Robotic system

Abstract

A robotic system (1) comprises: a robot control device (10) that controls a robot device (40); a teaching pendant (30) that communicates with the robot control device and accepts manipulations; and an abnormality notification device (20) that relays communication between the robot control device and the teaching pendant. Upon detecting an abnormal status that impedes control of the robot device, the robot control device restricts action of the robot device and outputs abnormality information based on the details of the abnormal status to the abnormality notification device. The abnormality notification device, upon receiving the abnormality information, changes the communication status between the robot control device and the teaching pendant from a normal mode with unrestricted communication to an abnormal mode with restricted communication, and generates and outputs to the teaching pendant a display image corresponding to the details of the abnormality information. The teaching pendant displays the display image on a display unit provided to itself, and restricts the acceptance of manipulations directed at the robot device on the basis of the abnormal mode communication status.

Description

Robot System

[0001] The present disclosure relates to a robot system that can provide a user with information regarding an abnormality that occurs.

[0002] Patent Document 1 describes a robot system including a robot control device for controlling a robot device and a teaching pendant for teaching the robot device. In the robot system described in Patent Document 1, the robot control device and the teaching pendant are connected via wireless communication, and when an abnormality is detected in the robot control device, abnormality information is provided to the teaching pendant.

[0003] JP 2012-171029 A

[0004] However, in the robot system described in Patent Document 1, if the power is cut off and the robot control device stops, communication between the robot control device and the teaching pendant 30 stops, which may make it difficult to provide information about the abnormality to the user. Therefore, there is a need for a robot system that can provide information about the abnormality to the user even if an abnormal state occurs in which communication between the robot control device and the teaching pendant 30 stops.

[0005] One aspect of the present disclosure is a robot control device that controls a robot device that performs a predetermined task;

[0006] a teaching pendant that communicates with the robot control device and receives operations for teaching the robot device and operations for operating the robot device; and an abnormality notification device that relays communication between the robot control device and the teaching pendant, wherein when the robot control device detects an abnormal state that hinders control of the robot device, the robot control device restricts the operation of the robot device and outputs abnormality information based on the content of the abnormal state to the abnormality notification device, and when the abnormality notification device receives the abnormality information, it changes the communication state between the robot control device and the teaching pendant from a normal mode in which communication is not restricted to an abnormal mode in which communication is restricted, and generates a display image according to the content of the abnormality information and outputs it to the teaching pendant,

[0007] The teaching pendant is a robot system that displays the display image on a display unit provided therein and restricts the acceptance of the operation for the robot device based on the communication state in the abnormal mode.

[0008] Fig. 1 is a block diagram showing a configuration of a robot system according to an embodiment; Fig. 2 is a sequence diagram showing processing executed in the robot system when an abnormality occurs in the robot device; Fig. 3 is a sequence diagram showing processing executed in the robot system when a first power supply unit stops; Fig. 4 is a sequence diagram showing processing executed in the robot system when an abnormality occurs in the communication state of an emergency stop signal;

[0009] Hereinafter, an embodiment of a robot system according to the present disclosure will be described with reference to the accompanying drawings.

[0010] As shown in FIG. 1, the robot system 1 includes a robot device 40 that performs a predetermined task, a robot control device 10 that controls the robot device 40, a teaching operation panel 30 that is communicatively connected to the robot control device 10, and an abnormality notification device 20 that relays communication between the robot control device 10 and the teaching operation panel 30.

[0011] The robot device 40 is, for example, a work robot equipped with an articulated robot arm. The robot device 40 is controlled by the robot control device 10 based on the operation of the teaching pendant 30 operated by the user. The robot arm constituting the robot device 40 is equipped with multiple drive units that drive multiple joints. Each drive unit is, for example, composed of a servo motor. Each drive unit adjusts the rotation angle of each joint to operate the robot arm.

[0012] Each driving unit operates based on a control signal sent from the robot control device 10. The robot device 40 may be configured not only by a robot arm but also by other devices. The configuration of the robot device 40 is a general one, and a detailed description thereof will be omitted.

