is for adjusting the set temporary safety parameter SP”. In the example shown in FIG. 10, the parameter adjustment image 154 includes a dimension adjustment image 160 and an attachment position adjustment image 162. The dimension adjustment image 160 is for adjusting the machine information MD1 of the model sample MD’ set as the safety parameter SP”.

[0082] In the present embodiment, in the dimension adjustment image 160, the dimensions of the model sample MD’ included in the machine information MD1 (for example, the dimensions of the finger part of the robot hand 30A, the suction part of the robot hand 30B, the welding torch 30C, or the arm of the welding gun 30D) can be adjusted.

[0083] In the example shown in FIG. 10, since the monitoring target "No. 1" is selected on the monitoring target display image 158, the dimensions of the model sample MD’ as the monitoring target No. 1 can be adjusted in the dimension adjustment image 160. Specifically, in the dimension adjustment image 160, the numerical values of "length", "width", and "height" as the dimensions of the model sample MD’ are displayed, and a numerical value increase button image 164 and a numerical value decrease button image 166 are also displayed. 1_m of which the dimensions can be adjusted. Specifically, in the dimension adjustment image 160, the numerical values of "length", "width", and "height" as the dimensions of the model sample MD’ 1_m are displayed, and a numerical value increase button image 164 and a numerical value decrease button image 166 are also displayed.

[0084] The operator can operate the input device 56 to select "Length", "Width", or "Height" of the dimension adjustment image 160 on the image, and increase or decrease the numerical values of the selected "Length", "Width", or "Height" by clicking the numerical value increase button image 164 or the numerical value decrease button image 166 on the image. Note that the operator may directly input the numerical values of "Length", "Width", or "Height" by operating the input device 56 without clicking the numerical value increase button image 164 or the numerical value decrease button image 166.

[0085] On the other hand, the mounting position adjustment image 162 is for adjusting the end effector mounting position included in the machine information MD1 of the model sample MD'. Specifically, the mounting position adjustment image 162 displays "Wrist part", "Upper arm part", and "Lower arm part" as the end effector mounting positions, and the operator can operate the input device 56 to select the end effector mounting position from "Wrist part", "Upper arm part", and "Lower arm part" on the image. For example, in the case of the example shown in FIG. 10, since the "Wrist part" is selected, the end effector mounting position of the selected model sample MD' 1_m will be set to the wrist part 28 of the robot 12.

[0086] Note that the processor 50 may be configured to receive the end effector mounting position as coordinates indicating the relative position with respect to "Wrist part", "Upper arm part", and "Lower arm part" shown in the mounting position adjustment image 162. For example, the processor 50 may further display a coordinate input image for inputting the coordinates (x, y, z) of the robot coordinate system C indicating the relative position with respect to "Wrist part", "Upper arm part", and "Lower arm part" on the mounting position adjustment image 162. The operator can set the end effector mounting position at a position separated from the "Wrist part", "Upper arm part", or "Lower arm part" selected in the mounting position adjustment image 162 by the coordinates (x, y, z) by inputting the coordinates (x, y, z) through the coordinate input image. According to this configuration, the operator can set the end effector mounting position in more detail.

[0087] Thus, the operator operates the input device 56 to provide the processor 50 with an input IP6 for adjusting the machine information MD1 (dimensions, end effector mounting position) of the model sample MD’ set as the temporary safety parameter SP”. The processor 50 functions as a parameter setting unit 66 and adjusts the safety parameter SP” (here, the dimensions and end effector mounting position of the model sample MD’) according to the received input IP6, thereby updating the safety parameter SP”. 1_m Next, the import of the composite sample CS will be described with reference to FIG. 7. When the operator operates the input device 56 and clicks a button image 128 for selecting the composite sample CS, the processor 50 functions as an input receiving unit 62, receives an input IP2 for selecting the composite sample CS, and functions as an image generation unit 64 to generate image data of a sample description image 130 shown in FIG. 11 and display it on the display device 58. 1_m In the example shown in FIG. 11, in the first image area 112, the first restriction area RE1, the second restriction area RE1, and the third restriction area RE1 (that is, the restriction value sample RE1’) stored in the composite sample CS are displayed together with the machine model MD2 of the robot 12. Also, in the first image area 112, the sensor detection areas SE1 and SE2 are displayed. The data of these sensor detection areas SE1 and SE2 (specifically, the coordinates of the coordinate system C) may be stored in the composite sample CS as a restriction value sample.

