Device, method, and computer program for operating industrial machine

Abstract

There are cases where an operator may wish to manually cause an industrial machine to execute a predetermined operation (for example, welding). In such cases, it is required to ensure the safety of the operator.　A device 60 for operating an industrial machine 12 is provided with: an input reception unit 62 that receives an input of operating a start button for causing the industrial machine 12 to execute a predetermined operation; a time measurement unit 66 that starts measuring elapsed time after the input reception unit 62 has received the input; and an operation command unit 64 that transmits a command for starting the operation to the industrial machine 12 when the elapsed time measured by the time measurement unit 66 reaches a predetermined standby time.

Description

Apparatus, method, and computer program for operating industrial machinery

[0001] The present disclosure relates to an apparatus, method, and computer program for operating an industrial machine.

[0002] 2. Description of the Related Art Industrial machines that perform an operation of welding workpieces are known (for example, see Patent Document 1).

[0003] JP 2013-31868 A

[0004] There are cases where an operator wants to manually cause industrial machinery to perform a predetermined operation (for example, welding), and in such cases, it is necessary to ensure the safety of the operator.

[0005] In one aspect of the present disclosure, a device for operating industrial machinery includes an input receiving unit that receives input from operating a start button to cause the industrial machinery to perform a predetermined operation, a timing unit that starts measuring elapsed time after the input receiving unit receives the input, and an operation command unit that issues a command to the industrial machinery to start operation when the elapsed time measured by the timing unit reaches a predetermined waiting time.

[0006] In another aspect of the present disclosure, a method for operating industrial machinery includes a processor receiving input from a user operating a start button to cause the industrial machinery to perform a predetermined operation, an input receiving unit receiving the input, and then starting to measure elapsed time, and when the measured elapsed time reaches a predetermined waiting time, transmitting a command to the industrial machinery to start the operation.

[0007] 1 is a schematic diagram of an industrial system according to one embodiment. FIG. 1 is a block diagram of the industrial system shown in FIG. 1. FIG. 2 is a flowchart showing an example of an operation flow of the industrial system shown in FIG. 2. FIG. 3 is a flowchart showing an example of step S2 in FIG. 3. FIG. 4 is a flowchart showing an example of step S4 in FIG. 3. FIG. 5 shows an example of image data for displaying an image of a start button. FIG. 6 is a flowchart showing another example of step S4 in FIG. 3. FIG. 7 shows another example of image data for displaying an image of the start button. FIG. 8 is a flowchart showing another example of image data for displaying an image of the start button. FIG. 9 is a flowchart showing another example of step S4 in FIG. 3. FIG. 10 shows another example of image data for displaying an image of the start button. FIG. 11 is a block diagram of an industrial system according to another embodiment. FIG. 12 is a flowchart showing another example of step S4 in FIG. 3. FIG. 13 shows another example of image data for displaying an image of the start button. FIG. 14 is a block diagram showing other functions of the industrial system shown in FIG. 2. FIG. 15 is a flowchart showing another example of step S4 in FIG. 3. FIG. 16 is a flowchart showing another example of image data for displaying an image of the start button.

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In various embodiments described below, like elements will be designated by like reference numerals, and duplicated descriptions will be omitted. First, an industrial system 10 according to one embodiment will be described with reference to FIGS. 1 and 2. The industrial system 10 includes an industrial machine 12, a teaching device 14, and a control device 16.

[0009] In this embodiment, the industrial machine 12 welds a workpiece W. Specifically, the industrial machine 12 has a robot 18, a welding torch 20, a welding power source 22, and a force sensor 24. The robot 18 moves the welding torch 20. Specifically, the robot 18 is a vertical articulated robot, and has a robot base 25, a rotating body 26, a lower arm 28, an upper arm 30, and a wrist 32.

[0010] The robot base 25 is fixed to the floor of the work cell or on an automated guided vehicle (AGV). The rotating body 26 is attached to the robot base 25 so as to be rotatable about a vertical axis. The lower arm 28 is attached to the rotating body 26 so as to have a base end that is rotatable about a horizontal axis. The upper arm 30 is attached to the tip of the lower arm 28 so as to have a base end that is rotatable about the horizontal axis.

[0011] The wrist 32 is rotatably attached to the tip of the upper arm 30. A plurality of servo motors (not shown) are respectively attached to the robot base 25, the rotating body 26, the lower arm 28, the upper arm 30, and the wrist 32. These servo motors rotate the rotating body 26, the lower arm 28, the upper arm 30, and the wrist 32 around their drive shafts, thereby moving the welding torch 20.

[0012] The welding torch 20 is rotatably mounted on the tip of the wrist 32, and feeds a welding wire 34, which is fed from a reel mechanism RM (not shown) mounted on the robot 18, to the workpiece W. The welding power source 22 operates the reel mechanism RM to feed the welding wire 34 from the welding torch 20 to the workpiece W, and also supplies power (voltage and current) to the welding wire 34. This power causes electricity to flow between the welding wire 34 and the workpiece W, generating a discharge between them. As a result, the workpiece W can be welded.

[0013] The force sensor 24 detects an external force F applied to the robot 18. In this embodiment, the force sensor 24 is a six-axis force sensor having a plurality of strain gauges, and is provided on the wrist 32 of the robot 18. For example, when an operator applies an external force F to the welding torch 20, the external force F is transmitted to the wrist 32 and acts on the force sensor 24.

[0014] The force sensor 24 detects the external force F acting in this manner and supplies the detection data of the external force F to the control device 16. The force sensor 24 may be provided at any location on the robot 18, such as the robot base 25. The force sensor 24 is not limited to a six-axis force sensor, and may include a plurality of torque sensors provided on a plurality of servo motors of the robot 18, respectively.

[0015] The teaching device 14 teaches the industrial machine 12 how to operate and creates an operation program OP for welding work. Specifically, as shown in Fig. 2, the teaching device 14 is a computer having a processor 40, a memory 42, an I / O interface 44, a timer 45, an input device 46, a display device 48, etc. The processor 40 has a CPU or a GPU, etc., and is communicatively connected to the memory 42, the I / O interface 44, the input device 46, and the display device 48 via a bus 49, and performs arithmetic processing to realize various functions described below while communicating with these components.

[0016] The memory 42 includes RAM, ROM, or the like, and temporarily or permanently stores various data. The memory 42 may be configured from a computer-readable non-transitory storage medium, such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium. The I / O interface 44 includes, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and communicates data with external devices via wired or wireless communication under instructions from the processor 40. The control device 16 is communicatively connected to the I / O interface 44. The timer 45 measures time from an arbitrary point under instructions from the processor 40.

[0017] The input device 46 has push buttons, switches, a keyboard, a mouse, a touch panel, or the like, and receives data input from an operator. The display device 48 has a liquid crystal display, an organic EL display, or the like, and visibly displays various data under instructions from the processor 40. In this embodiment, the input device 46 and the display device 48 are integrally incorporated into the housing of the teaching device 14.

[0018] The control device 16 controls the operation of the industrial machine 12. Specifically, the control device 16 is a computer having a processor 50, a memory 52, an I / O interface 54, and the like. Note that the configurations of the processor 50, the memory 52, and the I / O interface 54 are similar to those of the processor 40, the memory 42, and the I / O interface 44 described above, and therefore redundant description will be omitted. The processor 50 is communicatively connected to the memory 52 and the I / O interface 54 via a bus 56. Furthermore, each component of the industrial machine 12 (e.g., the robot 18, the welding torch 20, the welding power source 22, the force sensor 24, etc.) is communicatively connected to the I / O interface 54 wirelessly or via a wire.

