JP5166170B2 - Equipment control system - Google Patents

Description

  The present invention relates to a device control system including a plurality of devices to be controlled and a teaching device.

  Here, as a conventional device control system, an industrial robot system including a teaching pendant in which a safety-related device is installed and a robot device will be described as an example.

  A schematic configuration example of a conventional industrial robot system is shown in FIG. The conventional industrial robot system shown in FIG. 8 includes a plurality of robot apparatuses 101-1 to 101-n and a plurality of teaching pendants that have a one-to-one correspondence with the plurality of robot apparatuses 101-1 to 101-n. 102-1 to 102-n (where n is a natural number of 2 or more). The one-to-one correspondence robot apparatus 101-k and teaching pendant 102-k are connected by cable 103-k (where k is an arbitrary natural number from 1 to n).

  The robot apparatus 101-k includes a key cylinder 104-k unique to the robot apparatus 101-k and a plurality of emergency stop switches 106 (where k is an arbitrary natural number from 1 to n). A mechanical key 105-k corresponding to the key cylinder 104-k, that is, a mechanical key 105-k unique to the robot apparatus 101-k is inserted into the key cylinder 104-k (where k is an arbitrary number from 1 to n). Natural number).

  Each of the plurality of teaching pendants 102-1 to 102-n includes an emergency stop switch 107 and a touch panel 108 on the front surface, and an enable switch (not shown) on the back surface.

  In the conventional industrial robot system shown in FIG. 8, it is necessary to perform an operation for learning the operation at the initial stage and at the time of adjustment, that is, a teaching operation for each of the plurality of robot apparatuses 101-1 to 101-n. Each of the plurality of robot apparatuses 101-1 to 101-n calls the teaching data taught by this teaching work to realize automatic operation.

  The emergency stop switches 106 and 107 are all B contact (break contact) switches. The emergency stop circuit related to the robot apparatus 101-k is a series connection circuit of a plurality of emergency stop switches 106 installed in the robot apparatus 101-k and an emergency stop switch 107 installed in the teaching pendant 102-k. When any one of the plurality of emergency stop switches 106 installed at -k and the emergency stop switch 107 of the teaching pendant 102-k is turned off, the emergency stop circuit is opened, and the robot apparatus 101-k becomes emergency. Stop.

  The touch panel 108 functions as a display device that displays various information of the robot during teaching work, and also functions as an input device that inputs teaching data. When the enable switch is turned on, the operation content of the touch panel 108 becomes valid, and when the enable switch is turned off, the operation content of the touch panel 108 becomes invalid.

  For example, in the teaching work of the robot apparatus 101-1, the operator enters the safety fence 109 with the teaching pendant 102-1 and approaches the movable part of the robot apparatus 101-1, and then the teaching pendant 102-1. Is used to move the movable part of the robot apparatus 101-1, and the teaching data necessary for the automatic operation is input by operating the touch panel 108. In order to prevent a third party from starting the automatic operation of the robot apparatus 101-1 during the teaching work, when the mechanical key 105-1 is removed from the key cylinder 104-1, the robot apparatus 101-1 is automatically operated. Generally, the method of prohibiting driving is taken. When such a technique is adopted, a robot operator can remove the mechanical key 105-1 from the key cylinder 104-1, carry the removed mechanical key 105-1 and enter the safety fence 109. It is possible to prevent automatic operation of the robot apparatus 101-1 from being started by a third party during the teaching work of 101-1.

  In addition, a key cylinder unique to the robot device corresponding to the teaching pendant is also provided on the teaching pendant side, and operation from the teaching pendant can be performed only when the mechanical key is inserted into the key cylinder on the teaching pendant side. In some cases, the safety is further improved.

JP 2006-277531 A JP 2006-157415 A

  In the configuration of the conventional industrial robot system shown in FIG. 8, since the robot apparatus and the teaching pendant have a one-to-one correspondence, the teaching pendant is required for the number of robot apparatuses. However, since the teaching pendant is necessary only at the time of teaching work, it is desirable to share the teaching pendant with a plurality of robot apparatuses from the viewpoint of cost and arrangement space reduction.

  Therefore, in the industrial robot system proposed in Patent Document 1, in order to share the teaching pendant with a plurality of robot side control devices, a connector for connecting the teaching pendant to each of the plurality of robot side control devices is provided. A cable having a predetermined length is provided on the teaching pendant, and a connector that can be attached to and detached from each connector of the plurality of robot side control devices is attached to the tip of the cable.

