CN103846915A - Robot system - Google Patents
Robot system Download PDFInfo
- Publication number
- CN103846915A CN103846915A CN201310613070.XA CN201310613070A CN103846915A CN 103846915 A CN103846915 A CN 103846915A CN 201310613070 A CN201310613070 A CN 201310613070A CN 103846915 A CN103846915 A CN 103846915A
- Authority
- CN
- China
- Prior art keywords
- robot
- welding
- related information
- supervision
- monitoring arrangement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
- Numerical Control (AREA)
- General Factory Administration (AREA)
Abstract
The invention provides a robot system. In a production line where a monitoring device and a plurality of robot control devices are connected via the network, when a communication circuit is abnormal, it fails to ensure that welding construction data is reliably stored. Thus, robot control devices (RC1) provided by the invention comprise storing devices (15) and main control parts (16). The storing devices successively store the wielding construction data. The main control parts judge whether idle storing capacity of the storing devices is enough for storing the welding construction data predetermined to be obtained in a to-be-performed welding control procedure. When failing to communicate with a monitoring device (PC), the main control part performs abnormal processing and keeps monitoring associated information stored by the storing devices. When the main control part is capable of communicating with the monitoring device, or becomes to be capable of carrying out communication from a communication failure, the welding construction data of the storing devices are sent to the monitoring device. The welding construction data can be reliably stored, so traceability of the whole production line can be ensured.
Description
Technical field
The present invention relates to robot system.
Background technology
In saving labour in recent years or unmanned arc welding production line, to all welding procedure data of each welding position reliable recording (command value and actual value) of each welding work pieces, to can follow the trail of afterwards, so-calledly in qualitative control retrospectively guarantee to become very important.As this technology, known patent documentation 1 and patent documentation 2.
Patent documentation 1 has proposed following technology, does not use external equipment, and collection, the demonstration of Wave data while making to carry out weld job separately by arc welding robot.
In patent documentation 2, monitor the welding current in arc welding by robot controller.For example, if complete the weld job between 1 weld zone, preserve hereof the current value monitoring, send connected personal computer to by Ethernet (registration mark) or RS-232C.In addition,, on the picture of the display unit possessing at personal computer, show the file being transmitted with broken line graph sheet form.Thus, can have a guide look of the data between multiple weld zones to dwindle the mode of demonstration.
Patent documentation 1:JP JP 2006-26640 communique
Patent documentation 2:JP JP 2002-172574 communique
The arc welding robot that patent documentation 1 is recorded collect separately welding procedure data (for example command value and actual value) and the technology that shows in, there is following problem.
(1) RAM (random access memory) that robot controller can carry or the capacity of attachable memory are in fact limited, can not all welding procedure data of non-volatile recording.
(2) use in order to preserve welding procedure data in robot controller in the arc welding production line of multiple robot controllers formations, can not be by the collected data with preserving of each robot controller unified management.
According to patent documentation 2, welding procedure data are finally stored in the personal computer being connected with robot controller via communication line.But also there is following problem in patent documentation 2.
(3) because certain is former thereby produced abnormal in the situation that, cannot guarantee to preserve reliably welding procedure data on communication line.
(4) transmit the welding procedure data in 1 weld zone due to unified after finishing in welding to personal computer, therefore in personal computer, cannot confirm data in welding procedure (can not real time monitoring).In addition,, if for example exceed the welding procedure as object of 1 hour such large-scale workpiece using weld interval, the data transmission of welding after finishing needs spended time.
(5) do not consider many welding robots.
As the problem points of arc welding robot and enumerated the problems referred to above, but in other industrial robot beyond arc welding robot, in the situation that having connected monitoring arrangement and single or multiple robot controller by network, when sending supervision value including the various information that got by robot controller to monitoring arrangement and when controlling the command information of robot of this robot controller, having same problem.
Summary of the invention
The object of the present invention is to provide a kind of making robot carry out, in the robot system of the processing operation to workpiece, can preserving reliably the robot system of the supervision related information including supervision value and command information.
In order to address the above problem, this robot system via network connected have monitor storage area monitoring arrangement and respectively the training data based on completing and to multiple robots regenerate move multiple robot controllers, in this robot system, each robot controller possesses: storage area, and it is stored in the regeneration supervision value relevant with described robot that obtain in service (hereinafter referred to as monitoring related information) successively; Judging section, it is judged whether the idle memory capacity of described storage area can store and is about to the regeneration the carried out predetermined supervision related information of obtaining in service; Communications portion, it can carry out on the basis of described storage being judged to be, in the time cannot communicating by letter with described monitoring arrangement, keep the described supervision related information of described storing section stores, in the time can communicating by letter with described monitoring arrangement, send to described monitoring arrangement the described supervision related information that described storage area is stored; And control section, it,, in the situation that being judged to be to carry out described storage, carries out abnormality processing.
Preferred described abnormality processing comprises that stopping described regeneration moves and carry out the processing of abnormality warnings processing or comprise whether inquiry will stop the inquiry processing of described regeneration operation.
In addition, preferred described robot is welding robot, described supervision related information be at least included in welding control in the welding current obtained and any one of weldingvoltage.
In addition the described supervision related information that, the described supervision storage area of preferred described monitoring arrangement sends from described robot controller respectively by each robot controller storage.
In addition, preferred described monitoring arrangement possesses: transmitting portion, its idle capacity at described supervision storage part reaches predefined idle capacity, send caution signal to the multiple robot controllers that are connected to described network, the described caution signal of the control section of described robot controller based on from described transmitting portion, stops regeneration operation.
This robot system has connected to have and has monitored that the monitoring arrangement of storage area and training data based on completing are to robot 1 robot controller moving of regenerate, in this robot system, described robot controller possesses: storage area, and it is stored in the regeneration supervision value relevant with described robot that obtain in service (hereinafter referred to as monitoring related information) successively; Judging section, it is judged whether the idle memory capacity of described storage area can store and is about to the regeneration the carried out predetermined supervision related information of obtaining in service; Communications portion, it can carry out on the basis of described storage being judged to be, in the time cannot communicating by letter with described monitoring arrangement, keep the described supervision related information of described storage portion stores, in the time can communicating by letter with described monitoring arrangement, send to described monitoring arrangement the described supervision related information that described storage part is stored; And control section, it,, in the situation that being judged to be to carry out described storage, carries out abnormality processing.
(invention effect)
According to this robot system, making robot carry out, in the robot system of the processing operation to workpiece, can preserving reliably the supervision related information including supervision value and command information, can guarantee thus trackability.
