JP2003200371A - Robot system and operation method thereof - Google Patents

Abstract

(57) [Summary] (with correction) [PROBLEMS] To provide a robot system capable of teaching a large number of robots with one teaching device without complicated handling and handling of a cable, and an operation method thereof. I do. A robot system including a plurality of robots (R), wherein a robot controller (20) of the robot (R) has a wireless communication device, a safety device (30) connected by a cable (C), and the safety device (30) is mounted. The teaching device 10 includes a wireless communication device;
And a teaching-side mounting portion to which the safety device 30 is mounted.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a robot system and an operating method thereof. More specifically, the present invention relates to a robot system capable of teaching a robot by using wireless and an operating method thereof.

[0002]

2. Description of the Related Art Conventionally, teaching of a robot R is performed by connecting a teaching device 10 'to a robot controller (hereinafter, simply referred to as a controller) 20'. for that reason,
In principle, one controller 20 ', that is, one robot R requires one teaching device 10'. When this principle is applied to a large-scale manufacturing line in which a large number of robots R are used, the teaching device 1 is provided as many as the robots R.
0'is required (see FIG. 14).

In order to suppress the increase in the number of teaching devices proportional to the number of robots, Japanese Patent Laid-Open No. 6-230819 discloses a memory 102 corresponding to the number of robots to be taught to a teaching device 101, as shown in FIG. There is also proposed a teaching device 101 in which the teaching device 101 and the controller 111 to be taught are connected by a cable 103.

However, in the proposal of the above publication, the teaching device is provided with a cable from each controller to be taught, so that there is a problem that the handling and handling of the cable becomes complicated. This problem arises from the fact that the amount of information in the communication between the teaching device and the controller increases and the number of wires in the cable tends to increase as the teaching device is advanced and the video signal is sent from the controller to the teaching device. Has been encouraged.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and does not complicate the handling and handling of cables, and a single teaching device can provide a large number of robots. The main object of the present invention is to provide a robot system that can be taught by the above and an operating method thereof.

[0006]

Means for Solving the Problems As a result of earnest studies on such a problem, the inventors of the present invention teach all robots at the same time even in a large-scale production line in which a large number of robots are used. The present invention has been completed by finding that it is rare that the above is performed, and that it is possible to wirelessly communicate other than information related to safety.

That is, a first aspect of the first aspect of the present invention is a robot system comprising a plurality of robots, wherein the robot controller of the robot is a wireless communication device, a safety device connected by a cable, A robot system comprising: a controller-side mounting section to which the safety device is mounted; and a teaching device including a wireless communication device and a teaching-side mounting section to which the safety device is mounted.

In the first aspect of the first aspect of the present invention,
Preferably, the number of teaching devices is less than the number of robot controllers. In that case, the number of teaching devices may be one.

A second aspect of the first aspect of the present invention is a robot system comprising a plurality of robots, wherein the robot controller of the robot is a wireless communication device and a safety device with a teaching function connected by a cable. And a teaching device comprising a wireless communication device.

In the first aspect of the present invention, it is preferable that the teaching device includes an image display device, and the robot is monitored by wireless communication by the image display device.

In the first aspect of the present invention, an image display device having a wireless communication device may be provided, and the robot may be monitored by wireless communication by the image display device. In that case, it is preferable that the image display device is physically and / or electrically connectable to the safety device with a teaching function.

A first aspect of the second aspect of the present invention comprises a plurality of robots and a teaching device less than the number of the robots, wherein the robot controller of the robot is connected to a wireless communication device and a safety device connected by a cable. And a controller mounting part to which the safety device is mounted, the teaching device comprising a wireless communication device and a teaching side mounting part to which the safety device is mounted. A state in which the safety device is attached to the teaching side attachment portion, teaching by the teaching device of the robot controller having the safety device is performed by wireless communication, and the safety device is attached to the robot controller attachment portion. Relates to a method for operating a robot system, wherein a repeat operation of a robot having the safety device is performed.

In the first aspect of the second aspect of the present invention,
It is preferable that the teaching is performed by wireless communication after the robot controller to be taught by the teaching device is specified.

In the first aspect of the second aspect of the present invention, the identification may be made based on an address given to the robot controller transmitted from the robot controller. In that case, the transmission of the address is preferably performed by wire communication via a safety device connected to the robot controller.