[0013] The teaching pendant 30 is communicably connected to the robot control device 10 via the abnormality notification device 20. The teaching pendant 30 is supplied with power via a power supply path DL connected to the abnormality notification device 20. The teaching pendant 30 has a communication unit 35 that sends and receives communications with the robot control device 10. The teaching pendant 30 has a display unit 31 that can display information. The display unit 31 is configured with a liquid crystal display, an organic EL (Electro Luminescence) display, or the like.

[0014] The display unit 31 displays a display image received from the abnormality notification device 20. The display unit 31 displays a display image capable of transmitting the content of the abnormality information. The teaching operation panel 30 includes an operation unit 32 that accepts user operations. The operation unit 32 is configured with a user interface such as a keyboard and buttons. The operation unit 32 may be integrated into the touch panel type display unit 31 that can be operated by touch.

[0015] The operation unit 32 includes an emergency stop means 32A for bringing the robot device 40 to an emergency stop and an operation means 32B for operating the robot device 40. The emergency stop means 32A is configured, for example, by a button that is pressed by the user. The emergency stop means 32A includes, for example, an emergency stop button that is pressed in an emergency, and an emergency stop release button for releasing the emergency stop button. The emergency stop release button may function by returning the pressed emergency stop button to its original position. The user operates the emergency stop button based on the display content of a display image including abnormality information that is displayed on the display unit 31, as described below. The user may also operate the emergency stop button when they determine that it is necessary to stop the robot device 40.

[0016] The operation means 32B is composed of, for example, a plurality of keyboards corresponding to the respective operations of the robot device 40. The communication unit 35, the display unit 31, and the operation unit 32 are controlled by a control unit 33. The control unit 33 is composed of a processor such as a CPU (Central Processing Unit). A ROM (Read Only Memory), a RAM (Random Access Memory), a signal generation circuit (not shown), and the like required for control are connected to the control unit 33. The control unit 33 executes control based on data and programs stored in a storage unit 34. The storage unit 34 is composed of a non-transitory storage medium such as a hard disk drive (HDD) or a flash memory.

[0017] When the operating means 32B is operated, the control unit 33 generates a control signal according to the operation content and transmits it to the robot control device 10 via the communication unit 35. When the emergency stop button of the emergency stop means 32A is operated, the control unit 33 generates an emergency stop signal and transmits it to the robot control device 10 via the communication unit 35. The communication unit 35 is, for example, a communication interface configured by Ethernet (registered trademark). The communication unit 35 is connected to the abnormality notification device 20 via, for example, a first communication path C1.

[0018] When the emergency stop release button of the emergency stop means 32A is operated, the control unit 33 generates an emergency stop release signal and transmits it to the robot control device 10 via the communication unit 35. The control unit 33 constantly generates a monitoring signal that monitors the operation of the emergency stop means 32A at predetermined time intervals (e.g., 0.1 seconds) and transmits it to the robot control device 10 via the communication unit 35. The control unit 33 periodically transmits the monitoring signal to the robot control device 10 via serial communication, thereby enabling emergency stops of the robot device 40 in real time. The emergency stop means 32A and the robot control device 10 may be connected by a communication path that is provided separately from the first communication path C1 and allows communication therebetween.

[0019] The control unit 33 may generate a monitoring signal based on the I / O signal. In this case, the control unit 33 may generate a monitoring signal based on high and low levels of voltage, periodically generating a high-level signal under normal circumstances and a low-level signal under abnormal circumstances. Under normal circumstances, the control unit 33 communicates with the robot control device 10 in a normal mode communication state in which communication is not restricted. In an abnormal situation, the control unit 33 communicates in an abnormal mode communication state in which communication with the robot control device 10 is restricted, as described below.

[0020] The robot control device 10 is composed of a computer device capable of controlling the robot device 40. The robot control device 10 is electrically connected to a first power supply unit D1 that supplies power. The first power supply unit D1 is, for example, a commercial power source. The robot control device 10 includes, for example, a detection unit 11 that detects abnormalities in the robot device 40. The robot control device 10 includes a control unit 12 that controls the robot device 40 and executes various arithmetic processing. The robot control device 10 includes an abnormality notification unit 13 that outputs abnormality information related to the detected abnormality to the abnormality notification device 20. The robot control device 10 includes a communication unit 14 that communicates with the abnormality notification device 20. The robot control device 10 includes a memory unit 16 that stores data and programs necessary for control.