[0019] The processor 50 of the control device 16 operates the industrial machine 12 in a plurality of operation modes OM. The operation modes OM include, for example, a jog teach mode OM1, a direct teach mode OM2, a manual operation mode OM3, and an automatic operation mode OM4. The jog teach mode OM1 is an operation mode OM in which the robot 18 operates in accordance with an input IP1 input by an operator operating the input device 46 of the teaching device 14.

[0020] On the other hand, direct teach mode OM2 is an operation mode OM that executes direct teach function DF, which operates robot 18 in accordance with external force F detected by force sensor 24. Manual operation mode OM3 is an operation mode OM that causes welding torch 20 and welding power source 22 to perform an operation to weld workpiece W in accordance with input IP2 input by an operator operating input device 46 of teaching device 14. Automatic operation mode OM4 is an operation mode OM that automatically operates robot 18, welding torch 20, and welding power source 22 in accordance with a created operation program OP to perform welding work on workpiece W (so-called main welding).

[0021] Next, the operation of the industrial system 10 will be described with reference to Fig. 3. The processor 40 of the teaching device 14 and the processor 50 of the control device 16 communicate with each other and cooperatively execute the flow of Fig. 3. The flow of Fig. 3 starts, for example, when the teaching device 14 and the control device 16 are started. In step S1, the processor 40 of the teaching device 14 determines whether the direct teach function DF is enabled (or ON).

[0022] As an example, in response to an input operation by the operator on the input device 46, the processor 40 generates image data ID1 (not shown) of a graphical user interface (GUI) for selecting whether to enable or disable the direct teach function DF, and displays the image data ID1 on the display device 48. While visually checking the image data ID1, the operator operates the input device 46 to provide the processor 40 with an input IP3 that enables (ON) the direct teach function DF. When the processor 40 receives the input IP3, it determines YES and proceeds to step S2. On the other hand, if the direct teach function DF is disabled (or OFF), the processor 40 determines NO and proceeds to step S3.

[0023] Thus, in this embodiment, the processor 40 functions as an input receiving unit 62 (FIG. 2) that receives the input IP3. The input device 46 includes a push button, switch, or physical key for selecting whether the direct teach function DF is enabled or disabled, and the operator may provide the processor 40 with the input IP3 that enables the direct teach function DF by operating the push button, switch, or physical key.

[0024] In step S2, the processor 50 of the control device 16 executes the direct teach function DF. Step S2 will be described with reference to Fig. 4. When starting step S2, the processor 40 of the teaching device 14 transmits an operation mode transition command CM1 to the control device 16. In response to the operation mode transition command CM1, the processor 50 of the control device 16 transitions the operation mode OM of the industrial machine 12 to the direct teach mode OM2, and executes step S2.

[0025] In step S11, the processor 50 of the control device 16 detects the external force F applied to the robot 18. Specifically, the processor 50 receives detection data from the force sensor 24, and based on the detection data, determines the magnitude and direction of the external force F applied to the robot 18, and identifies the part of the robot 18 to which the external force F is applied (in this embodiment, the wrist 32).

[0026] In step S12, the processor 50 operates the robot 18 in accordance with the external force F detected by the force sensor 24. Specifically, the processor 50 transmits a command CM2 (torque command, current command, etc.) to each servo motor of the robot 18, and operates each movable component of the robot 18 (the rotating body 26, the lower arm 28, the upper arm 30, and the wrist 32) in accordance with the command CM2, thereby moving the part of the robot 18 identified in the immediately preceding step S11 (the wrist 32) in the direction of the detected external force F. For example, if an operator applies the external force F by pushing the welding torch 20 with his / her hand, the processor 50 moves the wrist 32 and the welding torch 20 in the direction of the external force F in accordance with the external force F.

[0027] In this way, the operator can directly operate the robot 18 with his or her hands to manually move the welding torch 20 to a desired position. In this way, in the present embodiment, the processor 50 of the control device 16 functions as an operation command unit 64 ( FIG. 2 ) that issues a command CM2 to the industrial machine 12 (specifically, the servo motor of the robot 18), and executes the direct teach function DF.

[0028] In step S13, the processor 50 determines whether the direct teach function DF has been disabled (OFF). For example, the processor 40 of the teaching device 14 generates the above-mentioned image data ID1 in response to an input operation by the operator on the input device 46 and displays it on the display device 48. The operator provides the processor 40 with an input IP4 to disable (OFF) the direct teach function DF via the image data ID1. Upon receiving the input IP4, the processor 40 transmits a direct teach end command CM3 to the control device 16.

[0029] When processor 50 of control device 16 receives direct teach end command CM3 in step S13, it determines YES and stops the operation of robot 18 using direct teach function DF. Then, processor 50 proceeds to step S3 in FIG. 3. On the other hand, if processor 50 determines NO in step S13, it returns to step S11. Thus, while processor 50 determines NO in step S13, processor 50 repeatedly executes the loop of steps S11 to S13, functions as operation command unit 64, and executes direct teach function DF, which operates robot 18 to move welding torch 20 in accordance with external force F detected by force sensor 24.

[0030] 3 again, in step S3, the processor 40 of the teaching device 14 determines whether the manual operation function MF is enabled (or ON). As an example, the processor 40 generates image data ID2 (not shown) as a GUI for selecting whether to enable or disable the manual operation function MF in response to an input operation by the operator to the input device 46, and displays the image data ID2 on the display device 48.

[0031] While visually checking the image data ID2, the operator operates the input device 46 to provide the processor 40 with an input IP5 that enables (ON) the manual operation function MF. When the processor 40 receives the input IP5, it determines YES and proceeds to step S4. On the other hand, if the manual operation function MF is disabled (or OFF), it determines NO and proceeds to step S5.

[0032] In step S4, the processor 40 of the teaching device 14 and the processor 50 of the control device 16 cooperate with each other to execute the manual operation function MF. This step S4 will be described with reference to Fig. 5. When step S4 starts, the processor 40 of the teaching device 14 transmits an operation mode transition command CM4 to the control device 16. In response to the operation mode transition command CM4, the processor 50 of the control device 16 transitions the operation mode OM of the industrial machine 12 to the manual operation mode OM3.

[0033] In step S21, processor 40 of teaching device 14 generates image data 100 that displays, as an image, a start button 102 for causing industrial machine 12 to execute a predetermined operation. An example of this image data 100 is shown in Fig. 6. In this embodiment, start button 102 displayed in image data 100 is a GUI for causing welding torch 20 and welding power source 22 to execute an operation to weld workpiece W in manual operation mode OM3.

[0034] The operator can operate the input device 46 to click the start button 102 within the image data 100. The processor 40 generates the image data 100 and displays it on the display device 48. In this manner, in this embodiment, the processor 40 functions as the image generation unit 68 ( FIG. 2 ) that generates the image data 100 that displays the start button 102 as an image.

[0035] In step S22, processor 40 determines whether or not it has received an input IP2 for operating start button 102. Here, the operator may wish to manually weld workpiece W with welding torch 20 by moving welding torch 20 to a desired position using direct teach function DF in step S2 (for example, tack welding to temporarily secure workpiece W before actual welding).

[0036] While visually checking the image data 100 displayed on the display device 48, the operator operates the input device 46 to provide the processor 40 with an input IP2 for operating the start button 102. The processor 40 functions as the input receiving unit 62 and receives the input IP2. If the processor 40 has received the input IP2, it determines YES and proceeds to step S23, whereas if the processor 40 has not received the input IP2, it determines NO and proceeds to step S26.