[0088] By looking at this first image area 112, the operator can view the first restriction area RE1, the second restriction area RE1, and the third restriction area RE1 stored in the composite sample CS. m m

[0089] m _1 _2 _3 m

[0090] m _1 _2 _3 ​​​​​​​​​​​​, the positional relationship of the sensor detection regions SE1 and SE2 with respect to the robot 12 can be easily confirmed. On the other hand, in the third image region 116, similar to the sample explanation image 130 shown in FIG. 8, a composite sample CS m is displayed together with the explanatory text 132, a decision button image 134, and a cancel button image 136.

[0091] When the input IP4 for clicking the decision button image 134 is received through the input device 56, the processor 50 functions as an image generation unit 64 to generate the image data of the sample import image 140 shown in FIG. 12 as CG and display it on the display device 58. In the sample import image 140 shown in FIG. 12, in the first image region 112, similar to the sample explanation image 130 shown in FIG. 11, a restricted region RE1 _1 , RE1 _2 and RE1 _3 , the sensor detection regions SE1 and SE2, and the machine model MD2 are displayed.

[0092] On the other hand, in the third image region 116, a restricted region setting image 170, a monitoring target setting image 142, an import button image 144, and a cancel button image 136 are displayed. The restricted region setting image 170 is for assigning an identification number (or the address number of the setting destination) N when importing the first restricted region RE1 m stored in the composite sample CS _1 , the second restricted region RE1 _2 , and the third restricted region RE1 _3 to the function FC.

[0093] Specifically, the restricted region setting image 170 includes a number input image 172 for inputting the identification number N of the first restricted region RE1 _1 , a number input image 174 for inputting the identification number N of the second restricted region RE1 _2 , and a number input image 176 for inputting the identification number N of the third restricted region RE1 _3 .

[0094] In the present embodiment, in the restriction area setting image 170, the first restriction area RE1 _1 has an explanatory text "The operator is not nearby" explaining it, and the second restriction area RE1 _2 has an explanatory text "The operator approaches the right side of the robot" explaining it, and the third restriction area RE1 _3 has an explanatory text "The operator approaches the left side of the robot" explaining it, and these explanatory texts are written side by side to the left of the number input images 172, 174, and 176.

[0095] The operator can operate the input device 56 to input the identification number N into the number input images 172, 174, and 176. In the example shown in FIG. 12, the identification number N: "1" is input into the number input image 172, the identification number N: "2" is input into the number input image 174, and the identification number N: "3" is input into the number input image 176. On the other hand, the identification number N: "1" is input into the number input image 146 of the monitoring target setting image 142, similar to FIG. 9.

[0096] When the operator operates the input device 56 to click the import button image 144 on the image, the processor 50 receives the input IP5 for clicking the import button image 144, functions as the import unit 68, and imports the data of the first restriction area RE1 m stored in the composite sample CS _1 the second restriction area RE1 _2 the third restriction area RE1 _3 from the storage unit 52 and imports it into the function FC.

[0097] At this time, the processor 50 reads the composite sample CS m (data of the restriction areas RE1 _1 RE1 _2 and RE1 _3 ) from the first storage area 52A, and the composite sample CS mThe data format of m (restricted area RE1 _1 , RE1 _2 and RE1 _3 data) is converted from the first format FM1 to the second format FM2 and imported into the function FC, and may be stored in the second storage area 52B. Then, the processor 50 functions as a parameter setting unit 66, and the imported composite sample CS

[0098] In the case of the example shown in FIG. 12, when the processor 50 receives the input IP5, the first restricted area RE1 _1 is set as the restricted area with the identification number "1" (restricted area No. 1), the second restricted area RE1 _2 is set as the restricted area with the identification number "2" (restricted area No. 2), and the third restricted area RE1 _3 is set as the restricted area with the identification number "3" (restricted area No. 3) and imported into the function FC.

[0099] At the same time, the processor 50 sets the monitoring target No. 1 (FIG. 10) set in the safety parameter SP” as the monitoring target of the imported restricted area No. 1 (that is, the first restricted area RE1 _1 ), restricted area No. 2 (that is, the second restricted area RE1 _2 ), and restricted area No. 3 (that is, the third restricted area RE1 _3 ).

[0100] In this way, the processor 50 sets the imported restricted areas No. 1 to No. 3 (that is, the restricted area RE1 which is the restricted value sample RE1’ _1 , RE1 _2 , RE1 _3 data) as the new safety parameter SP” for the imported monitoring target No. 1 (model sample MD’ 1_m ). In this way, the operator can specify the monitoring target No. N (N = 1, 2, 3 ···) imported into the function FC and edited in terms of dimensions, etc. as the monitoring target of the restricted areas No. 1, No. 2, and No. 3 imported into the function FC.