Accompanying drawing explanation
Fig. 1 is the block diagram of the robot system of an embodiment.
Fig. 2 is the flow chart of the supervision handling procedure of the master control part execution of robot controller.
Fig. 3 is the flow chart of the supervision handling procedure of the master control part execution of robot controller.
Fig. 4 is the flow chart of the analysis and processing program of the analysis portion execution of robot controller.
Fig. 5 is the key diagram of operation procedure.
Symbol description:
RC1～RCN... robot controller, Y1～YN... bonding machine, PC... monitoring arrangement,
15... storage device (storage area), 16... master control part (control section),
17... network service portion (communications portion),
20... network, 31...CPU,
34... storage device (supervision storage area), 35... network service portion
The specific embodiment
Below, with reference to Fig. 1～Fig. 5, an embodiment that the present invention is embodied as to arc welding robot system is described.
As shown in Figure 1, arc welding robot system 10 has and is configured to multiple robots (not shown) that can carry out arc welding and robot controller RC1, RC2～RCN and the monitoring arrangement PC that controls each robot.
The robot that robot controller RC1, RC2～RCN control is respectively known articulated robot, therefore simplified illustration.Form the manipulator of robot by being fixed on suitable local substrate parts, the multiple arms that are connected with substrate parts via multiple joints such as ground and driving the not shown drive motors of each arm to form.Described drive motors possesses not shown rotary encoder, can detect the current location of described drive motors.At the front end of the wrist portion of manipulator front end, the welding torch that the workpiece as soldered thing (not shown) is carried out to arc welding is installed.
In addition, each robot controller RC1～RCN is connected with the teaching machine (not shown) and the bonding machine Y1～YN that each robot are operated for operator respectively.
Robot controller RC1～RCN and monitoring arrangement PC are being connected to each other via wired network 20.In described network 20, for information communication system network and Control System NetWork, be provided with independently respectively communication line.In addition, network 20 is also being connected with host controller, but does not illustrate.Described network 20 is for example made up of the Ethernet (registration mark) of LAN mode.In addition, network 20 is not limited to the Ethernet of LAN mode, also can be made up of other networks.
At the communication line of the information communication for described network 20, carry out the information communication between information exchange and robot controller and the monitoring arrangement PC between robot controller.In addition, at the communication line of the control for network 20, carry out for the inputoutput data of robot controller RC1～RCN control and the communication of various signals.
(robot controller)
Then, robot controller and bonding machine are described.In addition, because the structure of robot controller RC1～RCN is identical, therefore the structure of robot controller RC1 is described typically.
As shown in Figure 1, robot controller RC1 possesses CPU (central processing unit) 11, ROM12, RAM13, communication control unit 14, storage device 15, master control part 16 and network service portion 17 etc., and each several part is interconnecting via not shown bus.CPU11 controls the each several part that forms control device.
In described ROM12, preserve the system program of described control device self.RAM13 is volatile memory, the job memory while becoming various programs such as carrying out operation procedure described later.Communication control unit 14 carries out and the communicating by letter of bonding machine Y1.Described storage device 15 is read-write memories, for example, be made up of hard disk, semiconductor memory etc.Storage device 15 is stored operation procedure and the supervision related information described later of robot.Storage device 15 is equivalent to storage part.In addition, in robot controller RC1, be provided with the warning device such as warning lamp or siren 18.
(example of operation procedure)
Fig. 5 has represented to record the example of the operation procedure of various training datas.In operation procedure shown in Fig. 5, operation procedure sequence number, workpiece sequence number and multiple teaching step number 001～n are recorded.In the teaching step (being teaching step 004 in the example of Fig. 5) that starts welding, describe welding initiation command, and described welding the finish command in the teaching step (being teaching step 008 in the example of Fig. 5) that finishes welding.Described welding initiation command, welding the finish command are examples of training data.
Having described in the teaching step of described welding initiation command (being teaching step 004 in the example of Fig. 4), welding current, weldingvoltage and translational speed (speed command) (in the example of Fig. 5, being respectively 200A, 18.0V and 50cm/min) are also recorded.At this, the example of welding instruction condition when described welding current, weldingvoltage and the translational speed (speed command) of describing together with described welding initiation command is welding beginning.Described welding current, weldingvoltage, speed command are examples of training data.
In addition,, having described in the teaching step of teaching the finish command (the routine teaching step 008 of Fig. 5), welding current and weldingvoltage (in the example of Fig. 5, being 180A, 17.0V) have also been recorded.The example of welding instruction condition when welding current, weldingvoltage and the translational speed (speed command) of describing together with described welding the finish command is welding end.
In addition,, in teaching step 001～003, positioning command and translational speed (speed command) have been described.In teaching step 005～007, describe linear interpolation order (Zhi Line Fill Inter order) and translational speed.In the teaching step of having described described movement directive, in storage device 15, store taught point.
At this, described positioning command and linear interpolation order are the examples of movement directive.In addition, although not shown in the example of Fig. 5, movement directive also has circular interpolation order etc. except positioning command, linear interpolation order.As shown in Figure 5, the teaching step of having described these movement directives has also been recorded the translational speed of the welding torch while movement to the taught point of corresponding teaching step.
Described operation procedure sequence number, workpiece sequence number, teaching step number, welding instruction condition etc. are equivalent to command information.
(bonding machine)
Then, bonding machine is described.The formation of bonding machine Y1～YN is identical, and therefore the structure of bonding machine Y1 is described typically.
Bonding machine Y1 possesses CPU (central processing unit) 21, ROM22, RAM23, communication control unit 24 and welding control part 25 etc., and each several part is interconnecting via not shown bus.
In addition, bonding machine Y1 possesses the source of welding current 28.The source of welding current 28 possesses not shown digitalizer control circuit, by converter control circuit, the source power supply (for example 3 phase 200V) of inputting from outside is carried out to accurate welding current waveform control in the mode of high-speed response., the outlet side of the source of welding current 28, via not shown power cable, is supplied with weldingvoltage between welding torch and workpiece.CPU21 controls the described each several part of bonding machine Y1.ROM22 preserves the control software of the action for controlling welding control part 25 (or source of welding current 28), not shown wire feed unit etc. that bonding machine Y1 possesses.RAM23 is volatile memory, provides operating area to CPU21, temporarily stores calculated data etc.
