Control device

Abstract

A control device according to the present disclosure is connected to a plurality of industrial machines and a display device. The control device is a computer device provided with a cutoff unit, a generation unit, and a display mode change unit 26. The cutoff unit has a function for individually cutting off supply of drive power related to powering the plurality of industrial machines. The generation unit has a function for generating display signals for displaying, on the display device, a three-dimensional model related to the industrial machines. The display mode change unit has a function for changing the display mode of each three-dimensional model according to the supply state of drive power to each of the industrial machines.

Description

control device

[0001] The present disclosure relates to a control device for controlling an industrial machine.

[0002] Safety measures are essential when introducing industrial machinery such as robots, machine tools, and processing equipment, and manufacturers of industrial machinery have proposed various technologies to ensure the safety of workers (see, for example, Patent Literature 1). In particular, when workers are forced to work near robots, such as during maintenance and inspection work or teaching work, the safety of workers is ensured by cutting off the supply of drive power to surrounding robots to prevent the surrounding robots from suddenly moving. However, it is not easy for workers on site to distinguish between robots that have not had their drive power supply cut off and are therefore likely to move, among multiple robots deployed in a factory or the like, and robots that have had their drive power supply cut off and are therefore unlikely to move.

[0003] JP 2017-100204 A

[0004] There is a need to propose a technology that allows a user to easily distinguish between industrial machines in which the supply of drive power related to the power source has been cut off and industrial machines in which the supply of drive power related to the power source has not been cut off.

[0005] A control device according to the present disclosure is connected to a plurality of industrial machines and a display device, and includes a cutoff unit for individually cutting off the supply of drive power to the plurality of industrial machines, a generation unit for generating a display signal for displaying a three-dimensional model of the industrial machines on the display device, and a display mode change unit for changing the display mode of the three-dimensional model depending on the state of the supply of drive power to the industrial machines.

[0006] FIG. 1 is a hardware configuration diagram of a control device according to this embodiment. FIG. 2 is a configuration diagram of a shutoff device provided in the control device according to this embodiment. FIG. 3 is a functional block diagram of the control device according to this embodiment. FIG. 4 is a diagram showing an example of a supply status management table stored in the storage device of FIG. 1. FIG. 5 is a diagram showing an example of a reception screen displayed on the teaching pendant of FIG. 1. FIG. 6 is a diagram showing an example of a confirmation screen displayed on the teaching pendant of FIG. 1. FIG. 7 is a diagram showing a first example of another confirmation screen displayed on the teaching pendant of FIG. 1. FIG. 8 is a diagram showing a second example of another confirmation screen displayed on the teaching pendant of FIG. 1. FIG. 9 is a diagram showing an example of a group display screen displayed on the teaching pendant of FIG. 1. FIG. 10 is a diagram showing another example of a group display screen displayed on the teaching pendant of FIG. 1. FIG. 11 is a diagram showing an example of a display setting screen displayed on the teaching pendant of FIG. 1. FIG. 12 is a diagram showing an example of a group setting screen displayed on the teaching pendant of FIG. 1. FIG. 13 is a diagram showing a screen combining the reception screen of FIG. 5 and the confirmation screen of FIG. 6.

[0007] The control device according to this embodiment will be described below with reference to the drawings. In the following description, components having substantially the same functions and configurations are designated by the same reference numerals, and redundant description will be given only when necessary.

[0008] The control device according to this embodiment is a computer device having the following functions: individually cutting off the supply of drive power to a plurality of industrial machines; displaying three-dimensional models of the industrial machines on a display device; and changing the display mode of each of the three-dimensional models depending on the state of drive power supply to each of the industrial machines or arranging visual elements representing the state of drive power supply to each of the industrial machines in association with the three-dimensional models. According to this embodiment, for example, among the plurality of three-dimensional models displayed on the display device, the display mode of a three-dimensional model of a robot that can actually move is different from the display mode of a three-dimensional model of a robot that cannot move. This helps the user confirm whether each robot can operate.

[0009] In this embodiment, the terms are defined as follows: Driving power related to motive power: Driving power related to motive power refers to the driving power required to operate the robot, and refers to the motor driving power that drives the motor that operates the robot. Therefore, driving power related to motive power does not refer only to the low-voltage sensor driving power that is used only to drive sensor devices such as voltage sensors mounted on the robot and does not directly contribute to the operation of the robot. Of course, driving power related to motive power refers to the overall driving power, including the motor driving power and the sensor driving power. Hereinafter, driving power related to motive power may be simply referred to as driving power. Driving power supply status: The driving power supply status includes two states: "supplying" and "shut off." Disconnection group: A unit in which control (shut off, restoration) of the supply of driving power is performed collectively. A disconnection group is set according to user instructions and includes at least one robot.