Further, in the first aspect of the second aspect of the present invention, the specifying may be performed by a connection establishing procedure.

According to a second aspect of the second aspect of the present invention, a plurality of robots are provided, a robot controller of the robots is provided with a wireless communication device and a safety device with a teaching function connected by a cable, and the teaching device is a wireless communication device. A method for operating a robot system comprising a device, wherein the teaching device has simple teaching or basic teaching, and other teaching is performed by the teaching device. .

A third aspect of the second aspect of the present invention comprises a plurality of robots, the robot controller of the robots comprises a wireless communication device and a safety device with a teaching function connected by a cable, and the safety device with the teaching function is provided. Device and physical and /
Alternatively, a method of operating a robot system including an image display device having a wireless communication device that is electrically connectable, wherein the image display device is physically and / or electrically connected to the safety device with a teaching function. The present invention relates to a method for operating a robot system, characterized in that simple teaching or basic teaching is performed by the safety device with the teaching function while monitoring the teaching situation by connecting to the.

A first aspect of the third aspect of the present invention relates to a robot controller comprising a safety device connected by a cable, a mounting portion of the safety device, and a wireless communication device.

A second aspect of the third aspect of the present invention relates to a robot controller comprising a safety device with a teaching function and a wireless communication device connected by a cable.

A fourth aspect of the present invention relates to a teaching device including a safety device mounting portion, an image display device, and a wireless communication device.

[0021]

Since the present invention is configured as described above, the teaching of the robot can be performed by wireless communication while ensuring the safety of the operator, and the robot can be monitored at a place distant from the robot. Further, since the cable from the controller is only for the safety device, the cable can be thinned and the handling and handling of the cable does not become complicated.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described based on the embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

Embodiment 1 FIG. 1 is a schematic view showing the main part of a robot system according to Embodiment 1 of the present invention. As shown in FIG. 1, this system uses a large number of robots (not shown),
While one teaching device 10 is provided, each robot controller (hereinafter, simply referred to as a controller) 20 is connected to the safety measure adapter (small safety device) 3 by a cable C.
0 is provided. This safety measure adapter 30 has
An emergency stop button 31 and a deadman switch are provided. Further, the communication between the teaching device 10 and each controller 20 is mainly performed wirelessly. In addition, the code | symbol A in a figure shows an antenna.

Hereinafter, the teaching device 10 and the controller 2
The configuration of 0 will be described in detail.

As shown in FIG. 2, the teaching device 10 includes a teaching operation section 11 having a main switch, a teaching switch, a teaching button, etc., and a teaching signal generation section for producing a teaching signal based on the operation of the teaching operation section 11. 12 and the liquid crystal display device 1
3, a safety measure adapter mounting socket (hereinafter, teaching side socket) (mounting unit) 14, a wireless communication device (hereinafter, teaching side wireless device) 15, a control unit 16, and an antenna A for transmission and reception. Be prepared.

Although not shown, the teaching side socket 14 has a connection confirmation switch. This connection confirmation switch is turned on when the safety measure adapter 30 is attached while the main switch is on, and the main switch is turned on. When the safety measure adapter 30 is removed in the on state, it is turned off.

The teaching-side wireless device 15 is capable of wireless communication with a wireless communication device on the controller 20 side, which will be described later.

The control unit 16 is, for example, a one-chip microcomputer, sends the teaching signal generated by the teaching signal generation unit 12 to the teaching-side wireless device 15, and other necessary signals (for example, the wireless communication device on the controller 20 side). Generation of a start signal, a stop signal) and its transmission to the teaching-side wireless device 15,
Safety measure adapter 3 by turning on the connection confirmation switch
It controls the transmission of a connection signal to the controller 20 having 0, the control of the liquid crystal display device 13, the control of transmission / reception of the teaching side wireless device 15, the analysis of the reception signal of the teaching side wireless device 15, and the like. The function of the control unit 16 is realized, for example, by storing a program corresponding to the function in a one-chip microcomputer.

The teaching operation section 11 and the teaching signal generating section 1
2 and the liquid crystal display device 13 are similar to the conventional teaching device.