[0101] In addition, when the identification number N (for example, N = 16) of the monitoring target that has not been imported into the function FC is input to the number input image 146 in FIG. 12 and the import button image 144 is clicked, the processor 50 uses the sample set SS m The model sample MD'stored in 1_m May be newly imported into the function FC as the monitoring target No. 16. In this case, the monitoring target No. 16 is newly added to the monitoring target display image 158 (FIG. 10) and is set as the monitoring target for the imported restriction areas No. 1, No. 2, and No. 3.

[0102] Next, the processor 50 functions as an image generation unit 64 to generate the image data of the sample adjustment image 150 shown in FIG. 13 as CG and display it on the display device 58. In the sample adjustment image 150 shown in FIG. 13, in the first image area 112, as in FIG. 11, the imported composite sample CS m (Restriction area RE1 _1 , RE1 _2 And RE1 _3 , And the sensor detection areas SE1 and SE2), and the machine model MD2 are displayed.

[0103] On the other hand, in the parameter display image 152 in the third image area 116, the imported monitoring targets No. 1, No. 2, No. 3,... are displayed on the monitoring target display image 158, and the imported restriction area No. 1 (the first restriction area RE1 _1 ) is displayed on the restriction area display image 156, the restriction area No. 2 (the second restriction area RE1 _2 ), and the restriction area No. 3 (the third restriction area RE1 _3 ) are displayed.

[0104] Although not shown in the drawings, the processor 50 may also receive an input of the identification number N through the sample import image 140 shown in FIG. 12 for the sensor detection areas SE1 and SE2, similar to the restricted areas No. 1 to No. 3, and display the sensor detection areas SE1 and SE2 imported into the function FC on the restricted area display image 156.

[0105] In the parameter adjustment image 154 of the third image area 116, a region adjustment image 180 is displayed. The region adjustment image 180 is for adjusting the parameters (specifically, the coordinates in the coordinate system C) of the restricted areas No. 1, No. 2, or No. 3 set as the temporary safety parameter SP”, and includes a numerical value increase button image 182 and a numerical value decrease button image 184. Hereinafter, the function of the region adjustment image 180 will be described.

[0106] The operator can arbitrarily edit the restricted areas No. 1, No. 2, or No. 3 through the region adjustment image 180. For example, when the operator operates the input device 56 to select the restricted area No. 1 in the restricted area display image 156 on the image, the processor 50 generates a sample adjustment image 150 shown in FIG. 14 and displays it on the display device 58. In the example shown in FIG. 14, in the restricted area display image 156, it is highlighted to visually indicate that the restricted area No. 1 has been selected.

[0107] Also, in the first image area 112, only the selected restricted area No. 1 (i.e., the first restricted area RE1 _1 ) is displayed together with the machine model MD2, and a plurality of vertices P1, P2, P3, and P4 that define the restricted area No. 1 (the first restricted area RE1 _1 ) are visibly displayed. Further, in the parameter adjustment image 154, the coordinates (x, y, z) of “position P1”, “position P2”, “position P3”, and “position P4” corresponding to the vertices P1, P2, P3, and P4 of the restricted area No. 1 are respectively displayed.

[0108] The operator can operate the input device 56 to select the coordinates (x, y, z) of positions P1 to P4 on the image, and can increase or decrease the coordinate values of the selected coordinates (x, y, z) by clicking the numerical value increase button image 182 or the numerical value decrease button image 184 on the image. Note that the operator can directly input the coordinate values of the coordinates (x, y, z) by operating the input device 56 without clicking the numerical value increase button image 182 or the numerical value decrease button image 184. Thereby, the parameters (coordinates) of the restricted area No. 1 are adjusted.

[0109] On the other hand, when the operator operates the input device 56 to select the restricted area No. 2 shown in the restricted area display image 156 on the image, the processor 50 generates the sample adjustment image 150 shown in FIG. 15 and displays it on the display device 58. Similar to the adjustment of the parameters of the restricted area No. 1, the operator can operate the input device 56 to adjust the coordinates (x, y, z) of each vertex P1 to P5 of the restricted area No. 2 through the sample adjustment image 150 shown in FIG. 15.

[0110] In this way, the operator operates the input device 56 to give the processor 50 the input IP6 for adjusting the restricted areas No. 1 to No. 3 set as the temporary safety parameter SP”. The processor 50 functions as a parameter setting unit 66, adjusts the temporary safety parameter SP” (here, the coordinates of the restricted areas No. 1 to No. 3) according to the received input IP6, and thereby updates the safety parameter SP”.