[0010] FIG. 1 is a hardware configuration diagram of a control device according to this embodiment. As shown in FIG. 1, the control device 1 is connected to an external power supply 9 and is driven by drive power from the power supply 9. The control device 1 includes a processor 11. A RAM 12, a ROM 13, a storage device 14, a teaching operation panel I / O 16, a robot I / O 17, and a cutoff device 18 are connected to the processor 11 via a data / control bus 10. The processor 11 is composed of a CPU and a GPU. The RAM 12 functions as the processor 11's main memory, work area, etc. The ROM 13 stores data such as the BIOS and OS. The storage device 14 stores a power supply status confirmation support program and various data required for related processing. The various data include a three-dimensional model, a power supply status management table, setting information, etc. The power supply status confirmation support program is a program that assists a user in checking the power supply status of each robot 5. The three-dimensional model is data necessary for displaying a virtual space that reproduces the actual layout space of each of the multiple robots 5 on the display screen of the teaching pendant 4. For example, the three-dimensional model includes a three-dimensional model of the robot 5, three-dimensional models of devices around the robot, objects, and other structures, etc. Layout information is attached to the three-dimensional model. The supply status management table manages the supply status of drive power to each robot 5. The setting information includes setting information related to the display method of information indicating the supply status of drive power and setting information related to the display method of disconnected groups.

[0011] The teaching pendant 4 is connected to the teaching pendant I / O 16. The teaching pendant 4 is a device that has both the function of an operation device that inputs user instructions to the control device 1 and the function of a display device that displays a screen in response to a display signal from the control device 1. The control device 1 transmits and receives various data to and from the teaching pendant 4 via the teaching pendant I / O 16. Note that an external information processing terminal installed with software that performs the same functions as the teaching pendant 4 may be connected to the control device 1 via a network such as the Internet.

[0012] A plurality of robots 5 (first robot 5a, second robot 5b, third robot 5c) are connected to the robot I / O 17. Each of the plurality of robots 5 (first robot 5a, second robot 5b, third robot 5c) is equipped with a plurality of power motors 6 (first motor 6a, second motor 6b, third motor 6c). The control device 1 transmits and receives various data to and from the plurality of robots 5 via the robot I / O 17.

[0013] The cutoff device 18 is interposed between the multiple robots 5 (first robot 5a, second robot 5b, third robot 5c) and the power supply device 9. The cutoff device 18 generates a motor current for driving the motors 6 mounted on the robots 5 from the driving power supplied from the power supply device 9. The motors 6 are driven by the motor current generated by the cutoff device 18, and the robots 5 are operated. The cutoff device 18 has a function of individually controlling the supply of driving power to each of the multiple robots 5 in accordance with a user instruction. Typically, the user instruction is input by operating a physical button device directly or indirectly connected to the cutoff device 18. Of course, the user instruction may also be input by a user operation on a reception screen displayed on the teaching pendant 4.

[0014] Fig. 2 is a hardware configuration diagram of the shutoff device 18 in Fig. 1. As shown in Fig. 2, the shutoff device 18 has a plurality of drivers 183 (a first driver 183a, a second driver 183b, and a third driver 183c) and a shutoff controller 181 that individually controls the shutoff / restoration of the supply of drive power to a plurality of motors 6 (a first motor 6a, a second motor 6b, and a third motor 6c) by the plurality of drivers 183.

[0015] The shutdown controller 181, upon receiving a shutdown instruction from the processor 11, sends a shutdown signal to the driver 183 specified by the shutdown instruction. The shutdown controller 181, upon receiving a restore instruction from the processor 11, sends a restore signal to the driver 183 specified by the restore instruction. The shutdown controller 181 also sends feedback information (FB information) to the processor 11, which includes identification information for identifying the robot 5 and information indicating the supply state of drive power, based on the FB signal input from the driver 183 in response to the sending of the shutdown signal or restore signal.

[0016] Since the first driver 183a, the second driver 183b, and the third driver 183c have the same configuration, only the first driver 183a will be described here. The first driver 183a includes a first generating unit 184a that generates a motor current for driving the first motor 6a from the driving power supplied from the power supply device 9 in accordance with a control signal from the processor 11, a first shutoff unit 185a that shuts off the supply of motor current to the first motor 6a upon receiving a shutoff signal generated by the shutoff controller 181, a first restoring unit 186a that restores the supply of motor current to the first motor 6a upon receiving a restore signal generated by the shutoff controller 181, and a first detecting unit 187a that detects the actual supply state of the motor current to the first motor 6a and generates a feedback signal (FB signal) according to the detection result. The driving power supplied from the power supply device 9 to the generating unit 184 corresponds to the "driving power related to motive power" in this embodiment. Furthermore, the motor current generated by the generating unit 184 is for operating the robot 5, and therefore also corresponds to the "driving power related to motive power" in this embodiment.