The outlet side of the source of welding current 28 possesses current detecting part 26 and voltage detection department 27.Detect by described current detecting part 26 welding current that flows through not shown welding wire.In addition,, by voltage detection department 27, detect the weldingvoltage applying between the front end of described not shown welding wire and workpiece.The detection data (being welding current, weldingvoltage) of current detecting part 26 and voltage detection department 27 are used as supervision value and are sent to the communication control unit 14 of robot controller RC1 with the identical sampling period via communication control unit 24, the communications cable 40.
(monitoring arrangement)
Then, monitoring arrangement PC is described.Monitoring arrangement PC is made up of computer, possesses CPU (central processing unit) 31, ROM32, RAM33, storage device 34 and network service portion 35 etc.CPU31 controls the system of monitoring arrangement PC self.ROM32 preserves the program of described monitoring arrangement self system.RAM33 is volatile memory, becomes the job memory while carrying out various program.Storage device 34 is read-write memories, for example, be made up of hard disk, semiconductor memory, magnetic resistance RAM etc.In addition, in the situation that storage device 34 is semiconductor memory, preferably not needing the nonvolatile memory of (backup) for subsequent use power supply, but be not limited to this, can be also the semiconductor memory that needs stand-by power supply.Storage device 34 is equivalent to monitor storage part.
(effect of embodiment)
With reference to Fig. 2～Fig. 4, the effect of the arc welding robot system forming is as described above described.Below, for convenience of explanation, the processing that robot controller RC1 is performed is described.
Fig. 2 is the flow chart of the supervision handling procedure carried out of master control part 16, in the time controlling not shown manipulator and the source of welding current 28 based on described operation procedure, processes abreast described supervision handling procedure with the processing of described operation procedure.In addition, in the following description, for convenience of explanation, " step " of the flow chart to Fig. 2～Fig. 4 adds S, to " the teaching step " of operation procedure not additional S.In addition,, because the processing of operation procedure is known, therefore description thereof is omitted.
(step S1), in S1, master control part 16 is carried out under the control cycle of operation procedure in regeneration, determines whether the moment that has arrived welding initiation command.In the case of not being the moment of welding initiation command, skip to S23, in the situation that being the welding initiation command moment, be transferred to S2.
(step S2) in S2, master control part 16 judge storage device 15 whether can store be soldered to from now on welding finish till during in obtained whole various data (supervision related information).; judge that the time point that whether has welding from now in storage device 15 is to having obtained the idle memory capacity of storing these various data in the situation of various data (supervision related information) in during finishing till the time point of welding, judge in storage device 15, whether there is idle storage area.
(calculating of the data size of the supervision related information between weld zone)
At this, the calculating of the data size of the supervision related information in the weld zone that explanation is welded from now on reference to Fig. 4.
Fig. 4 is the flow chart of the performed analysis and processing program of the analysis portion 16a of master control part 16, carries out with the control cycle stipulating.In addition, this program is based on each teaching step, described manipulator to be carried out pre-reading before controlling to process the processing of (Xian Reading body at analysis portion 16a) in be performed.
In S101, in the process that analysis portion 16a carries out at operation procedure, 1 teaching step should analyzing of being specified by counting step described later is analyzed.In addition, the initial value of counting step is the initial teaching step number of teaching step.In the example of the operation procedure of Fig. 5, counting step is 001.
In S102, in the corresponding teaching step that judgement S101 analyzes, whether there is welding initiation command.
In S102, in the teaching step of analyzing, do not exist welding initiation command, be transferred to S113, the analytical information that the enforcement division 16b notice possessing to analysis portion 16a obtains after analyzing in S101, in S114, advance a counting step, temporarily finish this program.In addition, described counting step is for determining the teaching step of analytic target at S101.
In the teaching step analyzing in S102, exist welding initiation command, in S103, analysis portion 16a makes the traveling time Ta between the weld zone of welding torch be reset to 0.
In S104, analysis portion 16a first analyzes next teaching step again, judges whether the result of first analyzing in S104 exists welding the finish command in its teaching step in S105.
In S105, the analysis result in S104 is not welding the finish command, in S106, judges whether the analysis result in S104 is movement directive.In S106, the analysis result in S104 is not in the situation of movement directive, although not shown, temporarily the formerly analytical information getting in S104 is stored in buffer, and return to S104.In addition,, in S106, the analysis result in S104 is in the situation of movement directive, calculates traveling time Tmv in S107.
For the calculating of this traveling time Tmv, particularly, the taught point of the corresponding teaching step (hereinafter referred to as latest analysis teaching step) analyzing in the up-to-date S104 being transferred to before S107 is made as to P1, will in S104, analyzes in the past and when the taught point adjacent with the taught point of latest analysis teaching step is made as P2, the translational speed based on describing in P1, P2 spacing and latest analysis teaching step is carried out.In S108, upper this traveling time Tmv calculating that is added of the former traveling time Ta calculating of analysis portion 16a, to upgrade traveling time Ta.In S109, analysis portion 16a returns to S104 temporarily store the formerly analytical information getting in S104 in buffer after.
In S105, be welding the finish command at the analysis result of S104, be transferred to S110.In S110, after the traveling time Ta on the welding initiation command of operation procedure between additional weld zone, notice is to enforcement division 16b.In S111, notify the analytical information of the each teaching step on described buffer to enforcement division 16b by teaching step order.In S112, till counting step is proceeded to the teaching step that has welding the finish command, then temporarily finish this program.
As mentioned above, can think that the weld interval between traveling time Ta and respective lands between the weld zone of being obtained by analysis portion 16a is roughly equal.In addition, it is because the rise weldering of arc welding while starting exists because of situations such as environment are delayed strictly speaking that traveling time and weld interval be roughly equal, and this delay is on the whole small difference from traveling time.
Therefore, as described below, master control part 16 calculates the total data size of the supervision value between respective lands., described total data size is the data size of the supervision value of the traveling time Ta based between respective lands, the sampling period of supervision value, every 1 sample, calculates by following formula.
Total data size=Ta ÷ (1/ sample frequency) × (data size of the supervision value of every 1 sample)
In addition, the data size of the supervision value of every 1 sample in formula be welding current and weldingvoltage the value of total, each sampling period of present embodiment is all identical.In addition, different in the case of in sampling period of welding current and weldingvoltage, as long as by the total data size of welding current with calculate separately the total data size of weldingvoltage and the value that obtains amounts to, but the preferred synchronous identical sampling period.
In addition, in respective lands, during for execution welding, for the command information of output, know in advance data size, therefore in this weld zone, the data size of the command information of interior output is stored in advance in storage device 15 together with operation procedure.In the present embodiment, in described respective lands, during by execution welding, command information and the described supervision value of output are made as supervision related information.
