Robot system having teach pendant communicating with robot controller
A robot system having a communication established between a robot controller and a teach pendant. The robot system includes a robot; a detecting section for detecting a sign received by the robot; a robot controller for controlling the robot; a teach pendant capable of communicating with the robot controller and inputting an operational instruction for the robot into the robot controller; and an input permission section for permitting input of the operational instruction from the teach pendant into the robot controller when the sign is detected by the detecting section.
1. A robot system, comprising:
a robot;
a sensor configured to detect a sign received by the robot;
a robot controller configured to control the robot;
a teach pendant configured to
communicate with the robot controller, and
input an operational instruction for the robot into the robot controller; and
a processor configured to permit input of the operational instruction from the teach pendant into the robot controller in response to the sensor detecting the sign, wherein
the sensor is configured to detect, as the sign given from outside to the robot, at least one of
a force applied from outside to the robot,
a signal indicating a motion approaching the robot, or
visual information indicating a predetermined body motion.
2. The robot system of claim 1 , comprising a plurality of robots, wherein
the sensor is configured to individually detect the sign received by each of the plurality of robots, and
the processor is further configured to specify a robot, for which the sign is detected by the sensor, among the plurality of robots, and permit the input of the operational instruction for the specified robot.
3. The robot system of claim 1 , wherein
the teach pendant is configured to output a request signal requesting permission for the input of the operational instruction into the robot controller; and
the processor is configured to permit the input of the operational instruction into the robot controller in response to the request signal from the teach pendant.
4. The robot system of claim 1 , wherein
the teach pendant is configured to output a pattern signal of the sign given to the robot, and
the processor is configured to
obtain a pattern of the sign detected by the sensor, and
permit the input of the operational instruction into the robot controller in response to a coincidence of the pattern of the sign with the pattern signal outputted from the teach pendant.
5. The robot system of claim 1 , wherein the teach pendant is configured to inform, to an operator, that the processor has permitted the input of the operational instruction into the robot controller.
6. The robot system of claim 5 , comprising a plurality of robots, wherein
the teach pendant is configured to inform, to the operator, the robot controller for which the input has been permitted, with use of sensory information perceivable by the operator and corresponding individually to each of the plurality of robots.
7. The robot system of claim 1 , wherein
the force includes an action of an operator pushing or striking a mechanical part of the robot,
the signal includes a signal caused by an action of the operator approaching the mechanical part of the robot, and
the visual information includes an action of the operator performing the predetermined body motion in front of the mechanical part of the robot.
8. The robot system of claim 7 , wherein
the sensor is configured to detect the force applied from outside to the robot, and includes
a force sensor, an acceleration sensor, or a vibration sensor installed on the mechanical part of the robot, or
an encoder configured to detect rotational angles of a plurality of control axes of the mechanical part, or
a circuit configured to monitor current feedback values of drive motors of the respective control axes.
9. The robot system of claim 7 , wherein
the sensor is configured to detect the signal indicating the motion approaching the robot, and includes an electric, magnetic, sonic or proximity sensor, or a mechanical switch, provided at the mechanical part of the robot.
10. The robot system of claim 7 , wherein
the sensor is configured to detect the predetermined body motion, and includes a vision sensor attached to the robot.
11. A robot system, comprising:
a plurality of robots;
a sensor configured to detect a sign received by one or more of the plurality of robots;
a plurality of robot controllers, each robot controller configured to control at least one robot among the plurality of robots;
a network to which the plurality of robot controllers are connected;
a teach pendant configured to
communicate with any one of the plurality of robot controllers, and
input an operational instruction into any one of the plurality of robot controllers; and
a processor configured to permit input of the operational instruction from the teach pendant into a robot controller among the plurality of robot controllers, in response to the sensor detecting the sign at the at least one robot controlled by said robot controller.
12. The robot system of claim 1 , further comprising:
a network to which the robot controller is connected; and
a network controller configured to control the network, wherein
the teach pendant is configured to communicate with the network controller so as to input the operational instruction into the robot controller.
13. A robot system, comprising:
a robot;
a sensor configured to detect a sign received by the robot;
a robot controller configured to control the robot;
a teach pendant configured to
communicate with the robot controller, and
input an operational instruction for the robot into the robot controller;
a processor configured to permit input of the operational instruction from the teach pendant into the robot controller in response to the sensor detecting the sign; and
a storage device storing controller identification information identifying the robot controller, wherein
the processor is configured to
extract, from the storage device, the controller identification information corresponding to the robot controller for controlling the robot receiving the sign,
notify the teach pendant of the extracted controller identification information, in response to the sensor detecting the sign, and
establish communication usable for the input of the operational instruction for the robot receiving the sign, between the teach pendant notified of the controller identification information and the robot controller for controlling the robot receiving the sign.
14. The robot system of claim 13 , wherein
the storage device further stores robot identification information identifying the robot, and
the processor is configured to
extract, from the storage device, the robot identification information corresponding to the robot receiving the sign,
notify the teach pendant of the extracted robot identification information, in addition to the controller identification information, in response to the sensor detecting the sign, and
establish the communication between the teach pendant notified of both of the controller identification information and the robot identification information and the robot controller for controlling the robot receiving the sign.
15. The robot system of claim 13 , wherein
the teach pendant is configured to identify a partner of the communication with use of an IP address,
the storage device stores, as the controller identification information, a controller IP address assigned to the robot controller, and
the processor is configured to register the controller IP address in the teach pendant to establish the communication.
16. A robot system comprising:
a robot;
a sensor configured to detect a sign received by the robot;
a robot controller configured to control the robot;
a teach pendant configured to
communicate with the robot controller, and
input an operational instruction for the robot into the robot controller;
a processor configured to permit input of the operational instruction from the teach pendant into the robot controller in response to the sensor detecting the sign; and
a storage device storing pendant identification information identifying the teach pendant,
wherein the processor is configured to
extract the pendant identification information from the storage device,
notify the robot controller for controlling the robot receiving the sign of the extracted pendant identification information, in response to the sensor detecting the sign, and
establish communication usable for the input of the operational instruction for the robot receiving the sign, between the robot controller notified of the pendant identification information and the teach pendant.
17. The robot system of claim 16 , wherein
the robot controller is configured to identify a partner of the communication with use of an IP address,
the storage device stores, as the pendant identification information, a pendant IP address assigned to the teach pendant, and
the processor is configured to register the pendant IP address in the robot controller to establish the communication.