The controller 20, as shown in FIG.
A control unit 22 having a memory 21, a repeat operation starting switch 23, a teaching starting switch 24, a safety measure adapter mounting socket (hereinafter referred to as controller side socket) (mounting unit) 25, a wireless communication device (hereinafter controller side). Wireless device) 26 and safety adapter 30
And a cable C for connecting the safety measure adapter 30 to the controller 20 and an antenna A for transmission and reception.

The repeat operation start switch 23 is turned on when the controller 20 is on and the safety measure adapter 30 is attached to the controller side socket 25. When the controller 20 is on, the safety measure adapter 30 is connected to the controller side socket 25. It is supposed to be turned off when removed from.

The teaching start switch 24 is turned on when a connection signal is input from the teaching device 10, and the teaching device 1
It is designed to be turned off when the connection signal from 0 disappears.

As described above, the controller-side wireless device 26 can be wirelessly communicated with the teaching-side wireless device 15 and can be started and stopped by the teaching-side wireless device 15. The signal transmitted from the controller-side wireless device 26 includes an identification number that identifies the controller 20.

As described above, the safety measure adapter 30 is provided with the emergency stop button 31 and the deadman switch, and also has a function of turning on / off the repeat operation starting switch and the teaching starting switch.

The cable C transmits the minimum necessary signals such as a connection signal and an emergency stop signal, thereby minimizing the number of wires in the cable C. That is, the cable C is thinned.

The controller 22 controls the controller 20 by turning on / off the teaching starting switch 24, and controls the controller 20 by turning on / off the repeat operation starting switch 23.
Control of the wireless communication device 26, control of the wireless device 26 on the controller side, generation of a signal transmitted by the wireless device 26 on the controller side, transmission to the wireless device 26 on the controller side, analysis of a signal received by the wireless device 26 on the controller side, and the like. It is said that For example, when the teaching start switch 24 is turned on, the controller 20 is controlled to be in a teachable state, and when the repeat operation start switch 23 is turned on, the controller 20 is controlled to be in a repeatable state. The remaining configuration of the control unit 22 is the same as that of the conventional controller.

Next, the teaching device 1 having such a configuration
0 and teaching by the controller 20 will be described for the operation of this robot system.

A. About teaching

When teaching is performed, for example, the teaching device 1
After turning on the main switch of 0 to start the teaching device 10, the safety measure adapter 30 provided in the controller 20 of the robot for teaching is attached to the teaching side socket 14 and the teaching starting switch 24 of the controller 20 is turned on. Then, the controller 20 is made ready for teaching. Then, the teaching switch or the like of the teaching operation unit 11 is operated, and the teaching signal generated thereby is wirelessly transmitted to the controller-side wireless device 26 by the teaching-side wireless device 15 (see FIG. 4). The controller 20 is the controller-side wireless device 2
The teaching signal received by 6 is analyzed by the control unit 22,
The teaching contents obtained thereby are stored in the memory 21 of the control unit 22.
To store. This completes the teaching.

In this case, the teaching contents may be transmitted to the teaching device 10 by the controller side wireless device 26, and the teaching contents may be displayed on the liquid crystal display device 13 of the teaching device 10. That is, the teaching may be performed while monitoring the teaching content.

As described above, in the teaching by the teaching device 10, the cable C connected to the teaching device 10 is
Since only the cable C of the safety measure adapter 30 of the controller 20 to be taught is used and the cable C is thinned, the handling and handling of the cable C is not complicated.

B. Repeat operation

When the repeat operation is performed according to the teaching contents, the safety measure adapter 30 is connected to the socket 2 on the controller side.
5 to turn on the repeat operation start switch 24,
The controller 20 is brought into a repeatable state (see FIG. 5). Next, the teaching content stored in the memory 21 of the control unit 22 is read out and the robot is caused to repeat.

C. Monitoring by teaching device 10

When the teaching device 10 monitors a robot in repeat operation or in standby, for example, the teaching side wireless device 15 activates the controller side wireless device 26 to be monitored and receives a transmission from the controller 20. Alternatively, the control unit 16 extracts the received signal of the corresponding controller 20 from the received signals, and confirms the operation status of the robot by the received signal (FIG. 6).
reference). For example, the controller-side wireless device 26 transmits the program step in which the robot is operating to the teaching device 10 under the control of the controller 22 of the controller 20.
In addition, the controller 20 that receives the controller 20 by sequentially switching the controller-side wireless device 26 to be activated
It is also possible to monitor a large number of robots at a time by sequentially switching between.