At this, return to the flow chart of Fig. 2, in S2, the data size of the supervision related information between respective lands be in respective lands in the aggregate values of total data size of described supervision value in the data size of command information and the respective lands of output.
In S2, in storage device 15, do not monitor the storage area of related information, think and cannot store the supervision relating value between described respective lands, be transferred to S4, in storage device 15, have the storage area that monitors related information, be transferred to S3.
(step S4), in S4, master control part 16 is carried out abnormality processing., master control part 16 makes warning device 18 show abnormality warnings processing abnormal and that produce warning tones as abnormality processing, stop the regeneration of the operation procedure of not shown manipulator simultaneously, stops the action of manipulator, is transferred to S23.In addition, abnormality warnings processing can be also the aborning either party of abnormal show or warning tones.
In S4, it is and the communication interrupt state of monitoring arrangement PC that the data size of the supervision related information between weld zone produces while exceeding the idle memory capacity of storage device 15 that the action of manipulator stops.That is, if manipulator also continues the action of regenerating in weld zone, cannot guarantee trackability, therefore stop the regeneration operation of manipulator.
(step S3) is in S3, welding instruction condition when master control part 16 reads welding beginning from operation procedure, and be temporarily stored in together with workpiece identification information in the storage area for the communication of storage device 15, send to monitoring arrangement PC by network service portion 17.In addition, described workpiece identification information be regeneration operation procedure before in advance never the operation procedure of illustrated input unit or host controller and robot controller RC1 be stored in explicitly the information in storage device 15.Described workpiece identification information is the information for determining each workpiece, for example, be sequence number, but be not limited to this.
(step S5), in S5, whether master control part 16 has received the signal (hereinafter referred to as ACK) that represents the order normally receiving for the data judging sending among S3 in certain hour from monitoring arrangement PC.
(step S6, S7), in S5, in the situation that receiving ACK, is arranged to " in connection " by the situation of PC connection status and is transferred to afterwards S8 in S6.In addition, in S5, do not receive in the situation of ACK, in S7, the situation of PC connection status is arranged to " in cut-out " and is transferred to afterwards S8.In addition, the initial value of the situation of PC connection status is configured to " in cut-out ".
(step S8) sampling period to set in bonding machine Y1 in advance, detect described welding current, weldingvoltage by current detecting part 26 and voltage detection department 27, bonding machine Y1 sends the welding current of sampling and weldingvoltage, i.e. supervision value via communication control unit 24 to robot controller RC1 in real time.In S8, master control part 16 is confirmed whether to have received the supervision value sending from this bonding machine Y1.In the case of not confirming the reception of supervision value, master control part 16 skips to S20, in the case of having confirmed the reception of supervision value, is transferred to S9.
(step S9) is in S9, in order to determine the supervision value that receives and the position of welding being associated with this supervision value, make the program sequence number (counting procedure sequence number) of the operation procedure of current regeneration and teaching step number is interrelated and be stored in the idle storage area of storage device 15 simultaneously.
(step S10), in step S10, master control part 16 is confirmed the situation of PC connection status, is " in cut-out " in the situation of PC connection status, is transferred to S14, described situation is made as in the situation of " in cut-out " always and is transferred to S20.In addition, be " in connection " in the situation of PC connection status, be transferred to S11.
(step S11), in step S11, is sent in and in S9, is stored in supervision value, program sequence number (counting procedure sequence number) and the teaching step number in storage device 15 to monitoring arrangement PC via network service portion 17.
(step S12) is in S12, master control part 16 confirms whether can receive the ACK from monitoring arrangement PC within a certain period of time, can not receive within a certain period of time in the situation of ACK, be transferred to described S14, can receive in the situation of ACK within a certain period of time, be transferred to S13.
(step S13), in S13, the situation of PC connection status is again updated to " in connection " by master control part 16, is transferred to S20.
(step S20), in S20, master control part 16 is being carried out under the control cycle of operation procedure again, takes a decision as to whether the moment of carrying out welding the finish command.In the case of being to carry out the moment of welding the finish command, be transferred to S21, in the case of not being the moment of the property held welding the finish command, be transferred to S22.
(step S21) is in S21, welding instruction condition when master control part 16 reads welding end from operation procedure, and be temporarily stored in together with workpiece identification information in the storage area for the communication of storage device 15, and send to monitoring arrangement PC by network service portion 17, be transferred to S31.
(step S31), in S31, master control part 16 determines whether the ACK receiving for the data that send by S21 in certain hour from monitoring arrangement PC.
(step S32, S33), in S31, in the situation that receiving ACK, is arranged to " in connection " by the situation of PC connection status in S32, is transferred to S8.In addition, in S31, in the situation that not receiving ACK, in S33, the situation of PC connection status is arranged to " in cut-out ", is transferred to S8.
(step S22) is transferred to the situation of S22 from S20, and in step S22, master control part 16 is according to the welding current as supervision value, whether arc current is 0 to judge whether welding finishes.The reasons are as follows of this step is set.; in S20, think to weld the moment of the finish command and be judged to be "Yes"; master control part 16 is exported corresponding command information to manipulator (not shown) and bonding machine Y1, but till actual breaking arc electric current, has time delay from exporting this command information moment.Because within this time delay, do not finish if be judged to be welding in S22, be transferred to S8, carry out the processing of S8～S13 or S14.
At this, S8～S13 is the processing of carrying out in weld zone, and the supervision related information of obtaining in this weld zone is stored in storage device 15.In addition, in the case of carrying out the communication connection with monitoring arrangement PC, the supervision related information being stored in storage device 15 is sent to monitoring arrangement PC in S11, and in the case of can not carry out the communication connection with monitoring arrangement PC, in storage device 15, temporary transient storage monitors related information.In addition, in this weld zone, after the supervision related information of storing is sent to monitoring arrangement PC, in storing hold mode until be eliminated in S29 described later.
In S22, in the welding that is judged to be to be through with, arc current (welding current) is 0 in the situation that, be transferred to S23.
Then, S23～S30, S34, S35 are the post processings while being through with between 1 weld zone.