[0111] Note that the processor 50 may adjust the coordinates of the sensor detection areas SE1 and SE2 in the same manner as the restricted areas No. 1 to No. 3 according to the input from the input device 56 by the operator. Also, the processor 50, according to the input from the input device 56 by the operator, the “ON” / “OFF” of the safety signals S1 and S2, and the second restricted area RE1 _2 and the third restricted area RE1 _3The restriction area switching information SI that determines the relationship with valid / invalid may be adjusted. In this case, the processor 50 may display the coordinates of the sensor detection areas SE1 and SE2, or an image for adjusting the restriction area switching information SI, on the parameter adjustment image 154.

[0112] Referring again to FIG. 7, the operator operates the input device 56 to click the button image 122 or 124, similar to the composite sample CS described above, m so that the limit value sample RE1' m or RE2' _m stored in the sample set SS _m can be selected and imported into the function FC.

[0113] For example, when the limit value sample RE1' _m or RE2' _m is selected, in the third image area 116 of the sample import image 140 shown in FIG. 12, one number input image 172 and the number input image 146 for specifying the identification number N of the limit value sample RE1' _m or RE2' _m are displayed.

[0114] Then, when the import button image 144 is clicked, the processor 50 functions as the import unit 68, assigns the identification number N input to the number input image 172 to the limit value sample RE1' _m or RE2' _m and sets it as the new safety parameter SP” as the restriction area No. N.

[0115] In this way, the operator can import the pre-prepared sample SP' (specifically, the sample set SS in which a plurality of samples SP' are stored) into the function FC, and set the safety parameter SP” in the function FC based on the imported sample SP'.

[0116] When the setting and adjustment of the "safety parameter SP" are completed, the operator inputs a command to apply the safety parameter SP" set by the function FC to the operating condition OC for operating the machine 36 in actual work. For example, the processor 50 displays an application button image (not shown) for applying the safety parameter SP" to the operating condition OC on the sample adjustment image 150.

[0117] When the operator operates the input device 56 to click the application button image on the image, the processor 50 receives the input IP7 of the application button image through the input device 56, and registers the safety parameter SP" set at this time as the formal safety parameter SP in the operating condition OC.

[0118] In this operating condition OC, various conditions required to operate the machine 36 in actual work may be registered together with the safety parameter SP. The processor 50 may store the operating condition OC as data in the second format FM2 in the second storage area 52B of the storage unit 52 (or the third storage area 52C for the operating condition OC).

[0119] Alternatively, the processor 50 may store the operating condition OC as data in the third format FM3 (extension: ".xyz") in the second storage area 52B (or the third storage area 52C). In this case, when the processor 50 receives the input IP7, it may convert the data format of the safety parameter SP" from the second format FM2 to the third format FM3 and register it in the operating condition OC as the formal safety parameter SP. In this way, the operator can set the safety parameter SP using the function FC.

[0120] As described above, the processor 50 functions as an input reception unit 62, an image generation unit 64, a parameter setting unit 66, and an import unit 68, and sets the safety parameter SP based on the sample SP' stored in the storage unit 52. Therefore, the processor 50 (input reception unit 62, image generation unit 64, parameter setting unit 66, import unit 68) and the storage unit 52 constitute a device 70 (Fig. 2) for setting the safety parameter SP.

[0121] In this device 70, the storage unit 52 stores at least one prepared sample SP', the input reception unit 62 receives an input IP2 for selecting the sample SP' stored in the storage unit 52, and the import unit 68 reads out the sample SP' (model sample MD, composite sample CS m ) selected through the input reception unit 62 from the storage unit 52 and imports it into the parameter setting unit 66 (function FC), and the parameter setting unit 66 sets the imported sample SP' as a new safety parameter SP".

[0122] According to this device 70, the operator only needs to select a desired sample SP' from the prepared samples SP' according to the actual machine 36, and can easily construct the framework of the safety parameter SP (restricted area RE, etc.) for the machine 36. Therefore, compared with the conventional method of setting the safety parameter SP one by one from the beginning, the work required for setting the safety parameter SP can be greatly simplified.

[0123] Also, in the device 70, the parameter setting unit 66 adjusts the set safety parameter SP" (dimensions of the model sample MD' 1_m and the end effector mounting position, and the coordinates of the restricted areas No. 1 to No. 3) according to the input IP6 received by the input reception unit 62.