[0021] The detection unit 11 detects abnormalities occurring in the drive unit of the robot device 40 or the control system that controls the drive unit. The detection unit 11 is configured, for example, by a sensor that detects the current, voltage, control signal, etc. of the robot device 40. The detection unit 11 has a general configuration, and any sensor may be used as long as it can detect an abnormality in the robot device 40. The detection unit 11 outputs the detected data to the control unit 12. The communication unit 14 is a communication interface that is communicatively connected to the teaching pendant 30 via the abnormality notification device 20. The communication unit 14 is configured, for example, by a wired communication interface such as Ethernet (registered trademark).

[0022] The communication unit 14 is, for example, wiredly connected to the abnormality notification device 20 and the second signal path C2. The communication unit 14 may be configured with a wireless communication interface and configured to be wirelessly connected to the abnormality notification device 20. The communication unit 14 is capable of communicating with the teaching pendant 30 using the abnormality notification device 20 as a relay device. The storage unit 16 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a flash memory. The storage unit 16 is built into the robot control device 10. The storage unit 16 may be configured with an external storage externally connected to the robot control device 10. The storage unit 16 stores data and programs necessary for control executed by the control unit 12. The storage unit 16 also stores data such as detection values ​​detected by the detection unit 11. The storage unit 16 may be configured with a server device connected to a network (not shown).

[0023] The control unit 12 is composed of a processor such as a CPU (Central Processing Unit). The control unit 12 is connected to ROM, RAM, a signal generating circuit (not shown), and other components required for control. The control unit 12 determines the content of signals periodically received from the teaching pendant 30 and controls the robot device 40. The control unit 12 receives control signals from the teaching pendant 30 according to the operation content of the operating means 32B, generates drive control signals according to the content of the control signals, and operates the robot device 40 based on the drive control signals. Under normal circumstances, the control unit 12 communicates with the teaching pendant 30 in a normal mode in which communication is not restricted. In the normal mode, the control unit 12 transmits and receives signals to and from the teaching pendant 30 via the communication unit 14. In an abnormal situation, the control unit 12 communicates with the teaching pendant 30 in an abnormal mode in which communication is restricted.

[0024] The control unit 12 receives a command signal for operating the robot device 40 from the teaching pendant 30 via the communication unit 14. The control unit 12 calculates the control amount of each drive unit of the robot device 40 based on the command signal and controls the robot device 40. The control unit 12 receives an emergency stop signal from the teaching pendant 30 via the communication unit 14. The emergency stop signal is output from the teaching pendant 30 by manual operation, as described below. When the control unit 12 receives the emergency stop signal, it stops the robot device 40.

[0025] When the control unit 12 receives an emergency stop signal from the teaching pendant 30, it stops the supply of power to the robotic device 40 and stops the robotic device 40. The control unit 12 stops the robotic device 40 until it receives an emergency stop release signal from the teaching pendant 30. When the control unit 12 receives the emergency stop release signal from the teaching pendant 30, it releases the stop of the robotic device 40 and restores the robotic device 40 to an operable state. The control unit 12 may stop the robotic device 40 when the signal received from the teaching pendant 30 is discontinued as described below.

[0026] The control unit 12 monitors the data acquired from the detection unit 11 at predetermined time intervals and determines whether an abnormality occurs in the robot device 40. The control unit 12 determines whether the robot device 40 is in an abnormal state based on the result of comparing the data acquired from the detection unit 11 with a preset threshold. When the control unit 12 detects an abnormal state that hinders control of the robot device 40, it restricts the operation of the robot device 40. The control unit 12 executes control to restrict the operation of the robot device 40, such as stopping the robot device 40 or moving it to a predetermined position where safety can be ensured.

[0027] The control unit 12 generates abnormality information based on the details of the abnormal state. The abnormality information includes details of the abnormal state occurring in the robot device 40, such as current abnormality, voltage abnormality, malfunction, power supply abnormality, etc. The control unit 12 outputs the generated abnormality information to the abnormality notification device 20 via the abnormality notification unit 13.