When (step S23～S25, S34, S35) is transferred to S23, sometimes cannot carry out and the communication connection of monitoring arrangement PC, therefore reaffirm the situation of PC connection status.,, in S23, master control part 16 confirms whether the situation of PC connection status is " in connection ".Be " in connection " in the situation of PC connection status, skip to S26, be " in cut-out " in the situation of PC connection status, in S24, by network service portion 17, monitoring arrangement PC being connected confirms request, in S25, judges whether receive ACK from monitoring arrangement PC in certain hour.In S25, the in the situation that of not receiving ACK in certain hour, in S34, the situation of PC connection status is arranged to " in cut-out ", and in S35 after the predefined stipulated time of standby, the communication recovery processing of execution and monitoring arrangement PC, therefore returns to S1.,, after returning to S1, in S1, give the chance that is transferred to S23 from "No".In S25, if master control part 16 receives ACK within a certain period of time, be transferred to S26.
Then, S26～S30 is according to the processing that has or not the data that do not send to carry out in storage device 15 after welding finishes.
(step S26), in S26, master control part 16 judges in the storage area of storage device 15 whether have the supervision related information not sending, and in non-existent situation, skips to S30, in the situation that existing, is transferred to S27.
(step S27), in S27, master control part 16 sends all supervision related informations that do not send that exist in storage device 15 via network service portion 17 to monitoring arrangement PC.
(step S28) is in S28, master control part 16 determines whether the ACK receiving for the data that send by S27 in certain hour from monitoring arrangement PC, could not receive within a certain period of time in the situation of ACK, be transferred to described S34, can receive in the situation of ACK within a certain period of time, be transferred to S29.
(step S29), in S29, master control part 16 is removed all supervision related informations while being stored in regeneration relevant between in storage device 15 and respective lands corresponding operation procedure, is transferred to S30.
(step S30), in S30, the situation of PC connection status is arranged to " in connection " by master control part 16, temporarily finishes this program.
In the present embodiment, the control operation that the moment of the welding initiation command of S1 starts when arrival till the welding of S22 finishes to become "Yes" is that operation is controlled in welding, is equivalent to robot control operation.
In addition, in the case of the communication recovery of S24 and S25, S27 and S28 process failed respectively, carry out the processing of S34, S35, and return to S1, and do not return to S24.Like this, the reason of not returning to S24 in the time that the communication recovery of S24 and S25, S27 and S28 is processed failure is respectively, until recover to need spended time with communicating by letter of monitoring arrangement PC, even if carried out in the meantime the welding between next weld zone, also can in storage device 15, store the supervision related information in this weld zone.
As mentioned above, the supervision related information in robot controller RC1 is stored in the storage device 34 of monitoring arrangement PC.
Other robot control device RC2～RCN will be monitored to related information is stored in the storage device 34 of monitoring arrangement PC similarly.In addition, give respectively independent operation procedure sequence number to the operation procedure of being regenerated by each robot controller.
And these monitor that related information is to be stored in storage device 34 after distinguishing by each operation procedure sequence number of the identification code of each robot controller or robot controller.
In monitoring arrangement PC, as mentioned above, the supervision related information sending from robot controller RC1～RCN if receive etc. are stored their supervision related information etc. in storage device 34 by time series, after receiving, return to as described above ACK.
Its result, monitoring arrangement PC, in the situation that welding 1 workpiece by many welding robots, can guarantee respectively the supervision related information of multiple welding robots simultaneously reliably., can guarantee the trackability of the welding procedure result of each welding robot.
According to arc welding robot system and the robot controller of present embodiment, there is following feature.
(1) the arc welding robot system of present embodiment via network connected there is storage device 34 (supervision storage part) monitoring arrangement PC and control respectively multiple robot controller RC1～RCN of multiple robots.Each robot controller RC1～RCN possesses: storage device 15 (storage part), control process sequence according to welding, and the supervision related information that welding is controlled in operation (robot control operation) carries out storage action; With master control part 16 (detection unit), judge whether can store the supervision related information in the welding control operation of carrying out from now on the idle memory capacity of storage device 15 (storage part).
In addition, each robot controller RC1～RCN possesses: network service portion 17 (Department of Communication Force), can carry out on the judgement basis of described storage, in the time cannot carrying out with the communicating by letter of monitoring arrangement PC, the described supervision related information that keeps storage device 15 (storage part) to store, in the time that the communication of monitoring arrangement PC can be carried out, send to monitoring arrangement PC the supervision related information that storage device 15 (storage part) is stored.In addition, robot controller RC1～RCN possesses: master control part 16 (control part), in the situation that being judged to be to carry out described storage, carry out abnormality processing, the supervision related information of the welding control operation (robot control operation) that can not make storage device 15 (storage part) store to carry out from now on.
Its result, according to present embodiment, carry out in the arc welding robot system of processing operation of 1 workpiece in Shi Duotai robot, preserve reliably the supervision related information that comprises supervision value and command information, guarantee thus trackability, and can carry out uniqueization management., can carry out uniqueization management to the supervision related information of multiple manipulators by monitoring arrangement.More specifically, particularly in multiple robots connected to the network, 1 workpiece is processed on the production line of operation simultaneously, can be brought into play effect.On this production line, for example, can suppose following situation: because the temporary transient interruption of 1 robot and internetwork cable broken string or radio communication etc. is former thereby produced communication abnormality, and in remaining robot, do not produce communication abnormality.Now, in the prior art, detect that the robot of communication abnormality cannot transmit and monitor related information to monitoring arrangement.This means the trackability that cannot guarantee as production line entirety.And this point in the present embodiment, in the situation that network has produced communication abnormality, not to transmit and monitor related information to monitoring arrangement, but in the storage device of self, temporary transient preservation monitors related information, can preserve reliably thus the supervision related information of all robots that are configured on production line., can guarantee the trackability of production line entirety.
In addition, even if communicating by letter between robot controller and monitoring arrangement produced temporary transient obstacle, can not stop the operation of robot controller self or monitoring arrangement, monitor related information but continue to preserve, can guarantee thus trackability.In addition, after robot control operation finishes, send whole corresponding machine people that passes through to each robot controller and control the supervision related information that operation obtains, then remove, therefore robot controller does not need to carry jumbo storage device, at an easy rate construction system.In addition, can implement to monitor at a place of monitoring arrangement the maintenance of related information, therefore can simplify upkeep operation.In addition, in the normal situation of the communications status between robot controller and monitoring arrangement, when monitoring arrangement side saves historical data, can also carry out the real time monitoring of robot control operation.
(2), in the arc welding robot system of present embodiment, described abnormality processing stops robot control and comprises abnormality warnings processing.Its result, according to present embodiment, pass through abnormality warnings, operator can know that storage device 15 (storage part) cannot store the supervision related information of the welding control operation (robot control operation) of carrying out from now on, can carry out corresponding countermeasure to it rapidly.