[0017] For example, the first generating unit 184a has a known power supply circuit. The first interrupting unit 185a has an interrupting circuit interposed between the first motor 6a and the power supply device 9. The interrupting circuit is configured to interrupt the electrical connection between the first motor 6a and the first generating unit 184a, or between the first generating unit 184a and the power supply device 9, in response to an interruption signal. By interrupting the electrical connection between the first motor 6a and the first generating unit 184a, or between the first generating unit 184a and the power supply device 9, the supply of motor current (driving power related to motive power) to the first motor 6a is forcibly interrupted.

[0018] The first reset unit 186a has a reset circuit for restoring the electrical connection that was interrupted between the first motor 6a and the power supply 9. The reset circuit is configured to be able to restore the electrical connection that was interrupted between the first motor 6a and the first generating unit 184a, or between the first generating unit 184a and the power supply 9, by a reset signal. When the electrical connection that was interrupted between the first motor 6a and the first generating unit 184a, or between the first generating unit 184a and the power supply 9, is restored, the supply of motor current (driving power related to motive power) to the first motor 6a is restored.

[0019] The first detector 187a has a detection circuit that detects the voltage value of the power supply line between the first motor 6a and the first generator 184a or between the first generator 184a and the power supply device 9, and generates an electric signal according to the detection result as an FB signal. When the supply of motor current is cut off, that is, when the voltage value of the power supply line between the first motor 6a and the first generator 184a or between the first generator 184a and the power supply device 9 drops below a threshold value (for example, a voltage value of "0"), the first detector 187a sends a high-level voltage signal to the cutoff controller 181 as an FB signal indicating that the supply of drive power is being cut off. Furthermore, when the supply of motor current is restored, that is, when the voltage value of the power supply line between the first motor 6a and the first generating unit 184a, or between the first generating unit 184a and the power supply device 9, exceeds a threshold value (for example, several tens of volts), the first detecting unit 187a sends a low-level voltage signal to the cut-off controller 181 as an FB signal indicating that the supply of drive power is being supplied.

[0020] As shown in Figure 3, when the processor 11 executes the supply status confirmation support program loaded from the storage device 14 to the RAM 12, the processor 11 in this embodiment functions as a reception unit 20, a display setting unit 21, a shutoff device control unit 22, a management table update unit 23, a virtual space creation unit 24, a model placement unit 25, a display mode change unit 26, a visual element placement unit 27, a screen creation unit 28, and a display signal generation unit 29.

[0021] The reception unit 20 receives user operations via the teaching pendant 4. Specifically, the reception unit 20 receives an instruction to shut off / restore the supply of drive power, an instruction to set a display method for information indicating the supply state of drive power, an instruction to set a display method for disconnected groups, an instruction to set disconnected groups, an instruction to switch the display screen, and the like.

[0022] The display setting unit 21 sets the display method of the information indicating the supply state of the driving power and the display method of the disconnected groups based on a user operation on the display setting screen.

[0023] The cutoff device control unit 22 sends a cutoff instruction or a restoration instruction to the cutoff device 18 based on a user operation via the reception unit 20 , and receives FB information from the cutoff device 18 .

[0024] The management table update unit 23 updates the supply status managed in the supply status management table based on the FB information from the cutoff device 18 .

[0025] The virtual space creation unit 24 creates a virtual space on software that three-dimensionally represents the arrangement space of each robot 5. The virtual space created by the virtual space creation unit 24 is displayed on a confirmation screen, a group display screen, etc.

[0026] The model placement unit 25 places a three-dimensional model of the robot 5 and the like in the virtual space created by the virtual space creation unit 24. The three-dimensional model of the robot 5 is placed at a position corresponding to the actual placement position in accordance with the layout information.

[0027] The display mode change unit 26 changes the display mode of the three-dimensional model of the robot 5 displayed in the virtual space based on the actual supply status of each robot 5 managed in the supply status management table.

[0028] The visual element placement unit 27 selects a visual element corresponding to the actual supply state managed in the supply state management table from a plurality of visual elements, and places the selected visual element in correspondence with the three-dimensional model 50 of the robot 5 displayed in the virtual space.