  Note that the industrial robot system proposed in Patent Document 1 has a configuration in which the teaching pendant and the robot-side control device are wiredly connected by a cable. For example, the controller proposed in Patent Document 2 and the operation of the controller If a connection method with a terminal is applied, it is also possible to wirelessly connect the teaching pendant and the robot side control device so that the teaching pendant can be shared by a plurality of robot side control devices.

  However, the key cylinder on the teaching pendant side in the conventional industrial robot system is unique to each robot apparatus corresponding to each teaching pendant in the same manner as the key cylinder on the robot apparatus side. There arises a problem that it cannot be applied to a configuration shared by control devices.

  Further, in the industrial robot system proposed in Patent Document 1, it is not considered to provide an emergency stop switch on the teaching pendant, and if the emergency stop switch is provided on the teaching pendant as in the conventional case, In the robot-side control device that is not connected to the teaching pendant, there arises a problem that the emergency stop circuit is opened and an emergency stop is applied. Even in the case of wireless connection, a problem arises that an emergency stop circuit is opened and an emergency stop is applied to a robot-side control device that has not established a wireless connection with the teaching pendant.

  In view of the above situation, an object of the present invention is to provide a highly safe device control system in which a teaching device can be shared by a plurality of devices to be controlled.

  In order to achieve the above object, a device control system according to the present invention selects a plurality of control target devices and any one of the plurality of control target devices, and selects the selected control target device. A device control system including a teaching device that teaches an operation, wherein each of the plurality of devices to be controlled is switched between a first state and a second state only by inserting a key unique to the device. A master state in which the teaching device can switch between a state where teaching can be performed and a state where teaching cannot be performed regardless of which key unique to each control target device is inserted. A switching device, and a connection request transmission unit that transmits a connection request to a control target device to be taught, and in response to the connection request of the connection request transmission unit, the teaching device and a control pair to be taught In a state where connection with the device is established, the master state switching device switches from a state where teaching cannot be performed to a state where teaching can be performed, so that teaching to a control target device as a teaching target becomes possible. I have to.

  According to such a configuration, the teaching device has a master state switching device capable of switching between a state where teaching can be performed and a state where teaching cannot be performed regardless of which key unique to the control target device is inserted. Therefore, the teaching apparatus can be shared by a plurality of devices to be controlled even in a configuration in which a safety measure using a key is taken. As a result, the teaching device can be shared by a plurality of devices to be controlled, and a highly safe device control system can be realized.

  Each of the plurality of devices to be controlled may include an operation mode switching unit that switches between a manual mode that operates according to the teaching of the teaching device and an automatic operation mode that operates regardless of the teaching of the teaching device. Good. Further, the state switching device may be the operation mode switching means, wherein the first state is the manual mode and the second state is the automatic operation mode.

  Further, the safety-related circuit related to the control target device has a safety-related circuit related to each of the plurality of control target devices, and a key unique to the own device is inserted into the state switching device. The safety-related device is invalidated, and in the safety-related circuit related to the control target device in which the key unique to the own device is not inserted in the state switching device, the corresponding safety-related device installed in the teaching device is not invalidated. Also good.

  According to such a configuration, in the safety-related circuit related to the control target device in which the key unique to the own device is inserted in the state switching device, the safety-related operation (for example, emergency Therefore, the teaching device can be shared by a plurality of control target devices even though the safety-related device is installed in the teaching device. Further, according to such a configuration, the corresponding safety-related device installed in the teaching device functions effectively in the safety-related circuit related to the control target device in which the key unique to the own device is not inserted in the state switching device. , Safety can be further increased.

  From the viewpoint of convenience, the connection between the teaching device and the control target device to be taught may be a wireless connection.

  The key may be a mechanical key or an electronic key.

  Each of the plurality of control target devices has a storage unit that stores control target device ID data unique to the own device in advance, and is controlled as a teaching target in response to a connection request from the connection request transmission unit. The target device may return the control target device ID data to the teaching device to establish a connection between the teaching device and the control target device to be taught. Furthermore, the teaching device includes a storage unit that stores in advance teaching device ID data unique to the teaching device, and the teaching target device ID data acquired by the connection request of the connection request transmission unit is included in the teaching device. Device ID data is combined into connection ID data, and the connection ID data is used in communication between the teaching device and the control target device to be taught after establishing the connection between the teaching device and the control target device to be taught. You may do it.