(4) in the arc welding robot system of present embodiment, robot is made as to welding robot, to in storage device 15 (storage part), need storage to monitor that the robot control operation of related information is made as welding and controls operation, and described supervision value comprise welding current and weldingvoltage.Its result, according to present embodiment, in arc welding robot system, can realize the effect of above-mentioned (1).
(5) in the arc welding robot system of present embodiment, the supervision related information that the storage device 34 of monitoring arrangement PC (supervision storage part) sends from robot controller RC1～RCN respectively by each robot controller storage.Its result, according to present embodiment, can carry out uniqueization management to the supervision related information sending from multiple robot controllers by each robot controller.
(6) robot controller of present embodiment possesses: storage device 15 (storage part), and control process sequence storage welding by welding and control the supervision related information in operation (robot control operation); With master control part 16 (detection unit), judge whether can store the supervision related information in the welding control operation of carrying out from now on the idle memory capacity of storage device 15 (storage part).In addition, each robot controller RC1～RCN possesses: network service portion 17 (Department of Communication Force), can carry out on the basis of described storage being judged to be, in the case of not carrying out with the communicating by letter of monitoring arrangement PC, the described supervision related information that keeps storage device 15 (storage part) to store, with the communicating by letter of monitoring arrangement PC, send to monitoring arrangement PC the supervision related information that storage device 15 (storage part) is stored in the case of carrying out.In addition, robot controller RC1～RCN possesses: master control part 16 (control part), in the situation that being judged to be to carry out described storage, carry out abnormality processing, the supervision related information of the welding control operation (robot control operation) that can not make storage device 15 (storage part) store to carry out from now on.Its result, in the situation of this robot controller and many monitoring arrangements having been carried out being connected via network, can easily realize the effect of above-mentioned (1).
In addition, the present invention is not limited to described embodiment, can also as following, form.
In said embodiment, the CPU31 of monitoring arrangement PC judges that the idle memory capacity of storage device 34 (supervision storage part) is whether below predefined idle memory capacity, being judged to be described idle memory capacity at CPU31 is below predefined idle memory capacity in the situation that, and network service portion 35 (sending part) also can send caution signal to the multiple robot controller RC1～RCN that are connected with described network.
And, the described caution signal of the master control part 16 (control part) of robot controller RC1～RCN based on from network service portion 35, also can stop needing storage to monitor the control of the welding control operation (robot control operation) of related information, before entering between next weld zone, stop this control.Now, described predefined memory capacity be each about 1 weld zone from each robot controller between and while completing the storage that monitors related information, for example automatic calculating as following.
For example, CPU31 synchronously welds and controls operation with identical operation procedure at each robot controller RC1～RCN, take the maximum of the supervision related information between 1 weld zone receiving from each robot controller as benchmark, based on " the connection number of units of maximum × robot controller ", the required required memory capacity of maximum when automatically calculating robot controller RC1～RCN and having started robot control simultaneously.
And, the CPU31 of monitoring arrangement PC is before entering between next weld zone, in the time being judged to be the required memory capacity of described maximum and not reaching the current idle memory capacity of storage device 34, send described caution signal to each robot controller RC1～RCN.
If form like this, in the case of the lack of memory capacity of the storage device 34 of monitoring arrangement PC, each robot controller can stop the regeneration operation of robot before entering welding control operation, therefore in arc welding robot system, the supervision related information including supervision value and command information can be preserved reliably, trackability can be guaranteed thus.
In said embodiment, for example, in S24, the S25 of Fig. 3, connect and confirm request from each robot controller RC1～RCN side direction monitoring arrangement PC, confirm request but also can replace from the connection of robot controller, carry out connection request confirmation from monitoring arrangement PC to robot controller RC1～RCN.For example, in the time connecting the power supply of monitoring arrangement PC, via the information communication system network of network 20, carry out connection request confirmation from monitoring arrangement PC to robot controller RC1～RCN, or be accompanied by the moment of connecting described power supply, Control System NetWork output starting order to each robot controller RC1～RCN via the network 20 of described operation procedure, and carry out connection request confirmation by information communication system network to robot controller RC1～RCN.Now, preferably monitoring arrangement PC is made as to host controller.
In said embodiment, be transferred to S110 at the S105 from the flow chart of Fig. 4, also can on the traveling time Ta between weld zone, be added predetermined shift time, and the value that has been added this shift time and obtain is made as to traveling time Ta, calculate the total data size of the supervision value between weld zone.Sometimes in the enforcement division 16b of master control part 16 instruction welding start until produce electric arc and manipulator and start action or manipulator and arrive welding end point and start until weld and finish to need the regular hour, described shift time is used for guaranteeing the storage area of the supervision related information of obtaining within this period.This shift time can be tested and be obtained by operation procedure.
In described each embodiment, supervision value has been set as to welding current and weldingvoltage, but supervision value is not limited to welding current and weldingvoltage.For example; although not shown; detect but also can arrange sensor from the welding wire transporting velocity of the wire feed unit of welding wire to welding torch that supply with; and this welding wire transporting velocity is made as to supervision value, or the gas flow of the time per unit of the protective gas spuing to welding procedure position from welding torch during by arc welding is made as supervision value.
As supervision value, can be only also welding current or be only weldingvoltage.
As supervision value, can be welding current and described welding wire transporting velocity; Or weldingvoltage and described shield gas flow rate; Or weldingvoltage and described welding wire transporting velocity; Or weldingvoltage and described shield gas flow rate; Or welding current, described welding wire transporting velocity and described shield gas flow rate; Or weldingvoltage, described welding wire transporting velocity and described shield gas flow rate; Or welding current, weldingvoltage, described welding wire transporting velocity and described shield gas flow rate.
As mentioned above, calculate the interior total data size in weld zone of the supervision value that is different from described each embodiment by the method same with described embodiment.
In described each embodiment, be embodied in arc welding robot system, and in described weld zone, command information and the described supervision value of carrying out when welding output are set as to supervision related information, but in the case of being embodied as the other machines robot system beyond arc welding robot system, also can in needs are obtained the control operation interval of supervision value, exported command information and supervision value be made as to supervision related information.
In described each embodiment, in abnormality processing, warning device 18 by robot controller RC1～RCN carries out abnormality warnings processing, stop thus the regeneration operation of robot, but also can be before stopping regeneration operation, make warning device 18 carry out abnormality warnings processing, make at least one party in display that display unit (not shown) that robot controller RC1～RCN possesses and teaching machine (not shown) possess inquire that the inquiry that whether can stop regeneration operation shows (address inquires to and process).Or, also can make robot controller RC1～RCN possess not shown synthetic video generating unit, generate inquiry by described synthetic video generating unit and whether can stop the synthetic video of the inquiry of robot control, and carried out by loudspeaker.Now, in order to answer this inquiry, make teaching machine or not shown input unit possess input to make the switch of the stop signal that the action of robot stops.