[0037] In step S23, the processor 40 starts measuring the elapsed time te. Specifically, the processor 40 activates the timer 45 and starts measuring the elapsed time te from this point in time. The processor 40 can measure the elapsed time te by acquiring data on the elapsed time te from the activated timer 45. In this way, in this embodiment, the processor 40 functions as the timing unit 66 ( FIG. 2 ) that starts measuring the elapsed time te.

[0038] In step S24, the processor 40 determines whether the elapsed time te, whose counting began in step S23, has reached a predetermined waiting time ts. The waiting time ts is predetermined by the operator as an arbitrary time (e.g., ts = 4 [sec]) and stored in the memory 42. If the processor 40 determines YES, it proceeds to step S25, but if the processor 40 determines NO, it loops back to step S24.

[0039] In step S25, processor 50 of control device 16 functions as operation command unit 64 and transmits a command CM5 to industrial machine 12 to start operation of industrial machine 12. Specifically, processor 40 of teaching device 14 transmits an operation start command CM6 to control device 16 at the start of step S25. Upon receiving operation start command CM6, processor 50 of control device 16 functions as operation command unit 64 and transmits a current start command CM5a to welding power source 22 as a command CM5 to start operation of welding workpiece W. This current start command CM5a is a command to supply power E1 from welding power source 22 to welding wire 34, and upon receiving current start command CM5a, welding power source 22 supplies power E1 to welding wire 34.

[0040] Furthermore, processor 50 transmits a wire feed command CM5b to welding power source 22 as command CM5. This wire feed command CM5b is a command to cause welding power source 22 to operate reel mechanism RM and advance welding wire 34 toward workpiece W. Upon receiving wire feed command CM5b, welding power source 22 rotates reel mechanism RM in the forward direction to advance welding wire 34. In this manner, processor 50 starts the operation to weld workpiece W. Note that processor 50 may transmit wire feed command CM5b to reel mechanism RM and rotate reel mechanism RM in the forward direction in accordance with wire feed command CM5b. Also, in step S25, after starting the welding operation in accordance with command CM5 (energization start command CM5a, wire feed command CM5b), welding may be performed for a predetermined welding time tw.

[0041] In step S20, the processor 40 of the teaching device 14 determines whether the manual operation function MF has been disabled (OFF). For example, the processor 40 generates the image data ID2 described above in response to an input operation by the operator on the input device 46 and displays it on the display device 48. The operator provides the processor 40 with an input IP6 to disable (OFF) the manual operation function MF via the image data ID2. When the processor 40 receives the input IP6, it determines YES, ends the flow of step S5, and proceeds to step S5 in FIG. 3. On the other hand, when the processor 40 determines NO, it returns to step S22.

[0042] 3 again, in step S5, the processor 40 of the teaching device 14 (or the processor 50 of the control device 16) determines whether or not an operation end command (e.g., a shutdown command) has been received. If the processor 40 determines YES, it ends the flow shown in FIG. 3, whereas if the processor 40 determines NO, it returns to step S1.

[0043] As described above, in this embodiment, the processor 40 functions as the input receiving unit 62, the timing unit 66, and the image generating unit 68, and the processor 50 functions as the operation command unit 64 to operate the industrial machine 12. Therefore, the input receiving unit 62, the operation command unit 64, the timing unit 66, and the image generating unit 68 constitute a device 60 ( FIG. 1 ) that operates the industrial machine 12.

[0044] In this device 60, the input accepting unit 62 accepts an input IP2 of operating the start button 102 to cause the industrial machine 12 to perform a predetermined operation (in this embodiment, an operation of welding the workpiece W) (step S22). After the input accepting unit 62 accepts the input IP2 (determines YES in step S22), the timing unit 66 starts measuring the elapsed time te (step S23).

[0045] Then, when the elapsed time te measured by the timer 66 reaches the predetermined waiting time ts (YES in step S24), the operation command unit 64 transmits a command CM5 to start operation (energization start command CM5a, wire feed command CM5b) to the industrial machine 12 (specifically, the welding power source 22) (step S25). This configuration allows the waiting time ts to be set between the time the operator operates the start button 102 and the time the industrial machine 12 actually starts operating. This ensures the safety of the operator, for example, when the above-mentioned tack welding is to be performed manually.

[0046] In addition, in the device 60, the image generation unit 68 generates image data 100 that displays the start button 102 as an image (step S21), and the input reception unit 62 receives an input IP2 for operating the start button 102 displayed in the image data 100. With this configuration, the operator can operate the start button 102 displayed on the display device 48 on the image while holding the teaching device 14, for example, and therefore can easily operate the start button 102 at any location.

[0047] In addition, in device 60, operation command unit 64 transmits to welding power source 22 a current start command CM5a for supplying power E1 to welding wire 34 (step S25) in order to start the operation of welding workpiece W. With this configuration, welding (e.g., the above-mentioned tack welding) can be started after waiting time ts has elapsed since the operator operated start button 102.

[0048] In addition, in device 60, operation command unit 64 executes direct teach function DF, which operates robot 18 to move welding torch 20 in accordance with external force F detected by force sensor 24 (step S2). With this configuration, the operator can directly operate robot 18 by hand to move welding torch 20 to a desired position, and then operate start button 102 to start welding (e.g., the above-mentioned tack welding). Such direct teach function DF is particularly useful when the operator wants to perform tack welding, etc.

[0049] Various modifications can be made to the flows shown in Figures 3 to 5. Another example of step S4 (manual operation function MF) in Figure 3 will be described below with reference to Figure 7. In the flow shown in Figure 7, the same step numbers are used for processes similar to those in the flow of Figure 5, and duplicated descriptions will be omitted. In step S31, the processor 40 of the teaching device 14 functions as the image generation unit 68 to generate image data for displaying a start button as an image.

[0050] 8 to 11 show examples of image data generated in step S31. The image data 110, 120, and 130 shown in Figures 8 to 10 further display images 112, 122, and 132 that visually represent the elapsed time te, along with the image of the start button 102. More specifically, the image 112 displayed in the image data 110 in Figure 8 displays the elapsed time te as a numerical value that increases or decreases over time.

[0051] On the other hand, the image 122 displayed in the image data 120 in Fig. 9 is a so-called linear progress bar, and the increase or decrease over time of the elapsed time te is represented by a linear increase or decrease in the color region 124. Also, the image 132 displayed in the image data 130 in Fig. 10 is a so-called circular progress bar, and the increase or decrease over time of the elapsed time te is represented by an arc-shaped increase or decrease in the color region 134.

[0052] 11 displays an image of a start button 142 for causing the industrial machine 12 to execute an operation, and an image 112 of the elapsed time te. In this image data 140, the start button 142 is displayed so as to be slidable from a default position 144 to a slide position 146. When operating the start button 142, the operator operates the input device 46 while visually checking the image data 140 displayed on the display device 48, and clicks the start button 142 in the image data 140, causing it to slide from the default position 144 to the slide position 146.

[0053] 7, the processor 40 functions as the input receiving unit 62 and determines YES when it receives an input IP2 of sliding the start button 142 to the slide position 146. In this way, the processor 40 functions as the image generating unit 68 in step S31 to generate the image data 110, 120, 130, or 140 and display it on the display device 48.

[0054] 7 again, after step S31, processor 40 sequentially executes steps S22 to S24 described above, and if the determination in step S24 is NO, proceeds to step S32. In step S32, processor 40 determines whether or not input IP2 accepted in the most recent step S22 is continuing.