[0028] The abnormality notification unit 13 is a communication interface that is communicatively connected to the abnormality notification device 20. The abnormality notification unit 13 is configured, for example, by a wired communication interface. The abnormality notification unit 13 is, for example, wiredly connected to the abnormality notification device 20 and a third signal path C3 that is configured by a communication cable. The abnormality notification unit 13 may be configured to be wirelessly connectable to the abnormality notification device 20. The abnormality notification unit 13 may be integrated into the communication unit 14. The abnormality notification unit 13 outputs the abnormality information generated by the control unit 12 to the abnormality notification device 20.

[0029] The abnormality notification device 20 is communicatively connected to the robot controller 10 and the teaching pendant 30. The abnormality notification device 20 is a relay device that receives a command signal output from the teaching pendant 30 and outputs the signal to the robot controller 10. The abnormality notification device 20 is also a relay device that outputs abnormality information detected by the robot controller 10 to the teaching pendant 30. The abnormality notification device 20 is electrically connected to a first power supply unit D1. The first power supply unit D1 supplies power to the abnormality notification device 20. The abnormality notification device 20 is connected to the teaching pendant 30 by a power supply path DL. The first power supply unit D1 also supplies power to the teaching pendant 30 via the power supply path DL. In other words, the first power supply unit D1 is electrically connected to and supplies power to the robot controller 10, the abnormality notification device 20, and the teaching pendant 30.

[0030] The abnormality notification device 20 is electrically connected not only to the first power supply unit D1 but also to a second power supply unit D2 provided in a system separate from the first power supply unit D1. The second power supply unit D2 is configured, for example, by a secondary battery. The second power supply unit D2 is a backup power supply that functions as a substitute for the first power supply unit D1. When the first power supply unit D1 is operating, the second power supply unit D2 is charged by the first power supply unit D1 based on a charging mode. The second power supply unit D2 is provided with a protection circuit that prevents overcharging. For example, if the first power supply unit D1 stops, the second power supply unit D2 switches from a charging mode to a power supply mode and supplies power to the abnormality notification device 20. If the first power supply unit D1 stops, the second power supply unit D2 also supplies power to the teaching pendant 30 via a power supply path DL. When the first power supply unit D1 is stopped, the second power supply unit D2 supplies power to the abnormality notification device 20 and the teaching operation panel 30, and communication between the abnormality notification device 20 and the teaching operation panel 30 can be continued for a predetermined period of time.

[0031] The abnormality notification device 20 includes an abnormality receiving unit 21 that receives abnormality information from the abnormality notification unit 13. The abnormality notification device 20 includes a calculation unit 22 that generates a display image according to the content of the received abnormality information. The abnormality notification device 20 includes a first communication unit 23 that is communicably connected to the communication unit 14 of the robot control device 10.

[0032] The abnormality notification device 20 includes a second communication unit 24 communicably connected to the teaching pendant 30. The abnormality notification device 20 includes a storage unit 25 that stores data and programs necessary for control. The abnormality receiving unit 21 is, for example, wiredly connected to the communication unit 14 of the robot control device 10 and the third signal path C3. The abnormality receiving unit 21 may be configured to be wirelessly connectable to the robot control device 10. The abnormality receiving unit 21 may be integrated into the first communication unit 23. The abnormality receiving unit 21 receives abnormality information output from the communication unit 14 of the robot control device 10.

[0033] The calculation unit 22 normally communicates in a normal mode in which communication is not restricted between the robot control device 10 and the teaching pendant 30. In normal mode communication, the calculation unit 22 outputs a packet signal received by the first communication unit 23 to the second communication unit 24 as is.

[0034] 2 shows the processing executed in the robot system 1 when an abnormality occurs in the robot device 40. The robot controller 10 monitors the robot device 40 and detects an abnormal condition that hinders control of the robot device 40 (step S100). The robot controller 10 restricts the operation of the robot device 40 (step S102). The robot controller 10 generates abnormality information based on the details of the abnormal condition and outputs it to the abnormality notification device 20 (step S104).