In said embodiment, in the flow chart of Fig. 2, also the order of S1 and S2 can be made as to the order of S2 and S1.
Described network 20, by wired formation, still also can be made up of wireless network.
In described each embodiment, supervision result when being embodied as robot system and this robot system can carry out welding processing by multiple robots by storage in present 1 monitoring arrangement of network implementation has simultaneously been described, but, in the robot system being connected in the mode of 1 pair 1 with 1 robot controller at 1 monitoring arrangement, also the processing identical with described embodiment can be carried out, thereby the supervision related information including supervision value and command information can be preserved reliably.; identical with above-mentioned embodiment, in the situation that having produced communication abnormality, do not transmit and monitor related information to monitoring arrangement; but temporary transient preservation monitors related information in the storage device of self, can preserve reliably thus supervision related information and guarantee trackability.
Claims (6)
1. a robot system, its via network connected have monitor storage area monitoring arrangement and respectively the training data based on completing and to multiple robots regenerate move multiple robot controllers, in this robot system,
Each robot controller possesses:
Storage area, it is stored in successively the regeneration described robot dependent surveillance value obtaining in service and monitors related information;
Judging section, it is judged whether the idle memory capacity of described storage area can store and is about to the regeneration the carried out predetermined supervision related information of obtaining in service;
Communications portion, it can carry out on the basis of described storage being judged to be, in the time cannot communicating by letter with described monitoring arrangement, keep the described supervision related information of described storing section stores, in the time can communicating by letter with described monitoring arrangement, send to described monitoring arrangement the described supervision related information that described storage area is stored; With
Control section, it,, in the situation that being judged to be to carry out described storage, carries out abnormality processing.
2. robot system according to claim 1, wherein,
Described abnormality processing comprises that stopping described regeneration operation carries out the processing of abnormality warnings processing simultaneously or inquire the inquiry processing that whether stops described regeneration operation.
3. robot system according to claim 1 and 2, wherein,
Described robot is welding robot,
Described supervision related information be at least included in welding control in the welding current obtained and any one of weldingvoltage.
4. according to the robot system described in claim 2 or 3, wherein,
The described supervision related information that the described supervision storage area of described monitoring arrangement sends from described robot controller respectively by each robot controller storage.
5. robot system according to claim 3, wherein,
Described monitoring arrangement possesses transmitting portion, and this transmitting portion reaches predefined idle capacity in the idle capacity of described supervision storage area, sends caution signal to the multiple robot controllers that are connected to described network,
The control section of described robot controller is based on stop regeneration operation from the described caution signal of described transmitting portion.
6. a robot system, it has connected to have and has monitored that the monitoring arrangement of storage area and training data based on completing are to the robot robot controller moving of regenerate, in this robot system,
Described robot controller possesses:
Storage area, it is stored in successively the regeneration described robot dependent surveillance value obtaining in service and monitors related information;
Judging section, it is judged whether the idle memory capacity of described storage area can store and is about to the regeneration the carried out predetermined supervision related information of obtaining in service;
Communications portion, it can carry out on the basis of described storage being judged to be, in the time cannot communicating by letter with described monitoring arrangement, keep the described supervision related information of described storing section stores, in the time can communicating by letter with described monitoring arrangement, send to described monitoring arrangement the described supervision related information that described storage area is stored; With
Control section, it,, in the situation that being judged to be to carry out described storage, carries out abnormality processing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-260859 | 2012-11-29 | ||
| JP2012260859A JP6046467B2 (en) | 2012-11-29 | 2012-11-29 | Robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103846915A true CN103846915A (en) | 2014-06-11 |
| CN103846915B CN103846915B (en) | 2017-05-10 |
Family
ID=50855279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310613070.XA Active CN103846915B (en) | 2012-11-29 | 2013-11-27 | Robot system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6046467B2 (en) |
| CN (1) | CN103846915B (en) |
| TW (1) | TWI616291B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669272A (en) * | 2015-03-19 | 2015-06-03 | 广州科然机电有限公司 | Robot |
| CN105159252A (en) * | 2015-08-18 | 2015-12-16 | 深圳市科昭科技有限公司 | Robot intelligent cloud compatible control system |
| CN109887396A (en) * | 2017-12-06 | 2019-06-14 | 北京猎户星空科技有限公司 | A kind of robot teaching system, method and device |
| CN110154064A (en) * | 2018-02-15 | 2019-08-23 | 欧姆龙株式会社 | Central control unit, control method and storage medium |
| CN111975766A (en) * | 2019-05-23 | 2020-11-24 | 发那科株式会社 | Abnormality monitoring device |
| CN111975171A (en) * | 2019-05-22 | 2020-11-24 | 伊利诺斯工具制品有限公司 | Welding monitoring system with unknown downtime disablement |
| CN113507514A (en) * | 2021-06-30 | 2021-10-15 | 歌尔股份有限公司 | Multi-station control method, production line, production system and readable storage medium |
| CN114286969A (en) * | 2019-09-10 | 2022-04-05 | 株式会社富士 | Production line production equipment |
| CN116512272A (en) * | 2023-05-29 | 2023-08-01 | 天津诺瑞信精密电子有限公司 | Part processing supervision method, device, equipment and storage medium |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6510761B2 (en) * | 2014-04-08 | 2019-05-08 | 川崎重工業株式会社 | Data acquisition system and method |