[0055] As an example, assume that image data 110, 120, or 130 is generated in step S31. In this case, if the operator continues the click operation (i.e., long press) after clicking the start button 102 in step S22, the processor 40 functions as the input acceptance unit 62 and continuously accepts the input IP2. When the processor 40 accepts the input IP2 resulting from the continuous operation of the start button 102 in this manner, the processor 40 determines YES. On the other hand, if the operator releases the click operation after clicking the start button 102 in step S22, the input IP2 is also released and disappears. In this case, the processor 40 determines NO.

[0056] As another example, assume that image data 140 is generated in step S31. In this case, if the operator clicks start button 142 in step S22 and slides it to slide position 146, and then continues the click operation, start button 142 will be continuously positioned at slide position 146. In this case, processor 40 functions as input receiving unit 62 and continuously receives input IP2. When processor 40 has received input IP2 that continuously positions start button 142 at slide position 146 in this manner, it determines YES.

[0057] On the other hand, if the operator releases the click operation after sliding the start button 142 to the slide position 146 in step S22, the start button 142 returns to the default position 144 in the image data 140, and as a result, the input IP2 is released and disappears. In this case, the processor 40 determines NO. Thus, in step S32, the processor 40 determines whether the input IP2 is continuing. If the processor 40 determines YES, the process proceeds to step S33, and if the processor 40 determines NO, the process proceeds to step S34.

[0058] In step S33, the processor 40 updates the image 112, 122, or 132 of the elapsed time te displayed in the image data 110, 120, 130, or 140. For example, in the case of the image 112 (FIGS. 8 and 11), the processor 40 updates the image 112 so as to display the numerical value of the elapsed time te being measured at this point in time. For example, the processor 40 may update the image 112 so that the numerical value of the elapsed time te decreases over time, such as "4 sec" → "3 sec" → "2 sec" → "1 sec." Conversely, the processor 40 may update the image 112 so that the numerical value of the elapsed time te increases over time, such as "1 sec" → "2 sec" → "3 sec" → "4 sec."

[0059] On the other hand, in the case of image 122 or 132 (FIGS. 9 and 10), processor 40 updates image 122 or 132 so as to display color region 124 or 134 at a position corresponding to the elapsed time te being measured at that time. For example, processor 40 may update image 122 or 132 so that color region 124 or 134 decreases as elapsed time te decreases over time, such as from 4 seconds to 3 seconds to 2 seconds to 1 second. Conversely, processor 40 may update image 122 or 132 so that color region 124 or 134 increases as elapsed time te increases over time, such as from 1 second to 2 seconds to 3 seconds to 4 seconds.

[0060] After step S33, processor 40 returns to step S24. In this way, while processor 40 determines YES in step S32 (in other words, while processor 40 is continuously accepting input IP2), processor 40 continues counting the elapsed time te that started in step S23. Then, every time processor 40 executes step S33, processor 40 updates image 112, 122, or 132 to visually notify the operator of the elapsed time te being counted.

[0061] On the other hand, if the determination in step S32 is NO, in step S34, the processor 40 ends the measurement of the elapsed time te that started in the most recent step S23 and resets the elapsed time te. Then, the processor 40 proceeds to step S26. As described above, in this embodiment, if the input IP2 is released after the processor 40 accepts the input IP2 in step S22, the processor 40 ends the measurement of the elapsed time te that started in step S23.

[0062] After starting the operation of the industrial machine 12 in step S25, in step S35, the processor 40 of the teaching device 14 determines whether the input IP2 received in the most recent step S22 is continuing, similar to the above-described step S32. If the processor 40 determines YES, the process proceeds to step S36, whereas if the processor 40 determines NO, the process proceeds to step S37.

[0063] In step S36, the processor 50 of the control device 16 functions as the operation command unit 64 and continues the operation of the industrial machine 12 that was started in the most recent step S25. In this way, in this embodiment, after the processor 50 starts the operation of welding the workpiece W in the industrial machine 12 in accordance with the command CM5 in step S25, the processor 50 continues the operation while determining YES in step S35 (in other words, while the input IP2 is continuously received). After step S36, the flow returns to step S35.

[0064] On the other hand, if the determination in step S35 is NO, in step S37, the processor 50 of the control device 16 functions as the operation command unit 64 and issues a command CM7 to the industrial machine 12 to terminate the operation of the industrial machine 12 that was started in the most recent step S25. Specifically, the processor 40 of the teaching device 14 transmits an operation termination command CM8 to the control device 16 at the start of step S37.

[0065] When processor 50 of control device 16 receives operation end command CM8, it functions as operation command unit 64 and transmits a power stop command CM7a to welding power source 22 as a command CM7 for ending the operation of welding workpiece W. This power stop command CM7a is a command for stopping the supply of power from welding power source 22 to welding wire 34, and upon receiving power stop command CM7a, welding power source 22 stops the supply of power to welding wire 34. This stops the welding operation on workpiece W.

[0066] Furthermore, processor 50 transmits, as command CM7, a feed stop command CM7b to welding power source 22. This feed stop command CM7b is a command for causing welding power source 22 to stop feeding of welding wire 34. Upon receiving feed stop command CM7b, welding power source 22 stops the operation of reel mechanism RM, thereby stopping the feeding of welding wire 34. Note that processor 50 may transmit feed stop command CM7b to reel mechanism RM to stop the operation of reel mechanism RM.

[0067] Furthermore, processor 50 may issue a wire retraction command CM7c to welding power source 22 instead of wire feed stop command CM7b. Then, welding power source 22 may reverse the reel mechanism RM in accordance with wire retraction command CM7c to retract welding wire 34 a predetermined distance from workpiece W. Note that processor 50 may issue wire retraction command CM7c to reel mechanism RM and reverse the reel mechanism RM in accordance with wire retraction command CM7c. In this way, processor 50 ends the operation of welding workpiece W. After step S37, the flow proceeds to step S26.

[0068] As described above, in this embodiment, the timing unit 66 continues to measure the elapsed time te (loop of steps S24, S32, and S33) while the input accepting unit 62 accepts the input IP2 of continuously operating the start button 102 or 142 (while the determination in step S32 is YES). On the other hand, the timing unit 66 stops measuring the elapsed time te (step S34) when the input IP2 is released (when the determination in step S32 is NO). According to this configuration, in order to start the operation of the industrial machine 12 in step S25, the operator needs to continuously operate (i.e., press and hold) the start button 102 or 142. By requiring such an operation as a condition for starting operation, the safety of the operator can be more reliably ensured.

[0069] 11 , the image generation unit 68 displays a start button 142 in the image data 140 so that the start button 142 can slide from a default position 144 to a slide position 146. The timing unit 66 starts measuring the elapsed time te when the input acceptance unit 62 accepts an input IP2 for sliding the start button 142 to the slide position 146.

[0070] The timing unit 66 continues to measure the elapsed time te while the input receiving unit 62 receives the input IP2 for continuously positioning the start button 142 at the slide position 146, and ends the measurement of time when the input IP2 is released. According to this configuration, in order to start the operation of the industrial machine 12 in step S25, the operator needs to perform an operation of sliding the start button 142 to the slide position 146 and then keeping it at the slide position 146. By requiring such an operation as a condition for starting the operation, the safety of the operator can be ensured more reliably.