[0124] According to this configuration, the operator can appropriately adjust the imported sample SP' to correspond to the actual machine 36 and then set it as the formal safety parameter SP. Therefore, it is possible to set the safety parameter SP more easily for various forms of machines 36.

[0125] Also, in the apparatus 70, the input reception unit 62 receives an input IP1 for selecting a sample set SS stored in the storage unit 52 and an input IP2 for selecting a sample SP' stored in the selected sample set SS. According to this configuration, since the operator can set the safety parameter SP using a sample set SS in which a plurality of types of samples SP are stored, the setting of the safety parameter SP can be performed more easily.

[0126] Also, in the apparatus 70, data of a plurality of safety parameters SP (the first restricted area RE1 _1 , the second restricted area RE1 _2 , the third restricted area RE1 _3 ) are combined and stored in a composite sample CS which is one sample, and the parameter setting unit 66 sets the data stored in the imported composite sample CS as a new safety parameter SP". According to this configuration, the safety parameter SP for realizing the safety function described with reference to FIG. 5 can be set easily.

[0127] Also, in the apparatus 70, the import unit 68 reads out a limit value sample (data of the restricted areas RE1 _1 , RE1 _2 and RE1 _3 stored in the composite sample CS) and a model sample MD' 1_m selected through the input reception unit 62 from the storage unit 52 and imports them to the parameter setting unit 66. The parameter setting unit 66 sets the imported limit value samples RE1 _1 , RE1 _2 and RE1 _3 as a new safety parameter SP" using the imported model sample MD' 1_mSet it for. According to this configuration, the operator can use the imported model sample MD’ 1_m as the monitoring target of the imported limit value sample RE1 _1 , RE1 _2 and RE1 _3 can be easily set.

[0128] Also, in the device 70, when the image generation unit 64 receives the input IP2 for the input reception unit 62 to select the model sample MD’, the machine models MD2, MD2 _2 included in the model sample MD’ are used to generate the displayed image 140. According to this configuration, the operator can easily confirm the type and structure of the selected model sample MD’.

[0129] Also, in the device 70, the parameter setting unit 66 sets the safety parameter SP” as the operating condition OC according to the input IP7 received by the input reception unit 62. According to this configuration, the operator can easily register the safety parameter SP” set based on the sample SP’ as the formal safety parameter SP in the operating condition OC.

[0130] Note that in the above-described embodiment, the case where the storage unit 52 stores the sample set SS and the processor 50 receives the input IP1 for selecting the sample set SS through the sample set selection image 100 shown in FIG. 6 has been described. However, the present invention is not limited to this, and the storage unit 52 may store only the sample SP’ (limit value samples RE1’, RE2’, V’ and PT’, model sample MD’, and composite sample CS) without storing the sample set SS.

[0131] Hereinafter, such a form will be described. In this embodiment, when the processor 50 receives a setting start command, it generates the image data of the sample selection image 110 shown in FIG. 7 and displays it on the display device 58. Then, when the processor 50 functions as the input reception unit 62 and receives the input IP2 for clicking the button images 122, 124, 126, or 128 from the input device 56, it generates the image data of the sample list image 190 shown in FIG. 16 and displays it on the display device 58.

[0132] FIG. 16 shows an example of the sample list image 190 when the operator clicks the button image 122 (limit value sample RE1’) in FIG. 7. The sample list image 190 includes a plurality of sample selection button images 192 and a scroll bar image 104. The plurality of sample selection button images 192 are respectively associated with the first limit value sample RE1’ stored in the storage unit 52 _1 , the second limit value sample RE1’ _2 , ··· the m-th limit value sample RE1’ _m . Also, the operator can change the limit value sample RE1’ to be displayed by sliding the scroll bar image 104 on the image.

[0133] For example, when the operator operates the input device 56 and clicks the sample selection button image 192 corresponding to the m-th limit value sample RE1’ _m on the image, the processor 50 generates a sample import image 140 for the m-th limit value sample RE1’ as shown in FIG. 12. _m

[0134] In this sample import image 140, the selected m-th limit value sample RE1’ is displayed in the first image area 112, and in the third image area 116, a number input image 172 for inputting the identification number N to be assigned to the m-th limit value sample RE1’ and a number input image 146 are displayed. _m _m

[0135] Suppose the operator inputs N = 5 into the number input image 172, inputs N = 6 into the number input image 146, and clicks the import button image 144. Then, in response to the input IP5 that clicks the import button image 144, the processor 50 imports the m-th limit value sample RE1’ _m as the limit area No. 5 into the function FC, and sets the monitored object No. 6 set in the safety parameter SP” as the monitored object of the imported limit area No. 5. In this way, the m-th limit value sample RE1’ _m can be imported and set in the safety parameter SP”.