[0035] When the abnormality receiving unit 21 receives the abnormality information, the calculation unit 22 changes the communication state between the robot control device 10 and the teaching pendant 30 from normal mode to abnormal mode in which communication is restricted (step S106). For example, in the abnormal mode communication state, the calculation unit 22 stops relaying between the robot control device 10 and the teaching pendant 30 (step S108). In the abnormal mode communication state, the calculation unit 22 discards the packet signal received by the first communication unit 23 and stops communication between the first communication unit 23 and the second communication unit 24.

[0036] By stopping communication between the first communication unit 23 and the second communication unit 24, the calculation unit 22 prevents an abnormal signal from being sent to the teaching pendant 30, and prevents abnormal operation from occurring in the teaching pendant 30. By stopping communication between the first communication unit 23 and the second communication unit 24, the calculation unit 22 prevents the teaching pendant 30 from receiving operations to the operation unit 32.

[0037] When the abnormality receiving unit 21 receives the abnormality information, the calculation unit 22 generates a display image corresponding to the content of the abnormality information (step S110). The display image includes, for example, information that allows the user to understand the content of the abnormality information, such as text information, an abnormality code number corresponding to a preset abnormal state, and visual information that allows the user to understand the content of the abnormality information, such as graphic information. The calculation unit 22 outputs the generated display image to the teaching pendant 30. The teaching pendant 30 displays the display image on its own display unit 31 (step S112). The teaching pendant 30 restricts the acceptance of operations on the robot device 40 from the operation unit 32 based on the communication status between the teaching pendant 30 and the robot control device 10 in the abnormal mode (step S114). In the abnormal mode communication status, the restriction on the acceptance of operations on the robot device 40 from the operation unit 32 may be achieved by stopping communication from the second communication unit 24 to the first communication unit 23 on the abnormality notification device 20 side.

[0038] The calculation unit 22 may read, from the storage unit 25, action details such as a specific repair method corresponding to an abnormal state occurring in the robot device 40, based on an operation received by the operation unit 32 that searches for the abnormality code number displayed in the display image, and display a display image including the action details on the display unit 31. The calculation unit 22 may connect to an external server connected to the network and read out the action details, based on an operation received by the operation unit 32 that searches for the abnormality code number. The calculation unit 22 may determine the content of the abnormality information, and if it determines that the abnormal state occurring in the robot device 40 can be restored based on the operation of the teaching pendant 30, it may generate a display image including a method for operating the teaching pendant 30. By checking the display image displayed on the display unit 31, the user can understand the content of the specific abnormality information occurring in the robot system 1 and quickly take action according to the abnormal state.

[0039] When an abnormality occurs in the communication state of the monitoring signal between the robot control device 10 and the teaching pendant 30 and the robot control device 10 restricts the operation of the robot device 40, the calculation unit 22 may generate a display image including information that the operation of the robot device 40 is restricted, and output the display image to the teaching pendant 30. The teaching pendant 30 displays the display image including information that the operation of the robot device 40 is restricted. By checking the display image displayed on the display unit 31, the user can quickly take measures to deal with the state in which the operation of the robot device 40 is restricted.

[0040] The calculation unit 22 may be configured to determine an abnormality in a packet signal received by the first communication unit 23 based on machine learning. The calculation unit 22 may, for example, monitor the waveform of the packet signal received by the first communication unit 23, and when an abnormality occurs in the waveform of the packet signal, determine the pattern of an abnormality that has occurred in the robot device 40, the robot control device 10, and the teaching pendant 30 based on the abnormal waveform pattern, and generate abnormality information based on the determination result. When the abnormality receiving unit 21 receives abnormality information, the calculation unit 22 may calculate a determination result of the abnormality pattern based on the waveform of the packet signal received by the first communication unit 23 without stopping communication between the first communication unit 23 and the second communication unit 24.

[0041] FIG. 3 illustrates the processing executed by the robot system 1 when the first power supply unit D1 stops. The calculation unit 22 may monitor the status of the first power supply unit D1 and generate a display image indicating an abnormality occurring in the first power supply unit D1. When the first power supply unit D1 stops and the robot control device 10 stops, the calculation unit 22 continues processing by receiving power from the second power supply unit D2. When the first power supply unit D1 stops and power is supplied from the second power supply unit D2, the calculation unit 22 changes the communication state between the robot control device 10 and the teaching pendant 30 to an abnormality mode (step S200). The calculation unit 22 generates a display image including abnormality information indicating that the first power supply unit D1 has stopped and outputs it to the teaching pendant 30 (step S202). The teaching pendant 30 receives power from the second power supply unit D2 and displays a display image including abnormality information indicating that the first power supply unit D1 has stopped on the display unit 31 (step S204).