[0029] The screen creation unit 28 creates various screens related to the supply status confirmation support program. Specifically, the screen creation unit 28 creates a reception screen for receiving cut-off instructions / restart instructions from the user, a confirmation screen for supporting the user in checking the drive power supply status for each robot 5, a group display screen for displaying disconnected groups for which the cut-off / restart of the drive power supply can be collectively controlled, a display setting screen for setting the display method for information indicating the drive power supply status and the display method for disconnected groups, a group setting screen for setting disconnected groups, etc. Details of these screens will be described later.

[0030] The display signal generating unit 29 generates a display signal for displaying the various screens created by the screen creating unit 28 on the teaching pendant 4. The display signal generated by the display signal generating unit 29 is input to the teaching pendant 4. As a result, a reception screen (FIG. 5), a confirmation screen (FIGS. 6 to 8), a group display screen (FIGS. 9 and 10), a display setting screen (FIG. 11), a group setting screen (FIG. 12), etc. are displayed on the teaching pendant 4. The group setting unit 30 sets a separation group based on a user operation on the group setting screen.

[0031] FIG. 4 is a diagram showing an example of a power supply status management table stored in the storage device 14. As shown in FIG. 4, the power supply status management table associates a robot ID (identification information) that identifies the robot 5 with a robot name, group ID, switch name, and actual power supply status. The group ID is identification information for identifying the disconnected group. The switch name is the name of a software button that can collectively instruct the disconnected group to shut off or restore the power supply. The power supply status management table shown in FIG. 4 indicates that "Switch 1" corresponds to the first robot 5a, and "Switch 2" corresponds to the second robot 5b and the third robot 5c. The actual power supply status includes "supplying" and "shutoff," and distinguishes the actual power supply status of the corresponding robot 5. The power supply status management table shown in FIG. 4 indicates that the power supply to the first robot 5a is shut off, and that power is being supplied to the second and third robots 5b and 5c. The actual power supply status is updated by the management table update unit 23.

[0032] The reception screen displayed on the teaching pendant 4 will be described below with reference to FIG. 5 . The reception screen is configured to allow instructions to shut off / restore the supply of drive power to each robot 5. FIG. 5 shows an example of the reception screen. The reception screen 110 is displayed when the “Execute Disconnection” button 101 on the navigation menu 100 is operated. For example, as shown in FIG. 5 , the reception screen 110 displays the name of the disconnection group and a toggle button that allows instructions to shut off / restore the supply of drive power for each disconnection group. For example, when the user switches the toggle button 111b from “Connect” to “Disconnect,” an instruction to shut off the supply of drive power to the second robot 5b and the third robot 5c, which are set in disconnection group 2, is sent to the disconnection device 18. As a result, the supply of drive power to the second robot 5b and the third robot 5c is shut off, and the drive power supply status is changed from “supplying” to “shutoff.” Furthermore, when the user switches the toggle button 111b from "disconnected" to "connected," an instruction to restore the supply of drive power to the second robot 5b and the third robot 5c, which are set in disconnection group 2, is sent to the disconnection device 18. As a result, the supply of drive power to the second robot 5b and the third robot 5c is restored, and the drive power supply status is changed from "disconnected" to "supplying."

[0033] A confirmation screen displayed on the teaching pendant 4 will be described below with reference to FIG. 6 . The confirmation screen is configured to allow the user to easily grasp the drive power supply status of each robot 5. FIG. 6 shows an example of the confirmation screen. The confirmation screen 120 is displayed when the “Layout Display” button 102 on the navigation menu 100 is operated. As shown in FIG. 6 , the confirmation screen 120 displays a three-dimensional virtual space 125. Within the virtual space 125, a plurality of three-dimensional models 50 (50a, 50b, 50c) corresponding to a plurality of robots 5 (5a, 5b, 5c) are arranged at positions corresponding to their actual positions according to layout information. Furthermore, a plurality of labels 121 (121a, 121b, 121c) describing the robot names are arranged in association with the plurality of three-dimensional models 50 (50a, 50b, 50c). The display mode of each of the multiple three-dimensional models 50 (50a, 50b, 50c) arranged in the virtual space 125 is switched depending on the state of drive power supply to each of the corresponding multiple robots 5 (5a, 5b, 5c). For example, as shown in Fig. 6, the three-dimensional model 50a of the first robot 5a, whose drive power supply state is "supplying", and the three-dimensional models 50b and 50c of the second and third robots 5b and 5c, whose drive power supply state is "cutting off", are displayed in different colors overall.

[0034] As long as the user can grasp the state of supply of drive power, the state of supply of drive power does not have to be represented by the overall color of the three-dimensional model 50. For example, instead of changing the display mode of the three-dimensional model 50, the state of supply of drive power may be displayed together with the three-dimensional model 50 as information representing the state of supply of drive power in the form of a picture or text.