[0136] It should be understood that when the operator selects the other button image 124 (limit value sample RE2’), button image 126 (model sample MD’), or button image 128 (composite sample CS) shown in FIG. 7, the processor 50 can similarly import the selected sample SP’ (RE2’, MD’, CS).

[0137] Note that the processor 50 may function as the parameter setting unit 66 and automatically adjust the imported limit value sample RP’ according to the machine information MD1 included in the model sample MD’ imported into the function FC. Specifically, the machine information MD1 of the model sample MD’ is the identification number ID for identifying the type of the main body of the robot 12, or the maximum reach distance d of the robot 12 MAX and further includes.

[0138] Then, after the processor 50 imports the model sample MD’, when importing the limit value sample RE1’ or RE2’ (including the data stored in the composite sample CS) through the sample import image 140 shown in FIG. 12, the coordinates of the limit value sample RE1’ or RE2’ are MAX automatically adjusted according to the identification number ID or the maximum reach distance d.

[0139] As an example, the processor 50 moves the coordinates of the imported limit value sample RE1' or RE2' so that the limit area RE1 or RE2 represented by the limit value sample RE1' or RE2' falls within the range of the maximum reach distance d MAX and automatically adjusts the coordinates and the maximum reach distance d MAX based thereon.

[0140] As another example, the storage unit 52 further stores a data table DT in which the identification number ID and the coordinates of the limit area RE1 or RE2 that matches the robot 12 identified by the identification number are associated with each other. Then, when the processor 50 imports the model sample MD', the processor 50 acquires the identification number ID and reads out the coordinates of the limit area RE1 or RE2 corresponding to the identification number ID from the data table DT.

[0141] Then, the processor 50 automatically adjusts the coordinates of the imported limit value sample RE1' or RE2' based on the read coordinates (for example, to match them). In this way, the processor 50 (parameter setting unit 66) can automatically adjust the imported limit value samples RE1' and RE2' according to the machine information MD1. According to this configuration, the work involved in setting the safety parameter SP can be further simplified.

[0142] In the above-described embodiment, when the processor 50 imports the model sample MD', the processor 50 may automatically search the storage unit 52 for a limit value sample RP', a composite sample CS, or a sample set SS that matches the acquired identification number ID or the maximum reach distance d MAX and may display the searched limit value sample RP', composite sample CS, or sample set SS on the sample set selection image 100 shown in FIG. 6 or the sample list image 190 shown in FIG. 16 when the processor 50 receives the input IP1 or IP2.

[0143] Next, referring to FIG. 17, a network system 200 according to an embodiment will be described. The network system 200 includes a machine system 10, an external device 202, and a network 204. The external device 202 is, for example, an external server, which is a computer including a processor and a storage device.

[0144] The network 204 is, for example, a LAN (such as an intranet) or the Internet, and communicably connects the external device 202 and the teaching device 18 (specifically, the I / O interface 54). Note that the external device 202 and the control device 16 may be connected via the network 204, and the teaching device 18 may be connected to the external device 202 via the control device 16 and the network 204.

[0145] For example, the external device 202 is installed in a first facility, while the machine system 10 is installed in a second facility remote from the first facility. The above-described sample SP' or sample set SS is created by the external device 202. Then, in response to a request from the control device 16 or the teaching device 18, the external device 202 transmits the sample SP' or sample set SS to the teaching device 18 via the network 204.

[0146] The processor 50 of the teaching device 18 acquires the sample SP' or sample set SS through the I / O interface 54 and stores it in the storage unit 52. Thus, the sample SP' or sample set SS is prepared before the setting operation of the safety parameter SP. According to this configuration, if the operator of the external device 202 sequentially updates the sample SP' or sample set SS, the operator of the machine system 10 can obtain the latest sample SP' or sample set SS suitable for the actual machine 36 from the external device 202 at any time through the network 204.

[0147] The external device 202 is not limited to an external server, and may be an external memory (such as a flash memory). In this case, the external memory stores the sample SP' or the sample set SS, and is connected to the I / O interface 54. Then, the processor 50 acquires the sample SP' or the sample set SS from the external device 202 as an external memory in response to an input from an operator, and stores it in the storage unit 52.

[0148] In the above embodiment, when the processor 50 sets a new safety parameter SP″ based on the sample SP′, the processor 50 may execute a simulation of the operation of the machine 36 using the new safety parameter SP″. Specifically, the processor 50 may, in response to an input from an operator, calculate a machine model MD2 (e.g., drawing data) and a restricted area RE1 shown in the first image area 112 of FIG. 13 . _1 , RE1 _2 and RE1 _3 and are generated in a 3D virtual space.

[0149] Meanwhile, the processor 50 acquires the operation program OP of the machine 36, and simulates the operation of the machine model MD2 in the virtual space in accordance with the operation program OP. At this time, the restriction parameter RP set in the safety parameter SP" is applied to the operation of the machine 36. Through such a simulation, the operator can judge the suitability of the newly set safety parameter SP" based on the sample SP'.

[0150] In the above embodiment, the model sample MD' of the end effector 30 is set as the monitoring target. However, the present invention is not limited to this, and any part of the body of the robot 12 (the robot base 20, the rotating body 22, the lower arm 24, the upper arm 26, or the wrist 28) can be set as the monitoring target.

[0151] In this case, for example, an image for selecting a part of the main body of the robot 12 as a monitoring target may be displayed on the sample adjustment image 150 shown in FIG. 10 or FIG. 13. Also, in the machine model MD2 shown in the first image area 112 of FIGS. 11 to 15, a part (robot base 20, swivel body 22, lower arm part 24, upper arm part 26, wrist part 28, or end effector 30) set as a monitoring target may be highlighted in a visually recognizable form (such as coloring).

[0152] Also, in the above-described embodiment, the case of selecting the limit value sample RE1’, the limit value sample RE2’, the model sample MD’, or the composite sample CS in the sample selection image 110 shown in FIG. 7 has been described. However, the processor 50 may be configured to import the limit value sample V’ or PT’ into the function FC by adding the limit value sample V’ or PT’ to the sample selection image 110. It should be understood that the limit value sample V’ or PT’ can be imported by the above-described method in the same manner as the limit value samples RE1’ and RE2’, and the composite sample CS.

[0153] Also, in the above-described embodiment, the case of importing the model sample MD’ of the end effector 30 has been described. However, it should be understood that the model sample MD’ of the main body of the robot 12 or the peripheral device 14 can be imported by the above-described method. In this case, the storage unit 52 stores a plurality of the model sample MD’ of the main body of the robot 12 or the peripheral device 14 and the limit value sample RP’ or the composite sample CS for the model sample MD’ of the main body of the robot 12 or the peripheral device 14, respectively.

[0154] Then, the processor 50 imports the model sample MD’ and the limit value sample RP’ or the composite sample CS in response to an input from the operator, and sets the imported limit value sample RP’ or the composite sample CS as a new safety parameter SP” for the imported model sample MD’ of the main body of the robot 12 or the peripheral device 14.

[0155] Also, in order to prevent interference between the robot 12 and the peripheral device 14, the processor 50 may set the area of the imported model sample MD' of the peripheral device 14 as a restricted area RE2 in the safety parameter SP” according to the input from the operator. In this case, for example, in the sample adjustment image 150 shown in FIG. 13, a setting image for setting the area of the model sample MD' of the peripheral device 14 as the restricted area RE2 may be displayed.

[0156] Also, in the above-described embodiment, data of the restricted area RE2 that prohibits the entry of the robot 12 may be stored in the composite sample CS. Also, the first image area 112 may be omitted from the images 110, 130, 140, 150 shown in FIGS. 7 to 18 above. Even in this case, the operator can select the sample SP’ and import it into the function FC. That is, in this case, the image generation unit 64 can be omitted from the apparatus 70.

[0157] Also, in the above-described embodiment, the case where the parameter setting unit 66 adjusts the newly set safety parameter SP” according to the input IP6 has been described. However, the present invention is not limited to this, and the function of adjusting the new safety parameter SP” can also be required for a device different from the device 70. In this case, the device 70 transmits the newly set safety parameter SP” to the other device. Alternatively, it is also possible to use the imported sample SP’ as the safety parameter SP without adjustment.

[0158] Also, in the above-described embodiment, the case where the parameter setting unit 66 sets the new safety parameter SP” as the operating condition OC according to the input IP7 received by the input receiving unit 62 has been described. However, the present invention is not limited to this, and the function of setting the new safety parameter SP” as the operating condition OC can also be required for a device different from the device 70.

[0159] Also, in the above-described embodiment, the case where the safety parameter SP has the model data MD has been described. However, the model data MD does not necessarily have to be included in the safety parameter SP. Therefore, the storage unit 52 does not have to store the model sample MD'. Also, the safety parameter SP is not limited to those for restricting the operation of the machine 36 (e.g., the robot 12) such as the restriction parameter RP, and may include, for example, parameters for ensuring the security of the communication of the control device 14.

[0160] Also, in the above-described embodiment, the processor 30 may function as the import unit 68 and import the sample SP' as data in the same data format (specifically, the second format FM2 or the third format FM3) as the official safety parameter SP registered in the operation condition OC into the function FC.

[0161] Also, the method for setting the safety parameter SP using the GUI shown in FIGS. 6 to 16 is merely an example, and the present disclosure is not limited thereto. For example, the process of assigning an identification number in the sample import image 140 shown in FIG. 9 or FIG. 12 may be omitted, and the process of setting the imported model sample MD' as the monitoring target of the imported restriction sample RP' or the composite sample CS may be any process.

[0162] Also, in the above-described embodiment, the case where the device 70 is incorporated into the teaching device 18 has been described. However, the device 70 is not limited thereto and may be incorporated into the control device 16 or any other computer (desktop or tablet PC). In this case, the processor and the storage unit of the control device 16 or the other computer will constitute the device 70.

[0163] In addition, in the above-described embodiment, the case where the robot coordinate system C is used as a reference for the limit value sample RP' has been described. However, the present invention is not limited to this. For example, any coordinate system such as a peripheral device coordinate system C set for the peripheral device 14 to control the peripheral device 14, a work coordinate system set for the work, a world coordinate system defining the three-dimensional space of the work cell, etc. may be used as a reference for the limit value sample RP'. As described above, the present disclosure has been described through the embodiments, but the above-described embodiments do not limit the invention according to the claims.

Explanation of Signs

[0164] 10 Machine system 12 Robot 14 Peripheral device 16 Control device 18 Teaching device 30 End effector 50 Processor 52 Storage unit 62 Input reception unit 64 Image generation unit 66 Parameter setting unit 68 Import unit 70 Device

Claims

1. An apparatus for setting safety parameters of a machine, comprising: a storage unit that stores a plurality of sample sets in which samples of a plurality of different combinations of the safety parameters are selectively stored by an input; an image generation unit that displays a sample description image for displaying a description of the selected sample in response to the input for selecting the sample stored in one of the plurality of sample sets.

2. An apparatus for setting safety parameters of a machine, comprising: a storage unit that stores a plurality of sample sets storing samples of a plurality of types of the safety parameters; an image generation unit that displays a sample description image for displaying a description of the selected sample in response to an input for selecting the sample stored in the sample set, wherein the safety parameters include a limit parameter for limiting the operation of the machine and model data of the machine, the limit parameter includes a limit area for monitoring an entry or operation range of the machine, and the model data includes a machine model that models the machine, and the image generation unit displays the limit area or the machine model included in the selected sample together with the description in the sample description image.

3. The model data further has machine information indicating information of the machine, and the image generation unit displays the machine information as the description and displays the machine model in the sample description image, according to the apparatus of claim 2.

4. An apparatus for setting safety parameters of a machine, comprising: a storage unit that stores a plurality of sample sets storing samples of a plurality of types of the safety parameters; an image generation unit that displays a sample description image for displaying a description of the selected sample in response to an input for selecting the sample stored in the sample set, wherein the sample description image includes a decision button image for determining the selected sample as an import target for a function of setting the safety parameters, and the image generation unit generates a sample import image for importing the selected sample into the function in response to an input for operating the decision button image.

5. The sample import image includes a number input image for inputting the identification number of the selected sample and an import button image for executing the import. The apparatus according to claim 4, further comprising an import unit that reads out the selected sample from the storage unit in response to an input for operating the import button image, assigns the identification number input to the number input image, and imports it into the function.

6. An apparatus for setting safety parameters of a machine, a storage unit that stores a sample set storing samples of a plurality of types of the safety parameters, an image generation unit that displays a sample set selection image for selecting the sample set, wherein the sample set selection image includes a plurality of sample set selection button images respectively associated with a plurality of the sample sets stored in the storage unit, the apparatus comprising: the image generation unit. The apparatus, wherein the image generation unit displays a sample selection image for selecting the samples stored in the sample set associated with the one sample set selection button image in response to an input to the one sample set selection button image.

7. The apparatus according to claim 6, wherein the image generation unit displays information regarding the sample set together with the sample set selection button image.

8. The apparatus according to claim 7, wherein the information includes at least one of an explanation of the samples stored in the sample set and drawings.

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