By this monitoring, it can be confirmed whether or not the robot is surely executing the instructed program step. Further, when an abnormality occurs in the robot and the robot is stopped, or when an abnormality occurs in the robot and the robot automatically stops, the program step in which the abnormality occurs can be easily specified.

However, since the monitoring by the teaching device 10 can be performed in a place away from the robot, for example, in the central control room or while moving,
Work efficiency can be improved. Also, a large number of robots
Even when monitoring is performed by the teaching device 10 on the table, it is not necessary to reconnect the cables, so that monitoring can be performed quickly.

As described above, according to the first embodiment, it is possible to teach a large number of robots by one teaching device 10 without complicated handling and handling of cables, and a large number of robots at a time. Can also be monitored.

Embodiment 2 FIG. 7 is a schematic view showing a main part of a robot system according to Embodiment 2 of the present invention. The second embodiment is a modification of the first embodiment and is configured to teach a large number of robots by a plurality of teaching devices 10A and 10B. In this case, as shown in FIG. 7, the teaching devices 10A and 10B are connected to the safety measure adapters 30A and 3A, respectively.
Since it may happen that it is connected to 0B, the teaching device 10
If the robot is taught by confirming the connection between the safety measure adapter 30 and the safety measure adapter 30, the robot having the safety measure adapter 30 not connected to the teaching device 10 is taught, and sometimes the robot operates according to the teaching. .

For example, as shown in FIG. 7, it is assumed that the first teaching device 10A is connected to the first controller 20A and the second teaching device 10B is connected to the second controller 20B. In this case, the first controller 20A
Since the teaching switch 24 of the second controller 20B is turned on, when the teaching signal is wirelessly transmitted from the first teaching device 10A, the teaching signal is received by the first controller 20A and the second controller 2
It is also received by OB. As a result, the second controller 20
A will be taught unintendedly. The opposite case is also possible.

Therefore, in the second embodiment, an address (network address) is given to each controller 20, and the address is first connected to the teaching device 10 via the cable C to which the safety measure adapter 30 is connected, or at regular intervals. The teaching device from which the teaching device recognizes the controller to which the teaching device is connected, and the teaching signal from the teaching device 10 is transmitted by including the address, and the controller 20 receives the teaching signal. Is taught only when the address included in the teaching signal matches its own address. Therefore, in the second embodiment, addresses can be exchanged between the controller 20 and the teaching device 10 via the safety measure adapter 30 and the cable C.

For example, as shown in FIG. 8, the first and second controllers 20A and 20B (192.168.168.
0.10) and (192.168.0.11) are given respectively, and the address (192.168.0.10) is given from the first controller 20A to the first teaching device 10A at the beginning of connection or at regular intervals. From the second controller 20B (192.16
The address 8.0.11) is transmitted to the second teaching device 10B at the beginning of connection or periodically.
Then, the teaching signal (19
The second teaching device 10B causes the teaching signal to include the address signal (192.168.0.11) and transmits the address signal. Thereby, the first controller 20
When the teaching signal includes an address signal of (192.168.0.10), A recognizes that the teaching signal is a teaching signal for itself, while (1
If the address signal of (92.168.0.11) is included, it is recognized that the teaching signal is not its own teaching signal. Similarly, when the teaching signal includes an address signal relating to its own address, the second controller 20B recognizes that the teaching signal is a teaching signal directed to itself, while the teaching signal includes an address signal relating to its own address. If is not included, it is recognized that the teaching signal is not its own teaching signal.

Therefore, a plurality of teaching devices 10 are used, and the plurality of teaching devices 10 are respectively connected to the controller 20.
Each controller 20 even when connected to
The desired teachings can be provided wirelessly to.

As described above, according to the second embodiment, a plurality of teaching devices 10 are used and the plurality of teaching devices 10 are used.
Even if each controller is connected to the controller 20, the desired teaching can be performed wirelessly to each controller 20, so that the time required for teaching can be shortened compared to the first embodiment. Although the number of teaching devices 10 is two in the second embodiment, the number of teaching devices 10 is two.
The number is not limited to one, and may be an appropriate number smaller than the number of controllers 20.