[0035] For example, as in the confirmation screen 130 according to the first modified example in Fig. 7, a first icon 131 may be arranged in association with the three-dimensional model 50a of the first robot 5a whose drive power supply status is "supplying", and a second icon 132 may be arranged in association with the three-dimensional models 50b and 50c of the second and third robots 5b and 5c whose drive power supply status is "cutting off". The first icon 131 and the second icon 132 represent that the drive power supply status is "supplying" and "cutting off", respectively.

[0036] For example, as in the confirmation screen 140 according to the second modified example in Fig. 8, a first label 141 may be placed in association with the three-dimensional model 50a of the first robot 5a whose drive power supply status is "supplying", and a second label 142 may be placed in association with the three-dimensional models 50b and 50c of the second and third robots 5b and 5c whose drive power supply status is "cutting off". The first label 141 and the second label 142 include text indicating that the drive power supply status is "supplying" or "cutting off".

[0037] The group display screen displayed on the teaching pendant 4 will be described below with reference to FIG. 9 . The group display screen is configured to allow the user to easily grasp the separation groups for which the drive power supply state can be collectively controlled. FIG. 9 shows an example of the group display screen. The group display screen 150 is displayed upon operation of the “Group Display” button 103 on the navigation menu 100. The group display screen 150 is a screen on which visual elements 151 and 152 representing group attribute information are added to the three-dimensional model 50 displayed on the confirmation screen 120. As shown in FIG. 9 , on the group display screen 150, a first icon 151 is arranged in association with the three-dimensional model 50a of the first robot 5a set in separation group 1, and a second icon 152 is arranged in association with the three-dimensional models 50b and 50c of the second and third robots 5b and 5c set in separation group 2.

[0038] Note that the group attribute information may be a label as long as it allows the user to understand the separation group for each robot. For example, as in a group display screen 160 according to a modified example of Fig. 10 , a first label 161 may be placed in association with the three-dimensional model 50a of the robot 5a set in separation group 1, and a second label 162 may be placed in association with the three-dimensional models 50b and 50c of the second and third robots 5b and 5c set in separation group 2. The first label 161 and the second label 162 include text indicating the group attribute information.

[0039] Furthermore, the shape of the entire or part of the 3D model may be changed for each separation group so that the user can understand the separation group for each robot. For example, the base shape of the 3D model for each robot set in separation group 1 is represented as a cylinder, and the base shape of the 3D model for each robot set in separation group 2 is represented as a square prism.

[0040] The display setting screen displayed on the teaching pendant 4 will be described below with reference to FIG. 11 . The display setting screen is configured to allow the user to set the display method of information representing the drive power supply status and the display method of disconnected groups. FIG. 11 shows an example of the display setting screen. The display setting screen 170 is displayed when the “Display Settings” button 104 on the navigation menu 100 is operated. As shown in FIG. 11 , the display setting screen 170 includes a setting window 171 for setting the display method of information representing the drive power supply status and a setting window 172 for setting the display method of disconnected groups. As shown in FIG. 11 , the display method of information representing the drive power supply status includes the type and display position of information representing the drive power supply status. The display method of information representing disconnected groups includes the type and display position of information representing the disconnected groups. For example, the information types include “color,” “icon,” and “label.” For example, when “color” is selected, the drive power supply statuses “supplying” and “shutoff” are distinguished by different colors of the three-dimensional model of the robot 5. When "icon" is selected, the drive power supply status, "supplying" or "shutoff", is distinguished by the different types of icons arranged in association with the three-dimensional model of the robot 5. When "label" is selected, the drive power supply status, "supplying" or "shutoff", is distinguished by the text written on the label arranged in association with the three-dimensional model of the robot 5. In addition, the display positions of the "icon" and "label" include "displayed overlaid on the model" and "displayed near the model". For example, when the type of information representing the drive power supply status, "icon", and the display position, "displayed overlaid on the model", are selected, an icon corresponding to the drive power supply status of the robot 5 is displayed overlaid on the three-dimensional model 50 of the robot 5.

[0041] The group setting screen displayed on the teaching pendant 4 will be described below with reference to FIG. 12 . The group setting screen is configured so that a separation group can be set. FIG. 12 shows an example of the group setting screen. The group setting screen 180 is displayed when the “Group Setting” button 105 on the navigation menu 100 is operated. As shown in FIG. 12 , the group setting screen 180 displays the robot names and the separation groups in association with each other. FIG. 12 shows that the first robot 5a is set to separation group 1, and the second robot 5b and the third robot 5c are set to separation group 2. The separation group can be changed by operating the pull-down menu 182. For example, by operating the pull-down menu 182b corresponding to the second robot 5b, the group to which the second robot 5b belongs can be changed from separation group 2 to separation group 1.