  Further, from the viewpoint of facilitating confirmation of the connection between the teaching device and the control target device to be taught, the teaching device has a confirmation operation unit for confirming the connection with the control target device to be taught. And each of the plurality of control target devices has a notification unit for notifying that the connection with the teaching device is established, and the confirmation operation unit is operated to A notification unit provided in a control target device that is a teaching target for which connection has been established may notify that the connection with the teaching device has been established.

  Further, in a state where the connection between the teaching device and the control target device to be taught is established and the key is inserted into the master state switching device, a key specific to the control target device to be taught is Even if the operation mode of the control target device to be taught is switched to the automatic operation mode by being inserted into the state switching device of the control target device to be taught, the teaching of the teaching device may be given priority.

  According to such a configuration, in a state where a key unique to a control target device that is not a teaching target is inserted in the master state switching device of the teaching device, a connection with the teaching device is established and the control that is the teaching target is established. Even if a key unique to the device is inserted into the target device and the automatic operation mode is set, the safety-related device installed in the teaching device becomes effective, so that the safety can be further enhanced.

  According to the present invention, comprising: a plurality of control target devices; and a teaching device that selects any one of the plurality of control target devices and teaches the operation to the selected control target device, The teaching device has a master state switching device that can switch between a state in which teaching can be performed and a state in which teaching cannot be performed regardless of which key unique to the control target device is inserted. Even in a configuration in which safety measures are taken, the teaching device can be shared by a plurality of control target devices. As a result, the teaching device can be shared by a plurality of devices to be controlled, and a highly safe device control system can be realized.

  Embodiments of the present invention will be described below with reference to the drawings. Here, as an apparatus control system according to the present invention, an industrial robot system including a teaching pendant in which a safety-related device is installed and a robot apparatus will be described as an example.

  A schematic configuration example of an industrial robot system according to the present invention is shown in FIG. The industrial robot system according to the present invention shown in FIG. 1 includes a plurality of robot apparatuses 1-1 to 1-n that are examples of a plurality of control target devices, and a teaching pendant 2 that is an example of a teaching apparatus. (Where n is a natural number of 2 or more).

  The robot apparatus 1-k includes a key cylinder 3-k unique to the robot apparatus 1-k, which is an example of a state switching apparatus, and a plurality of emergency stop switches 5 (where k is an arbitrary number from 1 to n). Natural number). A mechanical key 4-k corresponding to the key cylinder 3-k, that is, a mechanical key 4-k unique to the robot apparatus 1-k is inserted into the key cylinder 3-k (where k is an arbitrary number from 1 to n). Natural number).

  The teaching pendant 2 has an emergency stop switch 6 as an example of a safety-related device, a touch panel 7, a pairing button 8 for performing pairing and pairing release as an example of a connection request transmission unit, A pairing display LED 9 indicating the presence or absence of the master and a master cylinder 10 corresponding to all of the mechanical keys 4-1 to 4-n as an example of a master state switching device are provided, and an enable switch (not shown) is provided on the back surface. It has. The touch panel 7 functions as a display device that displays various information of the robot apparatus during teaching work described later, and also functions as an input device that inputs teaching data. Further, the operation content of the touch panel 7 becomes valid when the enable switch is turned on, and the operation content of the touch panel 7 becomes invalid when the enable switch is turned off.

  In the industrial robot system according to the present invention shown in FIG. 1, it is necessary to perform an operation for learning the operation at the initial stage and at the time of adjustment, that is, a teaching operation for each of the plurality of robot apparatuses 1-1 to 1-n. Each of the plurality of robot apparatuses 1-1 to 1-n calls the teaching data taught by this teaching work to realize automatic operation.

  As shown in FIG. 1, mechanical keys 4-1 to 4-n are inserted into the key cylinders 3-1 to 3-n, and the key cylinders 3-1 to 3-n are rotated clockwise. In the state, each of the robot devices 1-1 to 1-n is in an automatic operation mode in which only automatic operation is possible, and does not accept the operation content of the teaching pendant 2. Note that each of the key cylinders 3-1 to 3-n cannot be removed from the inserted mechanical key when it is rotated clockwise, but is inserted only when it is rotated counterclockwise. It has a structure that can remove the mechanical key.