Embodiment 3 FIG. 9 is a schematic diagram showing a main part of a system to which a robot teaching method according to Embodiment 3 of the present invention is applied. The third embodiment is a modification of the second embodiment,
Specifically, the method of recognizing the controller 20 to be taught by the teaching device 10 is modified.

A method of recognizing the controller 20 to be taught according to the third embodiment, that is, a connection establishing procedure will be described below. In the following description, as shown in FIG. 9, the first teaching device 10A and the first controller 20
It is assumed that A recognizes and the second teaching device 10B and the second controller 20B have already been recognized and the connection has been established.

Step 1: The safety measure adapter 30A of the first controller 20A is inserted into the teaching side socket of the first teaching device 10A.

Step 2: The first teaching device 10A sends a connection request signal to the first controller 20A via the cable C.

Step 3: The first controller 20A which has received the connection request signal wirelessly transmits a connection recognition signal indicating that the connection request signal has been received by the controller side wireless device to the first and second teaching devices 10A and 10B.

Step 4: Since the first teaching device 10A itself sends the connection request signal, the first controller 2
A connection confirmation signal indicating that the connection recognition signal has been received is wirelessly transmitted to 0A by the teaching device side wireless device. On the other hand, since the second teaching device 10B does not send the connection request signal, even if the connection recognition signal is received from the first controller 20A,
A connection confirmation signal indicating that the connection recognition signal has been received is not transmitted to the controller 20A.

Step 5: The first controller 20A transmits a connection establishment signal to the first teaching device 10A which has transmitted the connection confirmation signal. The confirmation that the teaching device 10 that has transmitted the connection confirmation signal in the first controller 20A is the first teaching device 10A is performed by the address of the transmission source included in the connection confirmation signal. That is, the first teaching device 10A that transmits the connection confirmation signal adds its own address to the connection confirmation signal and transmits it.

Step 6: The first teaching device 10A recognizes the first controller 20A which has transmitted the connection establishment signal as a teaching object. In addition, the confirmation that the controller 20 that has transmitted the connection establishment signal in the first teaching device 10A is the first controller 20A is performed by the address of the transmission source included in the connection establishment signal. That is, the controller 20A adds its own address to the connection establishment signal and transmits it.

In the above example, the teaching device 10 is composed of the first and second teaching devices 10A and 10B.
The controller 20 is also the first and second controllers 2
Since it is set to 0A and 20B, the teaching device 10 is unlikely to receive the connection recognition signal from the plurality of controllers 20, but the teaching device 10 and the controller 20 are not likely to be received.
If the number of the cells increases, the teaching device 10 may receive the connection recognition signal from the plurality of controllers 20. Therefore, when the teaching device 10 receives the connection recognition signals from the plurality of controllers 20 in step 4, the process returns to step 2 after a lapse of a predetermined time.

When the controller 20 receives the connection confirmation signals from the plurality of teaching devices 10 in step 5, the controller 20 sends a connection failure to each teaching device 10. In that case, step 2
Shall return to.

Embodiment 4 FIG. 10 is a schematic diagram showing a main part of a system to which a robot teaching method according to Embodiment 4 of the present invention is applied. The fourth embodiment is a modification of the first embodiment and is obtained by adding a simple teaching function to the safety measure adapter 30. For example, in addition to the emergency stop key 31 and the deadman switch, the safety measure adapter 30 is provided with a minimum required operation key such as an axis operation key for operating the axis of the robot that does not hinder the thinning of the cable C. is there. That is, the safety measure adapter 30 serves as a safety measure adapter 40 with a teaching function.

The remaining structure, operation and effect of the fourth embodiment are similar to those of the first embodiment.

Since the fourth embodiment has such a structure, simple teaching such as teaching by moving the axis or basic teaching is performed by the teaching key of the safety measure adapter with teaching function 40. While the teaching device (main teaching device) (not shown) configured in the same manner as the teaching device 10 of the first embodiment can perform high-level teaching such as parameter setting in the controller 20 and teaching by numerical input. You can do it.

Therefore, according to the fourth embodiment, the convenience of the teaching device can be improved while minimizing the cost increase. In this case, from the viewpoint of further improving convenience, the display unit of the display device may be a head mounted display.