[0042] The control device 1 according to this embodiment can display confirmation screens 120, 130, and 140 ( FIGS. 6 to 8 ) on the teaching pendant 4 to assist the user in checking the supply status of drive power related to the power source for each robot 5. On the confirmation screens 120, 130, and 140, the display mode of each three-dimensional model 50 is switched depending on the supply status of drive power to each robot 5 ("supplying" or "shutoff"). Alternatively, icons 131, 132 or labels 141, 142 corresponding to the supply status of drive power ("supplying" or "shutoff") are added to each three-dimensional model 50. By simply viewing the confirmation screens 120, 130, and 140, the user can easily distinguish between robots 5 that are electrically disconnected from the power supply device 9 and are immobile, and robots 5 that are not electrically disconnected from the power supply device and are mobile. This prevents on-site users from accidentally approaching robots 5 that are potentially mobile, thereby improving safety.

[0043] Furthermore, on the confirmation screens 120, 130, and 140, the three-dimensional model 50 of each robot 5 is placed at a position corresponding to the actual placement position, which makes it easier for a user actually working on-site to check the state of the drive power supply to each robot 5.

[0044] In this embodiment, the drive power supply status is determined based on factual information indicating whether motor current is actually being supplied to the motor. Alternatively, the drive power supply status can also be determined based on information (prediction information) that triggers the interruption or restoration of motor current supply to the motor 6, such as a shutoff instruction / restart instruction input from the teaching pendant 4 to the control device 1 or a shutoff signal / restart signal sent from the shutoff controller 181 to the driver 183. However, in the latter case, even if a shutoff instruction is received from the user, the supply of drive power to the robot 5 may not actually be interrupted due to some malfunction. That is, even if the display mode of the 3D model 50 of the robot 5 on the confirmation screen 120 indicates "shutoff," the robot 5 may actually be operable. Therefore, determining the drive power supply status to the robot 5 based on factual information, as in this embodiment, improves the reliability of the display compared to determining the drive power supply status to the robot 5 based on predictive information. This embodiment does not negate the latter configuration. In other words, the supply status of the drive power may be determined based on predicted information such as shut-off instructions / restart instructions, shut-off signals / restart signals, etc., and the display mode of the three-dimensional model may be changed accordingly, or visual elements according to the supply status of the drive power may be arranged in association with the three-dimensional model 50.

[0045] Furthermore, according to the control device 1 of this embodiment, group display screens 150 and 160 can be displayed on the teaching pendant 4 to allow the user to identify disconnected groups for which the shutoff / restoration of drive power supply can be collectively controlled. The group display screens 150 and 160 display visual elements, such as icons 151 and 152 and labels 161 and 162, that identify disconnected groups, along with the 3D models 50 of each robot 5. Simply by viewing the group display screens 150 and 160, the user can easily confirm the groups that can be collectively controlled. This reduces the possibility of the drive power supply being shut off or restored to an unintended robot 5. This not only contributes to improved safety but also prevents the drive power supply of a robot 5 from being accidentally shut off during maintenance and inspection, thereby suppressing a decrease in the efficiency of maintenance and inspection.

[0046] The destination to which the driving power is supplied by the control device 1 according to this embodiment is not limited to the robot 5. For example, the destination to which the driving power related to the power supplied by the control device 1 according to this embodiment is supplied may be industrial machinery such as a belt conveyor or a machine tool, or may be a tool equipped on a robot such as a servo gun, a nut runner, or a hand.

[0047] 1 , the control device 1 and each of the multiple robots 5 may be connected via a network such as a local area network. Similarly, the control device 1 and the teaching pendant 4 may be connected via a network such as a local area network. Furthermore, an input device for inputting user instructions to the control device 1 and a display device for displaying a screen corresponding to a display signal generated by the control device may be connected to the control device 1 in place of or in combination with the teaching pendant 4.

[0048] In the present embodiment, the control device 1 controlling the robot 5 has been described as having all of the functions related to the cutoff device 18. However, the configuration is not limited to this embodiment as long as it can cut off / restore the supply of drive power related to the robot 5 and display information indicating the supply status of drive power related to the drive power of each robot 5. For example, the cutoff device 18 may be an independent device separate from the control device 1 and interposed on the drive power supply line related to the drive power between the power supply device 9 and the robot 5. In this case, the control device 1 and the cutoff device 18 constitute a cutoff system. The robot 5 may also be configured to have all of the functions related to the cutoff device 18. Alternatively, the control device 1 may have some of the functions related to the cutoff device 18, and the robot 5 may have the remaining functions related to the cutoff device 18. In this case, the control device 1, together with the robot 5, constitutes a robot device having the function of cutting off / restore the supply of drive power related to the robot 5. The cutoff method may be a method of cutting off the motor current to the motor using safe torque off (STO) in response to an input signal from each driver.