[0071] In this embodiment, the image generation unit 68 displays, in the image data 1110, 120, 130, or 140, an image 112, 122, or 132 visually representing the elapsed time te measured by the timer unit 66 (steps S31 and S33). This configuration allows the operator to intuitively recognize the elapsed time te being measured. Furthermore, while continuously operating the start button 102 or 142, the operator can also recognize the remaining time until the industrial machine 12 starts operating in step S25.

[0072] Furthermore, in this embodiment, after the operation command unit 64 has caused the industrial machinery 12 to start an operation in accordance with the command CM5, the operation command unit 64 continues the operation while the input receiving unit 62 receives an input IP2 by continuously operating the start button 102 or 142 (while the determination in step S35 is YES) (step S36). On the other hand, when the input IP2 is released (when the determination in step S35 is NO), the operation command unit 64 transmits commands CM7 to terminate the operation (power supply stop command CM7a, feed stop command CM7b, wire retract command CM7c) to the industrial machinery 12 (step S37). With this configuration, the operator can continue the operation of the industrial machinery 12, which was started in step S25, for a desired period of time by continuously operating the start button 102 or 142.

[0073] Note that, during execution of the loop of steps S35 and S36, when the elapsed time te' since the start of the operation in step S25 reaches a predetermined time tw, the processors 40 and 50 may forcibly advance the flow to step S37 and terminate the operation. In this case, the processor 40 may activate the timer 45 during execution of step S25 to start measuring the elapsed time te', and determine whether the elapsed time te' has reached the predetermined time tw when determining YES in step S35 or after step S36. Note that steps S35 and S36 may be omitted from the flow of FIG. 7. In this case, the processor 50 may function as the operation command unit 64 and, after starting the operation in step S25, proceed to step S37 after the predetermined welding time tw has elapsed.

[0074] 8 to 11 can also be applied to the embodiment shown in Fig. 5. In this case, the processor 40 generates the image 112, 122, or 132 in step S21 in Fig. 5, and executes step S33 in Fig. 7 when determining NO in step S24. In this case, the operator does not need to continuously operate the start button 102 or 142 to cause the industrial machine 12 to start operating, but can recognize the waiting time ts being counted (i.e., the time remaining until the start of operation).

[0075] Next, another example of step S4 (manual operation function MF) in Fig. 3 will be described with reference to Fig. 12. In the flow shown in Fig. 12, processes similar to those in the flow of Fig. 7 are assigned the same step numbers, and duplicated explanations will be omitted. In step S41, the processor 40 of the teaching device 14 functions as the image generation unit 68 to generate image data 150 shown in Fig. 13.

[0076] The image data 150 displays an image of the start button 102, an image 112 of the elapsed time te, and an image of a stop button 152 for stopping the operation of the industrial machine 12. The operator can operate the input device 46 to click the stop button 152 in the image data 150. The processor 40 generates the image data 150 shown in FIG. 13 and displays it on the display device 48. Note that in the image data 150, the image 122 in FIG. 9 or the image 132 in FIG. 10 may be applied instead of the image 112.

[0077] 12 again, when the determination in step S24 is NO, the processor 40 determines in step S42 whether or not an input IP7 for operating the stop button 152 has been received. For example, if the operator desires to stop the start of operation after operating the start button 102 in step S22, the operator provides the input IP7 to the processor 40 by clicking the stop button 152. When the processor 40 functions as the input receiving unit 62 and receives the input IP7, the processor 40 determines YES and proceeds to step S34. Then, the processor 40 ends the measurement of the elapsed time te. On the other hand, when the determination in step S24 is NO, the processor 40 proceeds to step S33.

[0078] After step S25, in step S43, the processor 40 determines whether or not an input IP7 for operating the stop button 152 has been received, similar to step S42 described above. If the processor 40 determines YES, the process proceeds to step S37, whereas if the processor 40 determines NO, the process proceeds to step S36. Thus, in this embodiment, after starting an operation in step S25, the processor 50 of the control device 16 functions as the operation command unit 64 to continue the operation while the stop button 152 is not operated, but stops the operation when the stop button 152 is operated.

[0079] As described above, in this embodiment, the image generating unit 68 displays the stop button 152 for stopping the operation of the industrial machine 12 as an image in the image data 150 (step S41). Then, when the input accepting unit 62 accepts an input IP7 for operating the stop button 152 after starting timekeeping in step S23 (when step S42 returns YES), the timing unit 66 ends the timekeeping (step S34). With this configuration, if the operator wants to stop the start of operation for some reason after operating the start button 102, the operator can easily stop the start of operation by clicking the stop button 152.

[0080] Note that, during execution of the loop of steps S43 and S36, when the elapsed time te' since the start of the operation in step S25 reaches a predetermined time tw, the processors 40 and 50 may forcibly advance the flow to step S37 and terminate the operation. In this case, after executing step S25, the processor 40 may activate the timer 45 to start measuring the elapsed time te', and when determining NO in step S43 or after step S36, determine whether the elapsed time te' has reached the predetermined time tw. Also, steps S43 and S36 may be omitted from the flow of FIG. 12. In this case, the processor 50 may function as the operation command unit 64 and, after starting the operation in step S25, proceed to step S37 after the elapse of a predetermined welding time tw.

[0081] Next, an industrial system 10' according to another embodiment will be described with reference to Fig. 14. The industrial system 10' includes the above-described industrial machine 12 and control device 16, and a teaching device 14'. The teaching device 14' differs from the above-described teaching device 14 in that it further includes a microphone 70. The microphone 70 is communicatively connected to the processor 40 via a bus 49, converts the operator's voice into an electrical signal, and supplies it to the processor 40 as an audio input.

[0082] In this embodiment, voice recognition software VS is pre-installed in the teaching device 14′ and stored in the memory 42. This voice recognition software VS is configured to be able to recognize a voice input VI1 indicating that the operation of the industrial machine 12 is to be started and a voice input VI2 (second voice input) indicating that the operation of the industrial machine 12 is to be stopped. The voice input VI1 indicating that the operation is to be started may be, for example, a voice saying "start," and the voice input VI2 indicating that the operation is to be stopped may be, for example, a voice saying "stop."

[0083] Next, the operation of the industrial system 10' will be described. The processor 40 of the teaching device 14' and the processor 50 of the control device 16 cooperate with each other to execute the flow shown in FIG. 3. In this embodiment, the processors 40 and 50 execute the flow shown in FIG. 15 as step S4 in FIG. 3. In the flow shown in FIG. 15, the same processes as those in the flow of FIG. 7 are assigned the same step numbers, and duplicated explanations will be omitted.

[0084] In step S51, the processor 40 of the teaching device 14′ functions as the image generation unit 68 to generate image data 160 shown in FIG. 16. The image data 160 displays an image of a start button 162 for causing the industrial machine 12 to start a predetermined operation, and an image 112 of the elapsed time te. The operator can click the start button 162 in the image data 160 by operating the input device 46.

[0085] Processor 40 generates image data 160 shown in Fig. 16 and displays it on display device 48. Note that image 122 in Fig. 9 or image 132 in Fig. 10 may be applied to image data 160 instead of image 112. Then, processor 40 determines in step S22 whether or not input IP2 for operating start button 162 has been accepted, and if determined as YES, proceeds to step S52.

[0086] In step S52, the processor 40 functions as the input receiving unit 62 and determines whether or not it has received a voice input VI1 indicating the start of operation of the industrial machine 12. In this embodiment, in order to cause the industrial machine 12 to start the operation of welding the workpiece W in step S25, the operator operates the start button 162 and then issues a voice indicating the start of operation (for example, the voice saying "start").

[0087] The microphone 70 converts the voice from the operator into an electrical signal and supplies it to the processor 40 as a voice input. The processor 40 applies the voice input acquired from the microphone 70 to the voice recognition software VS, and if it recognizes it as a voice input VI1 such as "start," it determines "YES." If the processor 40 determines "YES," it proceeds to step S23, but if it determines "NO," it proceeds to step S53. In step S53, similar to step S32 described above, the processor 40 determines whether the input IP2 of operating the start button 162 accepted in the most recent step S22 is continuing. If it determines "YES," it returns to step S52, but if it determines "NO," it proceeds to step S26.

[0088] On the other hand, if the determination in step S24 is NO, in step S54, the processor 40 functions as the input receiving unit 62 and determines whether or not a voice input VI2 indicating that the operation of the industrial machine 12 is to be stopped has been received. Suppose that the operator operates the start button 162 and then utters a voice indicating that the operation is to be stopped (for example, a voice saying "Stop").

[0089] The processor 40 applies the voice input acquired from the microphone 70 to the voice recognition software VS, and if it recognizes the voice input VI2 as "stop" or the like, it determines YES. If the processor 40 determines YES, it proceeds to step S34 and ends counting the elapsed time te, but if it determines NO, it proceeds to step S32.

[0090] After step S25, in step S55, similarly to step S54 described above, the processor 40 functions as the input receiving unit 62 and determines whether or not it has received a voice input VI2 indicating that the operation of the industrial machine 12 is to be stopped. If the processor 40 determines YES, it proceeds to step S37, whereas if the processor 40 determines NO, it proceeds to step S35.

[0091] As described above, in this embodiment, after receiving the input IP2 in step S22, the input receiving unit 62 further receives the voice input VI1 indicating the start of operation of the industrial machine 12 (step S52). Then, when the input receiving unit 62 receives the voice input VI1 (when the determination in step S52 is YES), the timing unit 66 starts timing (step S23).

[0092] According to this configuration, the operator can easily start the operation of the industrial machine 12 by issuing a voice command such as "start." Furthermore, in order to start the operation of the industrial machine 12 in step S25, the operator must operate the start button 162, provide a voice input VI1, and wait for the waiting time ts. Requiring such an operation as a condition for starting the operation makes it possible to more reliably ensure the safety of the operator.

[0093] In this embodiment, the input receiving unit 62 further receives a second voice input VI2 indicating that the operation of the industrial machine 12 is to be stopped (step S54). Then, when the input receiving unit 62 receives the second voice input VI after starting the timekeeping (when the determination in step S54 is YES), the timing unit 66 ends the timekeeping (step S34). With this configuration, if the operator wants to stop the start of operation for some reason after giving the voice input VI1, the operator can easily stop the start of operation by saying "stop" or the like.

[0094] Note that, during execution of the loop of steps S55, S35, and S36, when the elapsed time te' since the start of the operation in step S25 reaches a predetermined time tw, the processors 40 and 50 may forcibly advance the flow to step S37 and terminate the operation. In this case, after execution of step S25, the processor 40 may start the timer 45 to start measuring the elapsed time te', and may determine whether the elapsed time te' has reached the predetermined time tw when the determination is NO in step S55, when the determination is YES in step S35, or after step S36.

[0095] In step S52, when the processor 40 receives the voice input VI1, the processor 40 may perform voiceprint authentication on the voice input VI1. For example, a voiceprint template that stores the voiceprint of an authorized operator is stored in advance in the memory 42. The processor 40 compares the received voice input VI1 with the voiceprint template, and determines YES if the voice input VI1 matches the voiceprint of an authorized operator.

[0096] On the other hand, if the received voice input VI1 does not match the voiceprint of an authorized operator, the processor 40 determines the result as NO. In this case, the processor 40 may generate an audio or visual warning signal stating, "Unauthorized operators are not allowed to operate industrial machinery." Similarly, in steps S54 and S55, the processor 40 may also perform voiceprint authentication by matching the received voice input VI2 with a voiceprint template. Note that step S32 or S35 may be omitted from the flow of FIG. 15 .

[0097] Next, with reference to FIG. 17 , other functions of the industrial system 10 shown in FIG. 2 will be described. In this embodiment, the operator manually moves the welding torch 20 to a welding position P for welding (e.g., tack welding) the workpiece W using the direct teach function DF, and then executes the manual operation function MF. The processor 40 of the teaching device 14 and the processor 50 of the control device 16 cooperate with each other to execute the flow of FIG. 3 , executing step S2 and then step S4. Here, in this embodiment, the flow of FIG. 18 is executed as step S4. Note that in the flow shown in FIG. 18 , processes similar to those in the flow of FIG. 5 are assigned the same step numbers, and duplicated descriptions will be omitted.

[0098] When the determination in step S22 is YES, in step S61, the processor 50 of the control device 16 advances the welding wire 34 by a predetermined distance δ. Specifically, the processor 50 issues a pre-feed command CM9 to the welding power source 22. The welding power source 22 rotates the reel mechanism RM in the normal direction in accordance with the pre-feed command CM9, thereby advancing the welding wire 34 by the distance δ. As a result, the welding wire 34 is fed by the distance δ from the welding torch 20 placed at the welding position P by the direct teach function DF in step S2. Note that the processor 50 may also issue the pre-feed command CM9 to the reel mechanism RM and rotate the reel mechanism RM in the normal direction in accordance with the pre-feed command CM9.

[0099] In step S62, processor 50 of control device 16 determines whether electrical continuity has been established between welding wire 34 and workpiece W. Specifically, processor 50 transmits a pre-energization command CM10 to welding power source 22. This pre-energization command CM10 is a command to supply power E2 (<E1) to welding wire 34, which is lower than power E1 of energization start command CM5a transmitted in step S25. Power E2 is predetermined as a power level at which no discharge occurs between welding wire 34 and workpiece W. In accordance with pre-energization command CM10, welding power source 22 supplies power E2 to welding wire 34.

[0100] The processor 50 then monitors the current value A generated in the welding wire 34 and determines whether the current value A exceeds a predetermined threshold value A. ｔｈ If the resistance R is equal to or greater than the predetermined threshold value R, the processor 50 determines that the welding wire 34 and the workpiece W are electrically connected (i.e., YES). Alternatively, the processor 50 monitors the resistance R between the welding wire 34 and the workpiece W, and determines whether the resistance R is equal to or greater than the predetermined threshold value R. ｔｈ It may be determined that there is electrical continuity between the welding wire 34 and the workpiece W (i.e., YES) when the following holds: In this case, the industrial machine 12 may further include a sensor (not shown) that detects the current value A or the resistance value R.

[0101] If the processor 50 determines YES, the process proceeds to step S23, and if the processor 50 determines NO, the process proceeds to step S63. As described above, in the present embodiment, the processor 50 functions as a continuity determination unit 72 ( FIG. 17 ) that determines whether or not there is electrical continuity between the welding wire 34 and the workpiece W. The continuity determination unit 72, together with the input receiving unit 62, the operation command unit 64, the timing unit 66, and the image generating unit 68, constitutes the device 60. Note that if the processor 50 determines NO in step S62, the processor 50 may retract the welding wire 34, which was advanced in step S61, by a distance δ.

[0102] In step S63, the processor 40 of the teaching device 14 generates a warning signal AL. For example, the processor 40 generates a warning signal AL in the form of a sound or image saying, "The welding torch is not in the proper position for welding. Please adjust the position." to notify the operator. The processor 40 then proceeds to step S26. As described above, in this embodiment, steps S23 to S25 are not executed while the determination in step S62 is NO.

[0103] As described above, in this embodiment, when the input receiving unit 62 receives the input IP2 (when a determination of YES is made in step S22) after the operation command unit 64 executes the direct teach function DF (step S2) to operate the robot 18, the continuity determination unit 72 determines whether or not there is electrical continuity between the welding wire 34 and the workpiece W (step S62). If the continuity determination unit 72 determines that there is no electrical continuity between the welding wire 34 and the workpiece W (NO in step S62), the operation command unit 64 does not transmit the command CM5 to the industrial machine 12.

[0104] Here, if the operator manually moves welding torch 20 to welding position P using direct teach function DF, there is a possibility that welding position P will be inappropriate, for example, welding torch 20 will be too far from workpiece W. Therefore, in this embodiment, when the determination in step S22 is YES, steps S61 and S62 are executed, and if welding torch 20 is positioned at an appropriate welding position P where welding wire 34 and workpiece W are electrically connected, operation is started in step S25.

[0105] On the other hand, if the welding torch 20 is positioned at an inappropriate welding position P where the welding wire 34 is separated from the workpiece W, step S25 is not executed. This allows the operator to recognize whether the position of the welding torch 20 moved by the direct teach function DF is appropriate, and if it is inappropriate, to quickly take measures such as correcting the position of the welding torch 20 by executing the direct teach function DF again. In the flow shown in FIG. 18, the processors 40 and 50 may execute steps S61 to S63 when determining NO in step S24. It should also be understood that steps S61 to S63 can also be applied to the flow of FIG. 7, FIG. 12, or FIG. 15.

[0106] The processor 40 of the teaching device 14 or 14′ may function as the image generation unit 68 to further display an image in which the operating condition CD can be input in the above-mentioned image data 100, 110, 120, 130, 140, 150, or 160. Such image data 170 is shown in FIG. 19 . The image data 170 further includes an input image area 172 for inputting the operating condition CD, in addition to the image of the start button 102 and the image 112 indicating the elapsed time te.

[0107] 19, the operating conditions CD include a welding time tw, a welding current Iw, and a welding voltage Vw. Input image area 172 displays an input image 174 for inputting the welding time tw, an input image 176 for inputting the welding current Iw, and an input image 178 for inputting the welding voltage Vw.

[0108] The processor 40 of the teaching device 14 functions with the image generation unit 68 to generate image data 170 and display it on the display device 48. While visually viewing the image data 170, the operator can operate the input device 46 to input the desired values ​​of the welding time tw, welding current Iw, and welding voltage Vw into the input image, input images 174, 176, and 178, respectively, as the operating conditions CD.

[0109] When the processor 50 of the control device 16 executes the above-described step S25, the processor 50 functions as the operation command unit 64 and causes the industrial machine 12 to execute the operation of welding the workpiece W in accordance with the operation conditions CD input to the input images 174, 176, and 178. Specifically, in step S25, the processor 50 transmits a current start command CM5a to the welding power source 22 so as to supply the welding wire 34 with power E1 having the welding current Iw: 80 [A] input to the input image 176 and the welding voltage Vw: 12 [V] input to the input image 176.

[0110] 5, processor 50 performs the welding operation for welding time tw input in input image 174. Alternatively, when the loop of steps S35 and S36 in FIG. 7, the loop of steps S43 and S36 in FIG. 12, or the loop of steps S55, S35, and S36 in FIG. 15 is being executed, if the elapsed time te′ since the start of the operation in step S25 reaches the welding time tw input in input image 174, processors 40 and 50 may proceed to step S37.

[0111] 3 in accordance with a computer program PG stored in the memory 42 or 52. The functions of the device 60 (input receiving unit 62, operation command unit 64, timer unit 66, image generating unit 68, and continuity determining unit 72) executed by the processors 40 and 50 may be functional modules realized by the computer program PG.

[0112] In the above embodiment, the case has been described in which, among the functions of the device 60, the functions of the input receiving unit 62, the timing unit 66, and the image generating unit 68 are implemented in the teaching device 14, while the functions of the operation command unit 64 and the continuity determining unit 72 are implemented in the control device 16. However, this is not limiting, and all of the functions of the device 60 may be implemented in the teaching device 14 or the control device 16.

[0113] When all the functions of the device 60 are implemented in the teaching device 14, the processor 40 functions as an operation command unit 64. On the other hand, when all the functions of the device 60 are implemented in the control device 16, the processor 50 functions as an input receiving unit 62, a timing unit 66, an image generating unit 68, and a continuity determining unit 72. In this case, the timer 45, the input device 46, the display device 48, and the microphone may be provided in the control device 16. Alternatively, the functions of the device 60 may be implemented in any computer other than the teaching device 14 and the control device 16, such as a host controller, a PC, a server, or the like.

[0114] In the above-described embodiment, the start buttons 102, 142, and 162 are GUIs displayed as images on the image data 100, 110, 120, 130, 140, 150, 160, and 170. However, this is not limiting, and the start buttons 102, 142, and 162 may be physical push buttons, switches, and the like. In other words, in this case, the image generation unit 68 can be omitted from the device 60. The above-described stop button 152 may also be a physical push button, switch, and the like. The stop button 152 of the image data 150 shown in FIG. 13 may be applied to the image data 100, 120, 130, 140, 160, and 170.

[0115] In the above embodiment, the direct teach function DF is executed in step S2. However, the present invention is not limited to this. The processor 50 of the control device 16 may operate the industrial machine 12 in, for example, the jog teach mode OM1 in step S2. Furthermore, after step S4 in FIG. 3 , the processor 50 may operate the industrial machine 12 in the automatic operation mode OM4 in response to an input operation from the operator to perform the main welding.

[0116] The input device 46 may include a touch panel that receives a touch operation from an operator and a sensor that is provided on the touch panel and can detect the touch operation force applied to the touch panel. In step S22, the processor 40 of the teaching device 14 or 14′ may receive an input IP2 for operating the start button 102, 142, or 162 and determine YES when the touch operation force detected by the sensor is equal to or greater than a predetermined threshold.

[0117] Note that the image data 100, 110, 120, 130, 140, 150, 160, and 170 are merely examples, and the image data may be any GUI. Furthermore, the robot 18 is not limited to a vertical articulated robot, and may be any other type of robot, such as a horizontal articulated robot or a parallel link robot. Furthermore, in the above-described embodiment, the industrial machine 12 performs an operation of welding the workpiece W. However, the present invention is not limited to this, and the industrial machine 12 may perform any operation, such as brazing, laser processing, or coating.

[0118] Although the present disclosure has been described in detail above, 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 present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. 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.

[0119] The present disclosure describes the following aspects. (Aspect 1) A device 60 for operating an industrial machine 12, the device 60 including: an input acceptance unit 62 that accepts an input IP2 by operating a start button 102, 142, 162 to cause the industrial machine 12 to perform a predetermined operation; a timing unit 66 that starts measuring an elapsed time te after the input acceptance unit 62 accepts the input IP2; and an operation command unit 64 that issues a command CM5 to start the operation to the industrial machine 12 when the elapsed time te measured by the timing unit 66 reaches a predetermined waiting time ts. (Aspect 2) The device 60 according to Aspect 1, in which the timing unit 66 continues measuring time while the input acceptance unit 62 accepts the input IP2 by continuously operating the start button 102, 142, 162, and stops measuring time when the input IP2 is released. (Aspect 3) The device 60 described in aspect 1 or 2 further includes an image generation unit 68 that generates image data 100, 110, 120, 130, 140, 150, 160, 170 that displays the start buttons 102, 142, 162 as images, and the input acceptance unit 62 accepts an input IP2 that operates the start buttons 102, 142, 162 displayed in the image data 100, 110, 120, 130, 140, 150, 160, 170. (Aspect 4) The device 60 according to Aspect 3, wherein the image generation unit 68 displays a start button 142 in the image data 140 so as to be slidable from a default position 144 to a slide position 146, and the timer unit 66 starts timing when the input acceptance unit 62 accepts an input IP2 causing the start button 142 to slide to the slide position 146, continues timing while the input acceptance unit 62 accepts the input IP2 causing the start button 142 to be continuously positioned at the slide position 146, and ends timing when the input IP2 is released. (Aspect 5) The device according to Aspect 3 or 4, wherein the image generation unit 68 further displays images 112, 122, 132 in the image data 110, 120, 130, 140, 150, 160, visually representing the elapsed time te measured by the timer unit 66. (Aspect 6) A device 60 described in any one of aspects 3 to 5, wherein the image generation unit 68 further displays a stop button 152 for stopping the operation as an image in the image data 150, and the timing unit 66 ends the timing when the input acceptance unit 62 accepts an input IP7 operating the stop button 152 after starting the timing.(Aspect 7) The device 60 according to any one of Aspects 1 to 6, wherein the input receiving unit 62, after receiving the input IP2, further receives a voice input VI1 indicating that an operation is to be started, and the timing unit 66 starts timing when the input receiving unit 62 receives the voice input VI1. (Aspect 8) The device 60 according to Aspect 7, wherein the input receiving unit 62 further receives a second voice input VI2 indicating that the operation is to be stopped, and the timing unit 66 ends the timing when the input receiving unit 62 receives the second voice input VI2 after starting the timing. (Aspect 9) The device 60 according to any one of Aspects 1 to 8, wherein the operation command unit 64, after causing the industrial machine 12 to start an operation in accordance with the command CM5, continues the operation while the input receiving unit 62 receives an input IP2 that continuously operates the start button 102, 142, 162, and, when the input IP2 is released, transmits a command CM7 to the industrial machine 12 to end the operation. (Aspect 10) The apparatus according to any one of Aspects 1 to 9, wherein the industrial machine 12 has a welding torch 20 that feeds the welding wire 34, a robot 18 that moves the welding torch 20, and a welding power source 22 that supplies power to the welding wire 34, and the operation command unit 64 issues a command CM5a to the welding power source 22 to supply power to the welding wire 34 to start the operation of welding the workpiece W. (Aspect 11) The apparatus 60 according to Aspect 10, wherein the industrial machine 12 further has a force sensor 24 that detects an external force F applied to the robot 18, and the operation command unit 64 executes a direct teach function DF that operates the robot 18 to move the welding torch 20 in accordance with the external force F detected by the force sensor 24. (Aspect 12) The device 60 described in aspect 11 further includes a continuity determination unit 72 that determines whether or not there is electrical continuity between the welding wire 34 and the workpiece W when the input receiving unit 62 receives an input IP2 after the operation command unit 64 executes the direct teach function DF to operate the robot 18, and the operation command unit 64 does not transmit a command CM5 to the industrial machine 12 if the continuity determination unit 72 determines that there is no electrical continuity between the welding wire 34 and the workpiece W.(Aspect 13) A method for operating an industrial machine 12, wherein the processor 40, 50 receives an input IP2 for operating a start button 102, 142, 162 for causing the industrial machine 12 to perform a predetermined operation, starts measuring an elapsed time te after receiving the input IP2, and transmits a command CM5 to start the operation to the industrial machine 12 when the measured elapsed time te reaches a predetermined waiting time ts. (Aspect 14) A computer program PG for causing the processor 40, 50 to execute the method described in Aspect 13.

[0120] REFERENCE SIGNS LIST 10, 10' Industrial system 12 Industrial machine 14, 14' Teaching device 16 Control device 18 Robot 20 Welding torch 22 Welding power source 24 Force sensor 60 Device 62 Input reception unit 64 Operation command unit 66 Timer unit 68 Image generation unit 72 Continuity determination unit 100, 110, 120, 130, 140, 150, 160, 170 Image data 102, 142, 162 Start button 112, 122, 132 Elapsed time image 152 Stop button

Claims

1. An apparatus for operating an industrial machine, comprising: an input receiving unit that receives an input for operating a start button for causing the industrial machine to execute a predetermined operation; a timing unit that starts timing of an elapsed time after the input receiving unit receives the input; and an operation command unit that transmits a command for starting the operation to the industrial machine when the elapsed time counted by the timing unit reaches a predetermined standby time.

2. The apparatus according to claim 1, wherein the timing unit continues the timing while the input receiving unit receives the input of continuously operating the start button, and ends the timing when the input is released.

3. The apparatus according to claim 1, further comprising an image generation unit that generates image data for displaying the start button as an image, wherein the input receiving unit receives the input of operating the start button displayed in the image data.

4. The image generation unit displays the start button slidable from a default position to a slide position in the image data. The timing unit starts the timing when the input receiving unit receives the input of sliding the start button to the slide position, continues the timing while the input receiving unit receives the input of continuously arranging the start button at the slide position, and ends the timing when the input is released. The apparatus according to claim 3.

5. The apparatus according to claim 3, wherein the image generation unit further displays in the image data an image visually representing the elapsed time counted by the timing unit.

6. The image generation unit further displays in the image data a stop button for stopping the operation as an image. The timing unit ends the timing when the input receiving unit receives the input of operating the stop button after starting the timing. The apparatus according to claim 3.

7. The input receiving unit further receives, after receiving the input, a voice input indicating that the operation is to be started. The timing unit starts the timing when the input receiving unit receives the voice input. The apparatus according to claim 1.

8. The input receiving unit further receives a second voice input indicating to abort the operation, and the timing unit ends the timing when the input receiving unit receives the second voice input after starting the timing. The apparatus according to claim 7.

9. After the operation command unit starts the operation on the industrial machine according to the command, while the input receiving unit is receiving the input of continuously operating the start button, the operation command unit continues the operation, and when the input is released, the operation command unit transmits a command for ending the operation to the industrial machine. The apparatus according to claim 1.

10. The industrial machine includes a welding torch for feeding a welding wire, a robot for moving the welding torch, and a welding power source for supplying power to the welding wire. The operation command unit transmits the command for supplying power to the welding wire to start the operation of welding the workpiece to the welding power source. The apparatus according to claim 1.

11. The industrial machine further includes a force sensor for detecting an external force applied to the robot, and the operation command unit executes a direct teach function of operating the robot according to the external force detected by the force sensor to move the welding torch. The apparatus according to claim 10.

12. Further comprising a conduction determination unit for determining whether the welding wire and the workpiece are conducting when the input receiving unit receives the input after the operation command unit executes the direct teach function to operate the robot. When the conduction determination unit determines that the welding wire and the workpiece are not conducting, the operation command unit does not transmit the command to the industrial machine. The apparatus according to claim 11.

13. A method for operating an industrial machine, wherein a processor receives an input of operating a start button for causing the industrial machine to execute a predetermined operation, starts timing of an elapsed time after receiving the input, and transmits a command for starting the operation to the industrial machine when the elapsed time for timing reaches a predetermined standby time.

14. A computer program for causing the processor to execute the method according to claim 13.

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