| JP6343199B2 (en) * | 2014-07-28 | 2018-06-13 | 株式会社Ｆｕｊｉ | COMMUNICATION SYSTEM, MOUNTING DEVICE, AND COMMUNICATION DATA PROCESSING METHOD |
| JP2017001120A (en) * | 2015-06-08 | 2017-01-05 | 三菱電機株式会社 | Robot control device |
| JP6862081B2 (en) | 2015-06-23 | 2021-04-21 | キヤノン株式会社 | Robot system control methods, control programs, computer-readable recording media, and robot systems |
| JP6525769B2 (en) * | 2015-06-30 | 2019-06-05 | キヤノン株式会社 | Management device, control method and program, and system |
| JP6333790B2 (en) | 2015-10-21 | 2018-05-30 | ファナック株式会社 | Robot system having a plurality of control devices connected via a network |
| JP6810630B2 (en) * | 2017-02-13 | 2021-01-06 | 川崎重工業株式会社 | Robot control device, robot system and robot control method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4942512A (en) * | 1987-05-21 | 1990-07-17 | Kabushiki Kaisha Toshiba | Control method of robot system and apparatus for realizing the same |
| JPH11326385A (en) * | 1998-05-15 | 1999-11-26 | Hioki Ee Corp | Measuring apparatus |
| US20020072826A1 (en) * | 2000-12-07 | 2002-06-13 | Fanuc Ltd. | Operation data display device for robot |
| JP2003103485A (en) * | 2001-09-28 | 2003-04-08 | Matsushita Electric Ind Co Ltd | Robot controller, its control method and its management system |
| CN1842392A (en) * | 2004-07-12 | 2006-10-04 | 松下电器产业株式会社 | Arc welding robot |
| CN101376249A (en) * | 2007-08-27 | 2009-03-04 | 发那科株式会社 | Robot controller having stoppage monitoring function |
| CN201559195U (en) * | 2009-12-11 | 2010-08-25 | Abb技术有限公司 | robot |
| CN102004462A (en) * | 2001-05-21 | 2011-04-06 | 欧姆龙株式会社 | Slave |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112006001639T5 (en) * | 2005-06-20 | 2008-07-17 | Kabushiki Kaisha Yaskawa Denki, Kitakyushu | Automatic machine system and method for controlling its communication |
| US8700197B2 (en) * | 2008-10-29 | 2014-04-15 | Sms Siemag Aktiengesellschaft | Robot interaction system |
-
2012
- 2012-11-29 JP JP2012260859A patent/JP6046467B2/en active Active
-
2013
- 2013-11-21 TW TW102142378A patent/TWI616291B/en active
- 2013-11-27 CN CN201310613070.XA patent/CN103846915B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4942512A (en) * | 1987-05-21 | 1990-07-17 | Kabushiki Kaisha Toshiba | Control method of robot system and apparatus for realizing the same |
| JPH11326385A (en) * | 1998-05-15 | 1999-11-26 | Hioki Ee Corp | Measuring apparatus |
| US20020072826A1 (en) * | 2000-12-07 | 2002-06-13 | Fanuc Ltd. | Operation data display device for robot |
| CN102004462A (en) * | 2001-05-21 | 2011-04-06 | 欧姆龙株式会社 | Slave |
| JP2003103485A (en) * | 2001-09-28 | 2003-04-08 | Matsushita Electric Ind Co Ltd | Robot controller, its control method and its management system |
| CN1842392A (en) * | 2004-07-12 | 2006-10-04 | 松下电器产业株式会社 | Arc welding robot |
| CN101376249A (en) * | 2007-08-27 | 2009-03-04 | 发那科株式会社 | Robot controller having stoppage monitoring function |
| CN201559195U (en) * | 2009-12-11 | 2010-08-25 | Abb技术有限公司 | robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669272A (en) * | 2015-03-19 | 2015-06-03 | 广州科然机电有限公司 | Robot |
| CN105159252A (en) * | 2015-08-18 | 2015-12-16 | 深圳市科昭科技有限公司 | Robot intelligent cloud compatible control system |
| CN109887396A (en) * | 2017-12-06 | 2019-06-14 | 北京猎户星空科技有限公司 | A kind of robot teaching system, method and device |
| CN110154064A (en) * | 2018-02-15 | 2019-08-23 | 欧姆龙株式会社 | Central control unit, control method and storage medium |
| CN111975171A (en) * | 2019-05-22 | 2020-11-24 | 伊利诺斯工具制品有限公司 | Welding monitoring system with unknown downtime disablement |
| CN111975766A (en) * | 2019-05-23 | 2020-11-24 | 发那科株式会社 | Abnormality monitoring device |
| CN114286969A (en) * | 2019-09-10 | 2022-04-05 | 株式会社富士 | Production line production equipment |
| CN114286969B (en) * | 2019-09-10 | 2023-07-28 | 株式会社富士 | Production line production equipment |
| CN113507514A (en) * | 2021-06-30 | 2021-10-15 | 歌尔股份有限公司 | Multi-station control method, production line, production system and readable storage medium |
| CN113507514B (en) * | 2021-06-30 | 2024-04-30 | 歌尔股份有限公司 | Multi-station control method, production line, production system and readable storage medium |
| CN116512272A (en) * | 2023-05-29 | 2023-08-01 | 天津诺瑞信精密电子有限公司 | Part processing supervision method, device, equipment and storage medium |
| CN116512272B (en) * | 2023-05-29 | 2024-04-12 | 天津诺瑞信精密电子有限公司 | Part processing supervision method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014104561A (en) | 2014-06-09 |
| TWI616291B (en) | 2018-03-01 |
| JP6046467B2 (en) | 2016-12-14 |
| TW201420292A (en) | 2014-06-01 |
| CN103846915B (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103846915A (en) | Robot system | |
| KR102025100B1 (en) | System and method for monitoring robot motion | |
| JP6029967B2 (en) | Arc welding robot system | |
| EP1701824B1 (en) | Control method device and system for robot applications | |
| JP2002287816A (en) | Remote adjusting and diagnostic device | |
| CN107921636A (en) | Robot system | |
| CN109719756B (en) | Life prediction device | |
| KR101178186B1 (en) | Method of alarming abnormal situation of plc based manufacturing system using plc signal pattern in pc based system | |
| EP2466404A1 (en) | Method for controlling industrial robots in a work area | |
| KR102525831B1 (en) | Control system, controller and control method | |
| CN110303491A (en) | Act history management system | |
| CN115057245B (en) | Destacking system based on bus controller and servo system | |
| US11281906B2 (en) | Monitor device provided with camera for capturing motion image of motion of robot device | |
| US6453213B1 (en) | Robot control system and method | |
| JP6302014B2 (en) | Cell control device | |
| Zhao | Design of patrol robot system for mining belt conveyor | |
| JP2007249313A (en) | Monitoring device | |
| CN112162557A (en) | Remote control system and method for automated guided vehicle | |
| WO2013150596A1 (en) | Robot system and work facility | |
| JP2021536617A (en) | Golden data for industrial robots | |
| JP2005216213A (en) | System and method for failure diagnosis | |
| CN115690937A (en) | Inspection method of reduction workshop and related equipment | |
| KR102274856B1 (en) | System and method for analyzing failure of linkage type of MES of automated system | |
| JP5411117B2 (en) | Plant monitoring system | |
| WO2019220734A1 (en) | Robot device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |