Robot Control System

Abstract

To provide a robot control system configured so that addition and deletion of a new function can be properly performed.SOLUTION: A robot control system is provided with a robot control device for controlling a robot, and a teaching operation board, connected to the robot control device, and operated by an operator. The robot control device comprises: a storing part that stores system software of the robot control device; a function adding part that adds a function to the system software and deletes the function; a switching part, provided on the teaching operation board, and enabling or disabling the function adding part to operate; and a function control part that enables the function adding part to add and delete the function when the switching part enables the function adding part to operate, and disables the function adding part to add and delete the function when the switching part disables the function adding part to operate.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot control system. [Background technology]

[0002] Conventionally, robot control devices use system software to control the robot, and the system software is stored in a storage unit such as a memory in the robot control device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-150636 Summary of the Invention [Problem to be solved by the invention]

[0004] When adding new functions to the system software of an existing robot control device, if the new functions are added while the robot is operating automatically, the software configuration and settings of the robot may be changed, which could adversely affect the operation of the robot while it is in operation. Therefore, it is necessary to add new functions appropriately. [Means for solving the problem]

[0005] In accordance with the present disclosure A control device that controls a robot includes at least one memory capable of storing system software and at least one processor, and the at least one processor acquires information that enables or disables the addition or deletion of functions to the system software, and stops the operation of the robot when it acquires information that enables the addition or deletion of functions to the system software. A control device for controlling a robot according to the present disclosure includes at least one memory capable of storing system software and at least one processor, wherein the at least one processor acquires information for enabling or disabling the addition or deletion of functions to the system software, and when the at least one processor acquires information for disabling the addition or deletion of functions to the system software, if an additional function file exists in an external storage device, the additional function file is saved in the at least one memory. [Effects of the Invention]

[0006] According to the present invention, new functions can be appropriately added and deleted. [Brief explanation of the drawings]

[0007] [Figure 1]1 is a block diagram showing a configuration of a robot control system according to an embodiment of the present invention. [Figure 2] 10 is a flowchart showing a process for adding a new function to the robot control system according to the present embodiment. [Figure 3] 10 is a flowchart showing a process for deleting an already added function of the robot control system according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] An example of an embodiment of the present invention will now be described. Fig. 1 is a block diagram showing the configuration of a robot control system 100 according to this embodiment. The robot control system 100 includes a robot control device 1, a robot 2, a teaching pendant 3, and an external storage device 4. The robot control device 1 is connected to the robot 2 and executes various processes to control the robot 2.

[0009] The robot 2 is connected to the robot control device 1 and operates according to the control from the robot control device 1.

[0010] The teaching pendant 3 is a display input device equipped with a display, hardware keys, etc. The teaching pendant 3 is connected to the robot control device 1 and is operated by an operator to create, modify, and register robot programs, set various parameters, play back taught robot programs, manually operate the robot position, etc.

[0011] The teaching operation panel 3 also includes a switching unit 31 that is provided on the teaching operation panel 3 and that sets the operation of a function addition unit 111 of the control unit 11, which will be described later, to enabled or disabled. For example, the switching unit 31 may be a switch or button that can be switched between ON and OFF.

[0012] The external storage device 4 is a storage device such as a USB memory, a CF card, etc. that can be connected to the robot control device 1. The external storage device 4 includes an additional function file 41, for example.

[0013] The robot control device 1 includes a control unit 11 and a storage unit 12. The control unit 11 is a processor such as a CPU (Central Processing Unit), etc. The control unit 11 includes a function adding unit 111, a screen adding unit 112, a setting changing unit 113, and a function control unit 114.

[0014] The storage unit 12 is configured with a ROM (read only memory), a RAM (random access memory), a non-volatile memory, a hard disk drive, an SSD (solid state drive), etc., and stores various types of data.

[0015] For example, system software for controlling the robot 2 and system software for performing image processing are stored in the ROM of the storage unit 12. Furthermore, robot programs that teach the robot work content according to the application and related setting data are stored in the non-volatile memory of the storage unit 12. The RAM of the storage unit 12 is used as a storage area for temporary storage of data for various arithmetic processing performed by the control unit 11.

[0016] The system software 121 is system software for controlling the robot 2, and is a collection of multiple system programs. The robot program 122 is a program for causing the robot 2 to perform various operations.

[0017] The additional function file 41 stored in the external storage device 4 includes a file for adding a function to the system software 121, and is configured as an archive file that combines a plurality of system programs and a plurality of data files into a single file.

[0018] The additional function files 41 include, for example, a function definition information file, an additional system software file, an operation screen configuration file, an operation screen control file, a robot program command file, a setting data file, a command file, and the like.

[0019] The function definition information file has definition information (such as a name, version number, ID name, and function description). The function definition information file 411 is registered as an entry in an additional function database to be added to the storage unit 12. For example, the function adding unit 111 of the control unit 11 displays a list of functions to be added on the teaching pendant 3 of the robot control device 1 based on the data in the additional function database.

[0020] The additional function file 41 also contains identification information for the function to be added, which allows the control unit 11 to distinguish the added function from other functions.

[0021] The additional system software file is a file that includes a system program written in machine language that can be executed by the control unit 11 of the robot control device 1.

[0022] The operation screen configuration file and the operation screen control file are files for adding an operation screen to the teaching pendant 3 of the robot control device 1. The operation screen configuration file and the operation screen control file are registered in a screen control database added to the storage unit 12.

[0023] The robot program command file is a file for adding new robot commands. The setting data file is a file for changing the settings of the robot 2 by the robot control device 1. The command file is a file that contains commands for the robot control device 1 to perform various processes (file operations, system setting operations, etc.).

[0024] Next, the process of adding a function by the control unit 11 will be described.

[0025] The function addition unit 111 adds a function to the system software 121 based on the additional function file 41 stored in the external storage device 4 .

[0026] Furthermore, the function adding unit 111 may selectively add a function to the system software 121 based on the additional function file 41. Specifically, the function adding unit 111 may display a list of additional functions on the teaching pendant 3 and selectively add a function to the system software 121 by selecting a specific function in accordance with the operation of the teaching pendant 3.

[0027] The additional function is implemented, for example, by the following process. (a) The function addition unit 111 expands the files in the additional function file 41 into the RAM of the storage unit 12. (b) The function adding unit 111 reads function information (ID name, version number, etc.) from the function definition information file and reserves an area (function introduction area) for storing the added function in the non-volatile memory of the storage unit 12. The function adding unit 111 also uses the ID name of the added function as the name of the function introduction area. (c) The function addition unit 111 copies all the files that have been expanded in the storage unit 12 to the reserved function installation area, and then deletes the expanded files. (d) The control unit 11 executes the processing corresponding to each file included in the additional function file 41. (e) After all the processes are completed, the robot control device 1 is restarted, and the robot control device 1 becomes able to execute the additional function.

[0028] The screen adding unit 112 adds a new graphical user interface (GUI) screen to the system software 121 based on the operation screen configuration file and the operation screen control file. For example, the screen adding unit 112 adds a new GUI screen for operating the additional device 5 to the system software 121 based on the operation screen configuration file and the operation screen control file. This allows the user to operate the additional function using the teaching pendant 3.

[0029] The setting change unit 113 changes the system settings of the system software 121 based on the setting data file and the command file. For example, the setting change unit 113 changes the system settings of the system software 121 related to the operation of the additional device 5 based on the setting data file and the command file.

[0030] When the switching unit 31 sets the operation of the function adding unit 111 to be enabled, the function control unit 114 enables the addition of a function by the function adding unit 111. When the switching unit 31 sets the operation of the function adding unit 111 to be disabled, the function control unit 114 disables the addition of a function by the function adding unit 111. In other words, the addition of a function by the function adding unit 111 is possible only when the operation of the function adding unit 111 is set to be enabled.

[0031] When an operator displays a screen for adding a function on the teaching operation panel 3 in order to add a function, if the operation of the function addition unit 111 has been disabled by the switching unit 31, the function control unit 114 displays a message on the teaching operation panel 3 prompting the operator to enable the operation of the function addition unit 111 by the switching unit 31.

[0032] Then, the function control unit 114 continues to display a message prompting the switching unit 31 to enable the operation of the function adding unit 111 on the teaching pendant 3 until the switching unit 31 enables the operation of the function adding unit 111 or until a transition to another screen occurs. Furthermore, when the switching unit 31 enables the operation of the function adding unit 111, the function control unit 114 enables the addition of a function by the function adding unit 111.

[0033] Furthermore, when the switching unit 31 enables the operation of the function adding unit 111, the function control unit may enable an operation to selectively add a function to the system software 121 on the teaching pendant 3. This allows the robot control device 1 to selectively add a function to the system software 121.

[0034] Furthermore, when the switching unit 31 sets the operation of the function addition unit 111 to enabled during automatic operation of the robot 2 by the robot control device 1, the function control unit 114 stops the automatic operation of the robot 2 and generates notification information to notify of an abnormality in the setting of the switching unit 31. Specifically, when the switching unit 31 sets the operation of the function adding unit 111 to enabled during automatic operation of the robot 2 by the robot control device 1, the function control unit 114 stops the automatic operation of the robot 2 and displays an abnormality message on the teaching operation panel 3 as notification information notifying an abnormality in the setting of the switching unit 31. The function control unit 114 may also generate an alarm sound as the notification information.

[0035] Furthermore, when the switching unit 31 has disabled the operation of the function adding unit 111, and an additional function file exists in the external storage device 4, the function control unit 114 may temporarily store the additional function file in the storage unit 12. Then, when the switching unit 31 has enabled the operation of the function adding unit 111, the function adding unit 111 may add a function to the system software 121 based on the additional function file temporarily stored in the storage unit 12.

[0036] Furthermore, when the switching unit 31 has disabled the operation of the function adding unit 111, and an additional function file exists in the external storage device 4, the function control unit 114 may temporarily store the additional function file in the storage unit 12. When the switching unit 31 has enabled the operation of the function adding unit 111, the function control unit 114 may display, on the teaching pendant 3, execution information for executing the function addition by the function adding unit 111.

[0037] Specifically, when the switching unit 31 enables the operation of the function adding unit 111, the function control unit 114 displays, as execution information, information instructing the start of installation of the additional function file on the teaching operation panel 3. This allows the worker to operate the teaching operation panel 3 to install the additional function file. Then, the function adding unit 111 may add a function to the system software 121 based on the additional function file temporarily stored in the storage unit 12.

[0038] FIG. 2 is a flowchart showing the processing of the robot control system 100 according to this embodiment. In step S1, the function control unit 114 detects that the external storage device 4 is connected to the robot control device 1.

[0039] In step S2, function control unit 114 waits for a predetermined time T (for example, 0.1 seconds). In step S3, the function control unit 114 determines whether or not a screen other than the screen for adding a function has been selected on the teaching pendant 3. If another screen has been selected (YES), the process proceeds to step S12. On the other hand, if the screen for adding a function has been selected (NO), the process proceeds to step S4.

[0040] In step S4, function control unit 114 determines whether or not the operation of function addition unit 111 has been enabled by switching unit 31. If it has been enabled (YES), the process proceeds to step S6. On the other hand, if it has been disabled (NO), the process proceeds to step S5.

[0041] In step S5, the function control unit 114 displays a message A on the teaching operation panel 3 to prompt the switching unit 31 to enable the operation of the function adding unit 111. For example, if the switching unit 31 is a switch, the function control unit 114 displays a message A such as "Turn the switch ON" or "The switch is OFF" on the teaching operation panel 3.

[0042] In step S6, the function control unit 114 enables the addition of a function by the function adding unit 111. Then, the function control unit 114 determines whether or not an additional function file exists in the external storage device 4. If an additional function file exists (YES), the process proceeds to step S8. On the other hand, if an additional function file does not exist (NO), the process proceeds to step S7.

[0043] In step S7, since no additional function file was found in step S6, the function control unit 114 displays a message B on the teaching operation panel 3 to prompt the user to connect another external storage device 4 in which the additional function file is present. For example, the function control unit 114 displays a message B such as "Please connect the correct external storage device" on the teaching operation panel 3.

[0044] In step S8, the function control unit 114 determines whether or not a screen for adding a function has been operated on the teaching pendant 3. Specifically, the function control unit 114 determines whether or not an installation execution button has been pressed as an operation on the screen for adding a function on the teaching pendant 3. If the installation execution button has been pressed (YES), the process proceeds to step S9. On the other hand, if the installation execution button has not been pressed (NO), the process proceeds to step S2.

[0045] In step S9, the function adding section 111 executes a process of adding (installing) a function to the system software 121 based on the additional function file.

[0046] In step S10, after the function adding unit 111 adds the function, the function control unit 114 displays information indicating that the function adding (installation) process has been completed on the teaching pendant 3. For example, the function control unit 114 displays a message such as "Installation completed."

[0047] In step S11, the function control unit 114 determines whether or not a screen other than the screen for adding a function has been selected on the teaching pendant 3. If another screen has been selected (YES), the process proceeds to step S12. On the other hand, if the screen for adding a function has been selected (NO), the process proceeds to step S10.

[0048] In step S12, the function control section 114 displays on the teaching pendant 3 the screen selected in step S3 or step S11.

[0049] Next, the process of deleting a function by the control unit 11 will be described. The function adding unit 111 and the screen adding unit 112 may be configured to be able to delete a function that has been added once.

[0050] The function adding unit 111 may selectively delete an added function. Specifically, the function adding unit 111 may display a list of already added functions on the teaching pendant 3, and select a specific function by operating the teaching pendant 3, thereby selectively deleting the function.

[0051] The deletion of the function is carried out, for example, by the following process. (a) The function adding unit 111 can specify a function introduction area in the nonvolatile memory of the storage unit 12 using the ID name of the added function. (b) The control unit 11 executes a process for deleting each file included in the additional function file 41. (c) The function addition unit 111 deletes the file that has been deployed in the function introduction area in the storage unit 12. (d) The function adding unit 111 deletes the file in the additional function file 41 that is loaded into the RAM of the storage unit 12. (e) After all the processes are completed, the robot control device 1 is restarted, and the deletion of the function becomes effective in the robot control device 1.

[0052] The screen adding unit 112 deletes the new GUI screen for operating the additional device 5, which has been added to the system software 121 based on the operation screen configuration file and the operation screen control file.

[0053] The setting change unit 113 changes the system settings of the system software 121 after the function has been deleted based on the setting data file and the command file. For example, the setting change unit 113 changes the system settings of the system software 121 related to the operation after the additional device 5 has been deleted based on the setting data file and the command file to be deleted.

[0054] When the switching unit 31 sets the operation of the function adding unit 111 to be enabled, the function control unit 114 enables the deletion of functions by the function adding unit 111. Furthermore, when the switching unit 31 sets the operation of the function adding unit 111 to be disabled, the function control unit 114 disables the deletion of functions by the function adding unit 111. In other words, the deletion of functions by the function adding unit 111 is possible only when the operation of the function adding unit 111 is set to be enabled.

[0055] When an operator displays a screen for deleting a function on the teaching operation panel 3 in order to delete a function, if the operation of the function addition unit 111 has been disabled by the switching unit 31, the function control unit 114 displays a message on the teaching operation panel 3 prompting the operator to enable the function deletion operation of the function addition unit 111 by the switching unit 31.

[0056] Then, the function control unit 114 continues to display a message prompting the switching unit 31 to enable the operation of the function adding unit 111 on the teaching operation panel 3 until the switching unit 31 enables the operation of the function adding unit 111 or until a transition to another screen occurs. Furthermore, when the switching unit 31 enables the operation of the function adding unit 111, the function control unit 114 enables the deletion of functions by the function adding unit 111.

[0057] Furthermore, when the switching unit 31 has enabled the operation of the function adding unit 111, the function control unit may enable an operation to selectively delete a function from the system software 121 on the teaching pendant 3. This allows the robot control device 1 to selectively delete a function that has been added to the system software 121.

[0058] Furthermore, when the switching unit 31 sets the operation of the function addition unit 111 to enabled during automatic operation of the robot 2 by the robot control device 1, the function control unit 114 stops the automatic operation of the robot 2 and generates notification information to notify of an abnormality in the setting of the switching unit 31.

[0059] Specifically, when the switching unit 31 sets the operation of the function adding unit 111 to enabled during automatic operation of the robot 2 by the robot control device 1, the function control unit 114 stops the automatic operation of the robot 2 and displays an abnormality message on the teaching operation panel 3 as notification information notifying an abnormality in the setting of the switching unit 31. The function control unit 114 may also generate an alarm sound as the notification information.

[0060] FIG. 3 is a flowchart showing the process of deleting a function of the robot control system 100 according to this embodiment. In step S21, the function control unit 114 displays on the teaching pendant 3 a list of functions that have already been added. In step S22, function control unit 114 waits for a predetermined time T (for example, 0.1 seconds).

[0061] In step S23, the function control unit 114 determines whether or not a screen other than the screen for deleting a function has been selected on the teaching pendant 3. If another screen has been selected (YES), the process proceeds to step S30. On the other hand, if the screen for deleting a function has been selected (NO), the process proceeds to step S24.

[0062] In step S24, the function control unit 114 determines whether or not a screen for deleting a function has been operated on the teaching pendant 3. Specifically, the function control unit 114 determines whether or not the uninstall execution button has been pressed as an operation on the screen for deleting a function on the teaching pendant 3. If the uninstall execution button has been pressed (YES), the process proceeds to step S25. On the other hand, if the install execution button has not been pressed (NO), the process proceeds to step S22.

[0063] In step S25, function control unit 114 determines whether or not the operation of function addition unit 111 has been enabled by switching unit 31. If it has been enabled (YES), the process proceeds to step S27. On the other hand, if it has been disabled (NO), the process proceeds to step S26.

[0064] In step S26, the function control section 114 displays a message C such as "Turn the switch ON" or "The switch is OFF" on the teaching pendant 3, and then the process proceeds to step S22.

[0065] In step S27, function addition section 111 executes a process of deleting (uninstalling) the function from system software 121 based on the additional function file.

[0066] In step S28, after the function addition unit 111 deletes the function, the function control unit 114 displays information indicating that the function deletion (uninstallation) process has been completed on the teaching pendant 3. For example, the function control unit 114 displays a message such as "Uninstallation completed."

[0067] In step S29, the function control unit 114 determines whether or not a screen other than the screen for deleting a function has been selected on the teaching pendant 3. If another screen has been selected (YES), the process proceeds to step S30. On the other hand, if the screen for deleting a function has been selected (NO), the process proceeds to step S28.

[0068] In step S30, the function control section 114 displays on the teaching pendant 3 the screen selected in step S23 or step S28.

[0069] As described above, according to this embodiment, the robot control system 100 includes the robot control device 1 for controlling the robot 2, and the teaching pendant 3 connected to the robot control device 1 and operated by an operator. The robot control device 1 includes a storage unit 12 for storing system software 121 for the robot control device 1, a function addition unit 111 for adding functions to the system software 121, a switching unit 31 provided on the teaching pendant 3 for enabling or disabling the operation of the function addition unit 111, and a function control unit 114 that enables the addition and deletion of functions by the function addition unit 111 when the operation of the function addition unit 111 is enabled by the switching unit 31, and disables the addition and deletion of functions by the function addition unit 111 when the operation of the function addition unit 111 is disabled by the switching unit 31.

[0070] As a result, the robot control system 100 enables and disables the operation of the function adding unit 111 using the switching unit 31 provided on the teaching pendant 3, and can therefore appropriately enable and disable the addition and deletion of functions of the system software 121 by the function adding unit 111. Therefore, the robot control system 100 can appropriately add and delete new functions to and from the system software 121.

[0071] The function adding unit 111 also adds and removes functions to and from the system software based on the additional function file stored in the external storage device, allowing the robot control system 100 to appropriately add and remove functions from the system software.

[0072] The additional function file is configured as an archive file that combines multiple programs and multiple data files into one file, which allows the robot control system 100 to suitably install files with additional functions.

[0073] Furthermore, the function adding unit 111 selectively adds functions to the system software 121 based on the additional function file 41. This allows the robot control system 100 to appropriately introduce additional functions required for the robot control device 1.

[0074] Furthermore, when the switching unit 31 enables the operation of the function adding unit 111, the function control unit 114 enables an operation to selectively add a function to the system software 121 or delete an added function on the teaching pendant 3. This allows the robot control system 100 to appropriately introduce additional functions required for the robot control device 1, and also allows the robot control system 100 to appropriately delete functions that have been added.

[0075] Furthermore, when the switching unit 31 sets the operation of the function adding unit 111 to enabled during automatic operation of the robot 2 by the robot control device 1, the function control unit 114 stops the automatic operation and generates notification information to notify of an abnormality in the setting of the switching unit 31. This allows the robot control system 100 to avoid introducing additional functions during automatic operation, thereby preventing the operation of introducing additional functions from affecting the automatic operation of the robot 2.

[0076] Furthermore, when the switching unit 31 has disabled the operation of the function adding unit 111 and an additional function file 41 exists in the external storage device 4, the function control unit 114 temporarily stores the additional function file 41 in the memory unit 12. When the switching unit 31 has enabled the operation of the function adding unit 111, the function adding unit 111 adds a function to the system software 121 based on the additional function file 41 temporarily stored in the memory unit 12.

[0077] As a result, the robot control system 100 can add functions to the system software 121 using the additional function file 41 temporarily stored in the storage unit 12 when the operation of the function addition unit 111 is disabled.

[0078] Furthermore, when the switching unit 31 has disabled the operation of the function adding unit 111 and an additional function file 41 exists in the external storage device 4, the function control unit 114 temporarily stores the additional function file 41 in the storage unit 12. When the switching unit 31 has enabled the operation of the function adding unit 111, the function control unit 114 displays, on the teaching pendant 3, execution information for executing the function addition by the function adding unit 111.

[0079] As a result, the robot control system 100 displays execution information for executing the addition of a function by the function adding unit 111 on the teaching pendant 3. Therefore, the worker can add a function by the function adding unit 111 by referring to the execution information and operating the teaching pendant 3.

[0080] The above has described an embodiment of the present invention, but the robot control system 100 can be realized by hardware, software, or a combination of these. Furthermore, the control method performed by the robot control system 100 can also be realized by hardware, software, or a combination of these. Here, "realized by software" means that it is realized by a computer reading and executing a program.

[0081] The program can be stored and provided to a computer using various types of non-transitory computer readable media. 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 drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs (random access memories), and SSDs (Solid State Drives)).

[0082] Furthermore, although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to only the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. [Explanation of symbols]

[0083] 1. Robot control device 2 Teaching control panel 3. Robot 111 Additional Functions 112 Screen addition section 113 Setting change section 114 Function control section

Claims

1. A control device for controlling a robot, at least one memory capable of storing system software for controlling the robot; at least one processor capable of adding or removing functions to the system software based on an additional function file; The at least one processor a control device that stops the operation of the robot when information enabling the addition or deletion of the function based on the additional function file is acquired from a teaching pendant during automatic operation of the robot;

2. The at least one processor The control device according to claim 1 , wherein functions are added to or deleted from the system software based on the additional function file stored in an external storage device.

3. The control device according to claim 2 , wherein the additional function file is configured as an archive file in which a plurality of programs and a plurality of data files are combined into one file.

4. 4. The control device according to claim 2 or 3, wherein the additional function file includes at least one of a function definition information file, an additional system software file, an operation screen configuration file, an operation screen control file, a robot program instruction file, a setting data file, and a command file.

5. The at least one processor 5. A control device according to claim 1, wherein when information enabling the addition or deletion of the function based on the additional function file is obtained from the teaching operation panel during automatic operation of the robot, the control device enables an operation to add or delete a function to the system software on the teaching operation panel.

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