  Further, as shown in FIG. 1, when the mechanical key is not inserted into the master cylinder 10 of the teaching pendant 2 and the master cylinder 10 is turned counterclockwise, the power from the built-in battery to the touch panel 7 is The supply is OFF, and teaching data cannot be input to the touch panel 7. With such a configuration, when the robot apparatus is in the automatic operation mode, the operator mistakenly recognizes that manual operation using the teaching pendant 2 is possible, and automatic operation of the robot apparatus is being executed. Intrusion into the safety fence 11 is prevented.

  The emergency stop switches 5 and 6 are all B contact (break contact) switches. The emergency stop circuit for the robot apparatus 1-k is a series connection circuit of a plurality of emergency stop switches 5 installed in the robot apparatus 1-k and an emergency stop switch 6 installed in the teaching pendant 2, and the robot apparatus 1-k. When any one of the plurality of emergency stop switches 5 and the emergency stop switch 6 of the teaching pendant 2 are turned OFF, the emergency stop circuit is opened and the robot apparatus 1-k is emergency stopped.

  If the mechanical key 4-k is inserted into the key cylinder 3-k, the emergency stop circuit for the robot apparatus 1-k invalidates the emergency stop switch 6 of the teaching pendant 2, and the mechanical key 4 is connected to the key cylinder 3-k. If -k is not inserted, the emergency stop switch 6 of the teaching pendant 2 is not invalidated. For example, the emergency stop circuit of the robot apparatus 1-k is installed in the emergency stop switch 5 installed in the robot apparatus 1-k, the emergency stop switch 6 installed in the teaching pendant 2, and the robot apparatus 1-k. In the state where the mechanical key 4-k is inserted into the key cylinder 3-k, the control circuit of the robot apparatus 1-k turns on the switch SW1 as shown in FIG. Thus, the emergency stop switch 6 of the teaching pendant 2 can be disabled in the emergency stop circuit of the robot apparatus 1-k (where k is an arbitrary natural number from 1 to n). In the above example, the controller of the robot apparatus 1-k does not perform an emergency stop when a 24V DC voltage is input from the emergency stop circuit, and does not perform an emergency stop when there is no 24V DC voltage input from the emergency stop circuit. Like to do. In the state shown in FIG. 1, since the mechanical keys corresponding to the key cylinders 3-1 to 3-n of the robot devices 1-1 to 1-n are inserted, the robot devices 1-1 to 1-n The emergency stop switch 6 is disabled in the emergency stop circuit.

  Hereinafter, a procedure from the state shown in FIG. 1 to the start of teaching work of the robot apparatus 1-2 will be described. First, the robot apparatus 1-2 and the teaching pendant 2 are paired. In the present embodiment, each of the robot devices 1-1 to 1-n and the teaching pendant 2 includes a communication device as shown in FIG. 3, and the infrared communication unit of the communication device built in the robot device 1-2 Pairing of the robot device 1-2 and the teaching pendant 2 is realized by infrared communication with the infrared communication unit of the communication device built in the teaching pendant 2. In place of the infrared communication used in the present embodiment, the robot apparatus 1-2 and the teaching pendant 2 are temporarily connected to each other during the pairing process, and the robot apparatus 1-2 and the teaching pendant 2 are paired. May be realized.

  When the operator brings the teaching pendant 2 close to the robot device 1-2 and presses the pairing button 8 of the teaching pendant 2, the infrared communication unit 13 of the teaching pendant 2 is stored in the nonvolatile memory 14 of the teaching pendant 2. The ID data of the teaching pendant 2 is transmitted to the robot device 1-2, and the transmitted ID data of the teaching pendant 2 is received by the infrared communication unit 13 of the robot device 1-2, and the nonvolatile memory 14 of the robot device 1-2 is received. In addition, the infrared communication unit 13 of the robot apparatus 1-2 transmits the ID data of the robot apparatus 1-2 stored in the nonvolatile memory 14 of the robot apparatus 1-2 to the teaching pendant 2, and the transmission is performed. Teaching pendant 2 with the ID data of the robot device 1-2 Infrared communication unit 13 is stored in the nonvolatile memory 14 the received teaching pendant 2. Thereby, pairing with the robot apparatus 1-2 and the teaching pendant 2 is completed. When the pairing is completed, the pairing display LED 9 is turned on.

  When the pairing between the robot apparatus 1-2 and the teaching pendant 2 is completed, the plurality of emergency stop switches 5 installed in the robot apparatus 1-2 and the emergency stop switch 6 of the teaching pendant 2 are connected by wireless connection. Therefore, the emergency stop due to the disconnection between the robot apparatus 1-2 and the teaching pendant 2 does not occur.

  When the paired wireless device 12 and the teaching pendant wireless communication units 12 communicate with each other, each wireless communication unit 12 pairs with its own ID data as an example of connection ID data from each nonvolatile memory 14. Pairing data in which the other party's ID data is paired is transmitted with the header or footer of the communication data transmitted, and the pairing data attached to the header or footer of the communication data is received by each wireless communication unit 12 is non-volatile. If the data does not match the pairing data stored in the memory 14, the communication data is not received. As a result, only the wireless communication units 12 of the robot apparatus and the teaching pendant that have been paired can communicate with each other.

  After pairing of the robot device 1-2 and the teaching pendant 2 is completed, the operator turns the mechanical key 4-2 inserted in the key cylinder 3-2 of the robot device 1-2 counterclockwise. The key cylinder 3-2 is turned in the counterclockwise direction. In a state where the key cylinder 3-2 is turned counterclockwise, the robot device 1-2 is in a manual operation mode in which only manual operation is possible, and accepts the operation content of the teaching pendant 2. Then, as shown in FIG. 5, the operator pulls out the mechanical key 4-2 from the key cylinder 3-2 of the robot apparatus 1-2. When the mechanical key 4-2 is removed from the key cylinder 3-2 of the robot apparatus 1-2, the invalidation of the emergency stop switch 6 is released in the emergency stop circuit of the robot apparatus 1-2. For example, when the control circuit of the robot device 1-2 detects that the mechanical key 4-2 is removed from the key cylinder 3-2, the switch SW1 may be turned off as shown in FIG. In FIG. 5, the robot apparatus 1-2 is in a state of accepting the operation content of the teaching pendant 2, but is not in the state where power is not supplied to the touch panel 7 and teaching data cannot be input to the touch panel 7. The operation contents of the teaching pendant 2 are not transmitted to the robot device 1-2.

  Thereafter, as shown in FIG. 6, the operator inserts the mechanical key 4-2 into the master cylinder 10 of the teaching pendant 2, and turns the master cylinder 10 clockwise by turning the mechanical key 4-2 clockwise. To be in a state. When the mechanical key is inserted into the master cylinder 10 of the teaching pendant 2 and the master cylinder 10 is rotated in the clockwise direction, the power supply from the built-in battery to the touch panel 7 is ON, and the teaching data is transferred to the touch panel 7. Can be entered. Therefore, the operator carries the teaching pendant 2 from the state shown in FIG. 6 and enters the safety fence 11 to start teaching work of the robot apparatus 1-2. If the power supply to the touch panel 7 is turned on, the ID data of the robot device 1-2 that is the pairing partner is read from the nonvolatile memory 14 and corresponds to the ID of the robot device 1-2 that is the pairing partner. The display data may be displayed on the touch panel 7.

  Here, when the teaching work of the robot apparatus 1-2 is being performed, for example, as shown in FIG. 7, a third party may use the mechanical key 4-n unique to the robot apparatus 1-n to the key of the robot apparatus 1-2. Even when trying to insert into the cylinder 3-2, only the mechanical key 4-2 inserted into the master cylinder 10 of the teaching pendant 2 corresponds to the key cylinder 3-2 of the robot apparatus 1-2. There is no possibility that the key 4-n is inserted into the key cylinder 3-2 of the robot apparatus 1-2 and the emergency stop switch 6 is invalidated in the emergency stop circuit of the robot apparatus 1-2.

  When the teaching operation of the robot apparatus 1-2 is completed, the operator removes the mechanical key 4-2 from the master cylinder 10 of the teaching pendant 2, and removes the mechanical key 4-2 from the key cylinder 3-2 of the robot apparatus 1-2. Plug in. As a result, the emergency stop switch 6 is disabled again in the emergency stop circuit of the robot apparatus 1-2. Thereafter, the operator performs an operation for releasing the pairing between the robot apparatus 1-2 and the teaching pendant 2. Specifically, the teaching pendant 2 is brought close to the robot apparatus 1-2, and the pairing button 8 of the teaching pendant 2 is pushed. Then, the non-volatile memory 14 of the teaching pendant 2 erases the ID data of the robot apparatus 1-2, and the infrared communication unit 13 of the teaching pendant 2 transmits a pairing release command to the robot apparatus 1-2. The infrared communication unit 13 of the robot apparatus 1-2 receives the pairing cancellation command, and the nonvolatile memory 14 of the robot apparatus 1-2 deletes the ID data of the teaching pendant 2 according to the pairing cancellation command. Thereby, the pairing cancellation | release of the robot apparatus 1-2 and the teaching pendant 2 is completed. When the pairing cancellation is completed, the pairing display LED 9 is turned off.

  In addition, in order to prevent the work for canceling the pairing within the safety fence 11, the infrared communication possible range is set, or the pairing and the pairing cancellation are performed by a temporary wired connection instead of the infrared communication. When performing, by setting the cable length used for the temporary wired connection, the robot apparatus 1-2 is surrounded with the emergency stop switch 6 disabled in the emergency stop circuit of the robot apparatus 1-2. There is no possibility that the teaching pendant 2 is left in the safety fence 11.

  In the embodiment described above, the case where the teaching operation of the robot apparatus 1-2 is performed has been described. However, the master cylinder 10 of the teaching pendant 2 is not only the mechanical key 4-2 unique to the robot apparatus 1-2, but also the mechanical key 4- Since it corresponds to all 1 to 4-n, the teaching work of other robot apparatuses can be executed in the same manner as the teaching work of the robot apparatus 1-2.

  In the above-described embodiment, a mechanical key is used as a key. However, an electronic key having an electronic ID (for example, an RFID (Radio Frequency Identification) card) may be used instead of the mechanical key. In this case, the electronic ID includes the address of the unique robot apparatus that the electronic key supports and the setting information of the communication condition with the unique robot apparatus that the electronic key supports. Is desirable. Then, instead of the key cylinder, a master key cylinder using a state switching device that has an electronic key insertion portion (for example, a card slot) and can be switched between an automatic operation mode and a manual operation mode only by a unique electronic key. Instead of this, it is preferable to use a master state switching device that has an electronic key insertion portion (for example, a card slot) and that can switch ON / OFF the power supply to the touch panel by any electronic key. Furthermore, when the teaching pendant is paired with a specific robot device, the master state switching device recognizes the address of the robot device included in the electronic ID of the electronic key, and sets the address of the specific robot device. It is desirable that the power supply to the touch panel can be switched ON / OFF only by the electronic key having the included electronic ID. Accordingly, it is possible to prevent the switching operation of the master state switching device by the electronic key of the robot device that is not paired with the teaching pendant, and the safety is further improved.

  Further, in order to facilitate confirmation of the robot device paired with the teaching pendant 2, a confirmation operation unit (for example, a confirmation switch) is provided in the teaching pendant 2, and each of the robot devices 1-1 to 1-n A notification unit (for example, a confirmation indicator light) for notifying that the connection with the teaching pendant 2 has been established is provided, and when the operator operates the confirmation operation unit, confirmation is made from the wireless communication unit 12 of the teaching pendant 2. The wireless communication unit 12 of the robot device paired with the teaching pendant 2 receives the confirmation command and transmits the command, and the robot device paired with the teaching pendant 2 according to the received confirmation command. The notification unit may notify that the connection with the teaching pendant 2 has been established. When the notification unit is a confirmation indicator lamp, for example, it is good to notify that the connection with the teaching pendant 2 is established by lighting, but even if notification by other display or sound is performed according to the configuration of the notification unit Good.

  In the state where the connection between the teaching pendant 2 and the robot device to be taught is established and a key (for example, a mechanical key) is inserted into the master state switching device (for example, the master cylinder 10) of the teaching pendant 2, For example, a key unique to the robot device to be taught is inserted into the state switching device (for example, key cylinder) of the robot device to be taught, and the operation mode of the robot device to be taught is switched to the automatic operation mode. Alternatively, the teaching of the teaching pendant 2 may be prioritized.

  According to such a configuration, in a state where a key unique to the robot apparatus that is not the teaching target is inserted in the master state switching device of the teaching pendant 2, the connection with the teaching pendant 2 is established and the teaching target is set. Since the robot apparatus does not enter the automatic operation mode, the safety can be further enhanced. For example, the control unit of the robot apparatus that is the teaching object after the connection with the teaching pendant 2 is in a state in which the connection with the teaching pendant 2 is established, and the key unique to the own device is assigned to the state switching apparatus. When the insertion is detected, it is preferable to perform a control operation that prioritizes teaching of the teaching pendant 2 even if the operation mode of the own device is switched to the automatic operation mode.

These are figures which show the example of schematic structure of the industrial robot system which concerns on this invention. These are figures which show the emergency stop circuit of the state which has invalidated the emergency stop switch of the teaching pendant. These are figures which show the example of schematic structure of the communication apparatus which each robot apparatus and teaching pendant incorporate. These are figures which show the emergency stop circuit of the state which has not invalidated the emergency stop switch of the teaching pendant. These are figures which show the example of schematic structure of the industrial robot system which concerns on this invention. These are figures which show the example of schematic structure of the industrial robot system which concerns on this invention. These are figures which show the example of schematic structure of the industrial robot system which concerns on this invention. These are figures which show the example of schematic structure of the conventional industrial robot system.

Explanation of symbols

1-1 to 1-n Robot device 2 Teaching pendant 3-1 to 3-n Key cylinder 4-1 to 4-n Mechanical key 5, 6 Emergency stop switch 7 Touch panel 8 Pairing button 9 Pairing display LED
10 Master cylinder 11 Safety fence 12 Wireless communication unit 13 Infrared communication unit 14 Non-volatile memory SW1 switch

Claims (8)

A device control system comprising a plurality of control target devices and a teaching device that selects any one of the plurality of control target devices and teaches the operation to the selected control target device,
Each of the plurality of devices to be controlled is operated in accordance with the teaching of the teaching device only by inserting a key unique to the own device, and the automatic operation mode that operates regardless of the teaching of the teaching device. And switching to the manual mode in a state in which a key unique to the device is not inserted,
The teaching device includes a master state switching device capable of switching between a state where teaching can be performed and a state where teaching cannot be performed regardless of which of the keys unique to each control target device is inserted,
Connection request transmitting means for transmitting a connection request to the control target device to be taught,
In response to a connection request from the connection request transmission means, in a state where the connection between the teaching device and the control target device to be taught is established, the master state switching device changes from a state where teaching cannot be performed to a state where teaching can be performed. switching is performed in, allows the teachings of the control target device to be taught target Do Ri,
The device control system includes:
A safety-related circuit for each of the plurality of devices to be controlled;
In the safety-related circuit related to the control target device in which the key unique to the own device is inserted in the state switching device, the corresponding safety-related device installed in the teaching device in a state where the power is on is invalidated,
In a safety-related circuit related to a control target device in which a key unique to the device is not inserted in the state switching device, the corresponding safety-related device installed in the teaching device in a state where the power is on is not invalidated. A characteristic device control system. The device control system according to claim 1, wherein the connection between the teaching device and the control target device to be taught is a wireless connection. The device control system according to claim 1, wherein the key is a mechanical key. The device control system according to claim 1, wherein the key is an electronic key. Each of the plurality of control target devices has a storage unit that preliminarily stores control target device ID data unique to the own device,
In response to the connection request of the connection request transmission means, the control target device to be taught returns the control target device ID data to the teaching device, thereby connecting the teaching device to the control target device to be taught. The device control system according to any one of claims 1 to 4, wherein is established. The teaching device includes a storage unit that stores in advance teaching device ID data unique to the teaching device,
The control target device ID data acquired by the connection request of the connection request transmission means is combined with the teaching device ID data to obtain connection ID data,
6. The device control system according to claim 5, wherein after the connection between the teaching device and a control target device to be taught is established, the connection ID data is used in communication between the teaching device and the control target device to be taught. The teaching device includes a confirmation operation unit for confirming connection with a control target device to be taught,
Each of the plurality of control target devices has a notification unit for notifying that a connection with the teaching device has been established,
By pre-Symbol confirmation operation unit is operated, the notification unit a connection is provided in the control target device to be established teaching subject with the teaching device, to the effect that connection with the teaching device is established The device control system according to any one of claims 1 to 6, which performs notification. In the state in which the connection between the teaching device and the control target device to be taught is established and the key is inserted in the master state switching device, the key unique to the control target device to be taught is the teaching target. The teaching of the teaching device is given priority even if the operation mode of the controlling target device to be taught is switched to the automatic operation mode. Device control system according to the above.

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