[0042] Based on the above processing, when the first power supply unit D1 stops, the teaching pendant 30 can continue processing by receiving power from the second power supply unit D2, and can display a display image including information that the first power supply unit D1 has stopped on the display unit 31. By checking the display image displayed on the display unit 31, the user can recognize that the first power supply unit D1 has stopped and can quickly take measures to deal with the stoppage of the first power supply unit D1.

[0043] 4 shows processing executed in the robot system 1 when an abnormality occurs in the communication state of the emergency stop signal between the teaching pendant 30 and the robot control device 10. The control unit 12 may stop or limit the operation of the robot device 40 when an abnormality occurs in the communication state of the emergency stop signal with the teaching pendant 30. The control unit 12 periodically monitors the communication state with the teaching pendant 30 based on a monitoring signal periodically output from the teaching pendant 30. When relay with the teaching pendant 30 stops due to an abnormal mode communication state, the control unit 12 considers the emergency stop signal to be in the ON state and executes processing executed when the emergency stop signal is in the ON state (step S300). When the monitoring signal becomes abnormal due to the influence of noise or the like, the control unit 12 may consider the emergency stop signal to be in the ON state and execute processing executed when the emergency stop signal is in the ON state.

[0044] The control unit 12 stops or restricts the operation of the robot device 40 (step S302). The control unit 12 generates abnormality information based on the abnormality of the emergency stop means 32A and outputs it to the abnormality notification device 20 (step S304). The calculation unit 22 generates a display image including the abnormality information of the emergency stop means 32A and outputs it to the teaching pendant 30 (step S306). The teaching pendant 30 displays the display image including the abnormality information indicating the abnormality of the emergency stop means 32A on the display unit 31 (step S308). By checking the display image displayed on the display unit 31, the user can recognize the abnormality of the emergency stop means 32A and can quickly take measures to address the abnormality of the emergency stop means 32A.

[0045] As described above, according to the robot system 1, if an abnormal condition occurs in a device that constitutes the system, information about the abnormality can be communicated to the user by displaying a display image containing the abnormality information on the display unit 31.

[0046] The control unit 12, the calculation unit 22, and the control unit 33 of the robot system 1 described above are functional modules realized by, for example, a computer program executed on a processor. The computer program for the processor constituting the control unit 12, the calculation unit 22, and the control unit 33 of the robot system 1 to execute the processing of each unit may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0047] 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 to 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 formulas are used in the description of the above-described embodiments. Furthermore, appropriate combinations of several of the above-described embodiments are within the scope of the present disclosure.

[0048] The following supplementary notes are further disclosed regarding the above-described embodiments and variations: (Supplementary Note 1) A robot system comprising: a robot control device that controls a robot device that performs a predetermined task; a teaching pendant that communicates with the robot control device and accepts operations for teaching the robot device and for operating the robot device; and an abnormality notification device that relays communication between the robot control device and the teaching pendant, wherein when the robot control device detects an abnormal state that interferes with control of the robot device, the robot control device restricts operation of the robot device and outputs abnormality information based on the details of the abnormal state to the abnormality notification device, and when the abnormality notification device receives the abnormality information, the abnormality notification device changes the communication state between the robot control device and the teaching pendant from a normal mode in which communication is not restricted to an abnormal mode in which communication is restricted, generates a display image according to the details of the abnormality information, and outputs it to the teaching pendant, and the teaching pendant displays the display image on a display unit provided thereon and restricts acceptance of the operations for the robot device based on the communication state in the abnormal mode.

[0049] (Supplementary Note 2) The robot system according to Supplementary Note 1, wherein the abnormality notification device stops relaying between the robot control device and the teaching operation panel in the abnormal mode communication state, the robot control device monitors the communication state of an emergency stop signal for stopping the robot device between the teaching operation panel, and when the relay with the teaching operation panel stops in the abnormal mode communication state and the emergency stop signal enters an abnormal communication state, the robot control device regards the emergency stop signal as being in an ON state and stops or restricts the operation of the robot device.

[0050] (Supplementary Note 3) The robot system according to Supplementary Note 1, wherein the robot control device includes a detection unit that detects the abnormal state, and an abnormality notification unit that generates the abnormality information based on the content of the abnormal state and outputs the generated abnormality information to the abnormality notification device.

[0051] (Supplementary Note 4) The robot system according to Supplementary Note 1, wherein the teaching pendant displays the display image including text information explaining the content of the abnormality information on the display unit.

[0052] (Supplementary Note 5) The robot system described in Supplementary Note 1, wherein the robot control device, the abnormality notification device, and the teaching operation panel are electrically connected to a first power supply unit that supplies power, the abnormality notification device and the teaching operation panel are electrically connected to a second power supply unit that is provided on a system separate from the first power supply unit, the second power supply unit supplies power to the abnormality notification device and the teaching operation panel when the first power supply unit stops, and the abnormality notification device changes the communication state between the robot control device and the teaching operation panel to the abnormality mode when the first power supply unit stops, and generates the display image including the abnormality information showing that the first power supply unit has stopped, and outputs the display image to the teaching operation panel.

[0053] 1 Robot system, 10 Robot control device, 11 Detection unit, 12 Control unit, 13 Abnormality notification unit, 14 Communication unit, 16 Memory unit, 20 Abnormality notification device, 21 Abnormality receiving unit, 22 Calculation unit, 23 First communication unit, 24 Second communication unit, 25 Memory unit, 30 Teaching operation panel, 31 Display unit, 32 Operation unit, 32A Emergency stop means, 32B Operation means, 33 Control unit, 34 Memory unit, 35 Communication unit, 40 Robot device, C1 First communication path, C2 Second signal path, C3 Third signal path, D1 First power supply unit, D2 Second power supply unit, DL Power supply path

Claims

1. A robot system comprising: a robot control device which controls a robot device which performs specified tasks; a teaching operation panel which communicates with said robot control device and receives operations for teaching and operating said robot device; and an abnormality notification device which relays communication between said robot control device and said teaching operation panel, wherein when said robot control device detects an abnormal condition which hinders control of said robot device, said robot control device restricts the operation of said robot device and outputs abnormality information based on the content of said abnormal condition to said abnormality notification device, when said abnormality notification device receives said abnormality information, changes the communication state between said robot control device and said teaching operation panel from a normal mode in which communication is not restricted to an abnormality mode in which communication is restricted, generates a display image according to the content of the abnormality information and outputs it to said teaching operation panel, and said teaching operation panel displays the display image on a display provided thereon, and restricts the acceptance of said operations for said robot device based on the communication state in the abnormal mode.

2. The robot system described in claim 1, wherein the abnormality notification device stops relaying between the robot control device and the teaching operation panel in the abnormal mode communication state, and the robot control device monitors the communication state of an emergency stop signal for stopping the robot device between the teaching operation panel and the robot control device, and when the relay with the teaching operation panel stops in the abnormal mode communication state and the emergency stop signal enters an abnormal communication state, the robot control device regards the emergency stop signal as being in an ON state and stops or restricts the operation of the robot device.

3. The robot system of claim 1, wherein the robot control device comprises: a detection unit that detects the abnormal state; and an abnormality notification unit that generates the abnormality information based on the contents of the abnormal state and outputs the generated abnormality information to the abnormality notification device.

4. The robot system according to claim 1, wherein the teaching pendant displays on the display unit the display image including text information explaining the content of the abnormality information.

5. The robot system described in claim 1, wherein the robot control device, the abnormality notification device, and the teaching operation panel are electrically connected to a first power supply unit that supplies electric power, the abnormality notification device and the teaching operation panel are electrically connected to a second power supply unit provided in a system separate from the first power supply unit, and the second power supply unit supplies electric power to the abnormality notification device and the teaching operation panel when the first power supply unit stops, and the abnormality notification device changes the communication state between the robot control device and the teaching operation panel to the abnormality mode when the first power supply unit stops, generates the display image including the abnormality information showing that the first power supply unit has stopped, and outputs it to the teaching operation panel.

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