Fifth Embodiment FIG. 11 is a schematic diagram showing a main part of a system to which a robot teaching method according to a fifth embodiment of the present invention is applied. The fifth embodiment is a modification of the fourth embodiment, in which the display device 50 is equipped with a wireless communication device.
0 is separated from the teaching device 10.

As shown in FIG. 12, the display device 50 comprises a liquid crystal display portion 51, a wireless communication device 52 for receiving the transmission from the controller 20, a control portion 53, and a receiving antenna A. To be taken.

The control unit 53 is, for example, a one-chip microcomputer, and controls the liquid crystal display unit 51, the reception control of the wireless communication device 52, the analysis of the reception signal of the wireless communication device 52, and the like. The function of the control unit 53 is easily realized, for example, by storing a program corresponding to the function in a one-chip microcomputer.

As described above, according to the fifth embodiment, since the display device 50 is provided separately from the teaching device 10, the robot is not monitored during the repeat operation even during the teaching operation by the teaching device 10. obtain. In that case, by successively switching the controllers 20 to be received by the control unit 53, a large number of robots can be monitored at one time. Therefore, the convenience is improved as compared with the fourth embodiment.

Embodiment 6 FIG. 13 is a schematic diagram showing a main part of a system to which a robot teaching method according to Embodiment 6 of the present invention is applied. The sixth embodiment is a modification of the fifth embodiment, and the display device 50 can be physically and electrically connected to the safety adapter 40 with a teaching function.

The physical connection between the display device 50 and the safety adapter 40 with a teaching function can be, for example, a magnet joining method or a fitting method, and the electrical connection can be, for example, a plug and socket joining method. it can. Through this electrical connection, for example, a teaching signal is input to the display device 50 from the safety countermeasure adapter with teaching function 40.

As described above, according to the sixth embodiment, the display function can be easily added to the safety adapter 40 with the teaching function. As a result, teaching can be performed while monitoring the state of teaching to the controller 20 by the safety countermeasure adapter with teaching function 40. The recognition of the controller 20 by the display device 50 is performed in the same manner as in the second embodiment, for example.

Although the present invention has been described above based on the embodiments, the present invention is not limited to such embodiments and various modifications can be made. For example, in the sixth embodiment, the display device is physically and electrically connectable to the safety measure adapter with the teaching function, but the display device is not necessarily physically and electrically connectable to the safety measure adapter with the teaching function. The display device may be connectable either physically or electrically.

[0077]

As described in detail above, according to the present invention,
There is an excellent effect that the robot can be taught by wireless communication while ensuring the safety of the operator, and the robot can be monitored at a place distant from the robot.

Further, since the cable from the controller is only for the safety device, it is possible to obtain an excellent effect that the cable is thinned and the handling and handling of the cable is not complicated.

Further, according to the present invention, teaching devices less than the number of robots, for example, one teaching device can teach all robots, and one teaching device does not need to monitor a large number of robots at one time. The excellent effect of obtaining is also obtained.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a main part of a system to which a robot teaching method according to a first embodiment of the present invention is applied.

FIG. 2 is a block diagram of a teaching device used in the teaching method.

FIG. 3 is a block diagram of a controller used in the teaching method.

FIG. 4 is an explanatory diagram of teaching in the teaching method.

FIG. 5 is an explanatory diagram of a repeat operation in the teaching method.

FIG. 6 is an explanatory diagram of monitoring in the teaching method.

FIG. 7 is a schematic diagram of a main part of a system to which a robot teaching method according to a second embodiment of the present invention is applied.

FIG. 8 is an explanatory diagram of a method of recognizing a teaching device and a controller according to the same embodiment.

FIG. 9 is an explanatory diagram of a method for recognizing a teaching device and a controller according to the third embodiment of the present invention.

FIG. 10 is a schematic view of a main part of a system to which a robot teaching method according to a fourth embodiment of the present invention is applied.

FIG. 11 is a schematic view of a main part of a system to which a robot teaching method according to a fifth embodiment of the present invention is applied.

FIG. 12 is a block diagram of a display device used in the same embodiment.

FIG. 13 is a schematic view of a main part of a system to which a robot teaching method according to a sixth embodiment of the present invention is applied.

FIG. 14 is a schematic view of a main part of a system to which a conventional robot teaching method is applied.

FIG. 15 is a block diagram of a teaching device proposed in Japanese Patent Laid-Open No. 6-230819.

[Explanation of symbols]

10 Teaching device 11 Teaching operation unit 12 Teaching signal generator 13 Liquid crystal display 14 Safety measure adapter mounting socket 15 Wireless communication device 16 Control unit 20 Robot controller 21 memory 22 Control unit 23 Repeat operation start switch 24 Teaching start switch 25 Safety Measure Adapter Mounting Socket 26 wireless communication device 30 Safety measure adapter (small safety device) 40 Safety adapter with teaching function 50 display 51 LCD display 52 wireless communication device 53 Control unit A antenna C cable R robot

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tetsuya Sugimasa             1-1 Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries Stock Association             Inside the company Akashi factory (72) Inventor Takashi Takatori             1-1 Kawasaki-cho, Akashi-shi Kawasaki Heavy Industries Stock Association             Inside the company Akashi factory F term (reference) 3C007 JS02 JS05 JU12 JU13 JU14                       JU15 KT02 KT17 MT01 MT03                 5K048 AA13 DA02 DB01 DC01 EB02

Claims (15)

[Claims] 1. A robot system comprising a plurality of robots, wherein a robot controller of the robot comprises a wireless communication device, a safety device connected by a cable, and a controller-side mounting portion to which the safety device is mounted. The robot system, wherein the teaching device comprises a wireless communication device and a teaching-side mounting portion to which the safety device is mounted. 2. The robot system according to claim 1, wherein the number of teaching devices is smaller than the number of robot controllers. 3. A robot system including a plurality of robots, wherein a robot controller of the robot includes a wireless communication device and a safety device with a teaching function connected by a cable, and the teaching device includes the wireless communication device. A robot system characterized by being equipped. 4. The robot system according to claim 1, wherein the teaching device includes an image display device, and the robot is monitored by wireless communication by the image display device. 5. The robot system according to claim 1, further comprising an image display device having a wireless communication device, wherein the robot is monitored by wireless communication by the image display device. 6. A robot comprising a plurality of robots and a teaching device less than the number of the robots, wherein a robot controller of the robot comprises a wireless communication device, a safety device connected by a cable, and a controller to which the safety device is attached. A teaching device includes a wireless communication device and a teaching-side mounting unit to which the safety device is mounted, wherein the safety device includes the teaching-side mounting unit. Mounted on the
The teaching by the teaching device of the robot controller having the safety device is performed by wireless communication, and the repeat operation of the robot having the safety device is performed in a state where the safety device is mounted on the controller-side mounting portion. How to operate the robot system. 7. The method of operating a robot system according to claim 6, wherein the teaching is performed by wireless communication after the robot controller taught by the teaching device is specified. 8. The method for operating a robot system according to claim 7, wherein the identification is performed based on an address given from the robot controller to the robot controller. 9. The method of operating a robot system according to claim 8, wherein the transmission of the address is performed by wire communication via a safety device connected to the robot controller. 10. The method of operating a robot system according to claim 7, wherein the specifying is performed by a connection establishing procedure. 11. A method of operating a robot system comprising a plurality of robots, a robot controller of said robot comprising a wireless communication device and a safety device with a teaching function connected by a cable, and the teaching device comprising a wireless communication device. A method for operating a robot system, characterized in that simple teaching or basic teaching is performed by the safety device with a teaching function, and other teaching is performed by the teaching device. 12. A safety device with a teaching function, comprising a plurality of robots, wherein a robot controller of the robot is connected to a wireless communication device by a cable, and the safety device with the teaching function is physically and / or electrically A method of operating a robot system comprising an image display device having a wireless communication device that is connectable, wherein the image display device is physically and / or electrically connected to the safety device with a teaching function. A method for operating a robot system, characterized by performing simple teaching or basic teaching by the safety device with the teaching function while monitoring the teaching situation. 13. A robot controller comprising a safety device connected by a cable, a mounting portion of the safety device, and a wireless communication device. 14. A robot controller comprising a safety device with a teaching function and a wireless communication device which are connected by a cable. 15. A teaching device comprising a safety device mounting portion, an image display device, and a wireless communication device.