[0049] In this embodiment, the shutdown device 18 is configured to have a single shutdown controller 181 controlling multiple drivers 183. However, the shutdown device 18 may have multiple shutdown controllers 181, and the multiple shutdown controllers 181 may control multiple drivers 183. Furthermore, the function related to the shutdown controller 181 may be included in the processor 11. In that case, the FB signal may be processed by the I / O processing device.

[0050] In this embodiment, the robot 5 has only one power supply line supplied via the control device 1. However, the robot 5 may have two power supply lines: one supplying high-voltage (several tens of volts) driving power to the motors 6 equipped on the robot 5, and the other supplying low-voltage (several volts) driving power to the sensors equipped on the robot 5. In this case, the cutoff device 18 is interposed on the line supplying the high-voltage driving power for the power source. Even if the supply of driving power for the power source is cut off, the voltage sensor equipped on the robot 5 remains operational. Therefore, whether or not driving power for the power source is being supplied to the robot 5 can be determined based on the measurement results actually measured by the voltage sensor equipped on the robot 5. In such a case, the voltage sensor equipped on the robot 5 functions as the detection unit in this embodiment.

[0051] In this embodiment, the driver 183 cuts off the motor current to the motor 6 to cut off the supply of drive power to the robot 6. However, the method is not limited to the above, as long as the supply of drive power to the robot 6 can be cut off. For example, an electromagnetic contactor may be interposed between the power supply device 9 and the driver 183, which can connect / disconnect the power supply line between the power supply device 9 and the driver 183 in accordance with an external signal. The electromagnetic contactor has two contacts that can be controlled to be in contact / non-contact. When a disconnect command is input from the processor 11, the two contacts are separated (become a non-contact state), thereby cutting off the supply of drive power from the power supply device 9 to each of the drivers 183. When a restore command is input from the processor 11, the two contacts are brought into contact, thereby supplying drive power from the power supply device 9 to each of the drivers 183. The state of the drive power supplied from the power supply device 9 to each of the drivers 183 is monitored by a monitoring circuit interposed between the power supply device 9 and the driver 183. The monitoring circuit sends a voltage signal corresponding to the conduction state between the power supply device 9 and the driver 183 to the processor 11 as an FB signal corresponding to the actual supply state.

[0052] The control device 1 according to this embodiment can display a reception screen, a confirmation screen, and a group display screen on the teaching pendant 4. However, the control device according to this embodiment may also display a screen that combines these screens on the teaching pendant 4. Fig. 13 shows a screen that combines the reception screen of Fig. 5 and the confirmation screen of Fig. 6. The user can view the screen 190 shown in Fig. 13 to check the supply status of drive power related to the power of each robot 5, and can instruct the cutting off / restoring of the supply of drive power related to the power of each robot 5. This also contributes to improved safety.

[0053] The following supplementary notes are further disclosed regarding this embodiment and the modified examples. (Supplementary Note 1) The control device 1 is connected to a plurality of industrial machines 5 and the teaching pendant 4 and includes a cutoff unit 18 for individually cutting off the supply of drive power related to the power of the plurality of industrial machines 5, a generating unit 29 for generating a display signal for displaying a three-dimensional model 50 relating to the industrial machines 5 on the teaching pendant 4, and a display mode changing unit 26 for changing the display mode of the three-dimensional model 50 depending on the state of drive power supply to the industrial machines 5. (Supplementary Note 2) The display mode changing unit 26 described in Supplementary Note 1 changes the color or pattern of the three-dimensional model 50 depending on the state of drive power supply to the industrial machines 5. (Supplementary Note 3) In the control device 1 described in Supplementary Note 1 or Supplementary Note 2, the display mode changing unit 26 differentiates the display mode of the three-dimensional model 50 relating to the industrial machines 5 to which drive power is supplied from the display mode of the three-dimensional model 50 relating to the industrial machines 5 to which drive power is not supplied. (Supplementary Note 4) In the control device 1 described in any one of Supplementary Note 1 to Supplementary Note 3, the cutoff unit 18 has a detection unit 187 that individually detects that the supply of drive power related to power to the multiple industrial machines 5 has actually been cut off, and the display mode change unit 26 changes the display mode of the three-dimensional model 50 when the supply of drive power to the industrial machines 5 has actually been cut off. (Supplementary Note 5) The control device 1 includes a cutoff unit 18 that is connected to the multiple industrial machines 5 and the teaching pendant 4 and that individually cuts off drive power related to power to the multiple industrial machines 5, a generation unit 29 that generates a display signal for displaying the multiple three-dimensional models 50 of the industrial machines 5 on the teaching pendant 4, and a visual element arrangement unit 27 that arranges visual elements that represent the supply state of drive power to the industrial machines in correspondence with the three-dimensional models 50. (Supplementary Note 6) In the control device 1 described in Supplementary Note 5, the visual elements are represented by pictures or text. (Appendix 7) In the control device 1 described in Appendix 5 or Appendix 6, the visual element indicating that drive power is being supplied to the industrial machine 5 is different from the visual element indicating that drive power is not being supplied to the industrial machine 5.(Supplementary Note 8) In the control device 1 described in any of Supplementary Notes 5 to 7, the cutoff unit 18 has a detection unit 187 that individually detects that the supply of drive power related to the power to the multiple industrial machines 5 has actually been cut off, and the visual element placement unit 27, when the supply of drive power to the industrial machines 5 has actually been cut off, places a visual element indicating that the drive power has been cut off on the display screen of the three-dimensional model 50. (Supplementary Note 9) In the control device 1 described in any of Supplementary Notes 1 to 8, the generation unit 29 generates another display signal for displaying the three-dimensional model 50 related to the industrial machines 5, as well as group attribute information of the industrial machines 5, on the teaching pendant 4. (Supplementary Note 10) In the control device 1 described in any of Supplementary Notes 1 to 8, the generation unit 29 generates another display signal for displaying the three-dimensional model 50 on the operation screen of the industrial machines 5.

[0054] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0055] 1...control device, 4...teaching operation panel, 5...robot, 6...motor, 9...power supply unit, 10...data / control bus, 11...processor, 12...RAM, 13...ROM, 14...storage device, 16...teaching operation panel I / O, 17...robot I / O, 18...shutdown device, 20...reception unit, 21...display setting unit, 22...shutdown device control unit, 23...management table update unit, 24...virtual space creation unit, 25...model placement unit, 26...display mode change unit, 27...visual element placement unit, 28...screen creation unit, 29...display signal generation unit, 30...group setting unit.

Claims

1. A control device connected to a plurality of industrial machines and a display device, comprising: a cutoff unit for individually cutting off the supply of drive power related to the power to the plurality of industrial machines; a generation unit for generating a display signal for displaying a three-dimensional model of the industrial machines on the display device; and a display mode change unit for changing the display mode of the three-dimensional model depending on the supply status of the drive power to the industrial machines.

2. The control device according to claim 1, wherein said display mode change section changes a color or a pattern of said three-dimensional model depending on a supply state of said drive power.

3. A control device as described in claim 1 or claim 2, wherein the display mode change unit differentiates the display mode of a three-dimensional model relating to the industrial machine to which the driving power is being supplied from the display mode of a three-dimensional model relating to the industrial machine to which the driving power is not being supplied.

4. A control device as claimed in any one of claims 1 to 3, wherein the cut-off unit has a detection unit that individually detects the actual supply state of the drive power to the multiple industrial machines, and the display mode change unit changes the display mode of the three-dimensional model when the supply of drive power to the industrial machines is actually cut off.

5. A control device connected to a plurality of industrial machines and a display device, comprising: a cutoff unit for individually cutting off the drive power related to the power to the plurality of industrial machines; a generation unit for generating a display signal for displaying a plurality of three-dimensional models related to the industrial machines on the display device; and a visual element arrangement unit for arranging visual elements representing the supply status of the drive power of the industrial machines in correspondence with the three-dimensional models.

6. The control device according to claim 5, wherein the visual element is represented by a picture or text.

7. The control device according to claim 5 or 6, wherein a visual element indicating that the drive power is being supplied to the industrial machine is different from a visual element indicating that the drive power is not being supplied to the industrial machine.

8. A control device as described in any one of claims 5 to 7, wherein the cut-off unit has a detection unit that individually detects the actual supply state of the drive power to the multiple industrial machines, and the visual element placement unit places visual elements representing the actual supply state of the drive power to each of the industrial machines in correspondence with the three-dimensional model.

9. The control device according to any one of claims 1 to 8, wherein the generating unit generates another display signal for displaying group attribute information of the industrial machine on the display device together with the three-dimensional model relating to the industrial machine.

10. The control device according to any one of claims 1 to 8, wherein the generating unit generates another display signal for displaying the three-dimensional model on an operation screen of the industrial machine.

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