CN105892405A - Action record management system, management device and action record management method - Google Patents
Action record management system, management device and action record management method Download PDFInfo
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- CN105892405A CN105892405A CN201610086781.XA CN201610086781A CN105892405A CN 105892405 A CN105892405 A CN 105892405A CN 201610086781 A CN201610086781 A CN 201610086781A CN 105892405 A CN105892405 A CN 105892405A
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- Prior art keywords
- data
- instruction
- action
- industrial robot
- record management
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33219—Drives, servo units, main control on internal net, lan, ethernet, tcp-ip, wireless
Abstract
The invention provides an action record management system, a management device and an action record management method used for raising the maintenance efficiency of an industrial robot. The industrial robot performs actions on the basis of instructions sent by a host device. A controller controls the actions of the robot according to the instructions received from the host device. A management device (1) is connected to the controller through a network. An instruction action data storage processing portion (100) obtains the instructions from the host device, position data of the industrial robot and servo data in real time, associates the instructions from the host device, position data of the industrial robot and servo data with the instructions and realize storage. An instruction data management portion (110) searches the stored instructions, and outputs the position data and/or servo data corresponding to the searched instructions.
Description
Technical field
The present invention relates to action record management system, managing device and action record management method, particularly relate to work
Action record management system, managing device and the action record management method that the action resume of industry robot are managed.
Background technology
In the past, the industrial robot with drive divisions such as servo motors there are such technology: preserves this servo horse
The action resume reached are for safeguarding.
Such as, in the diagnostic equipment faulty described in patent documentation 1, described trouble-shooter includes data conversion section, judgement
Portion, amplitude of fluctuation management value memorizer and alarm portion.By the amplitude of fluctuation management value of the second servo motor, the 3rd servo horse
The amplitude of fluctuation management value reached and the amplitude of fluctuation management value of shake servo motor are stored in this trouble-shooter
Amplitude of fluctuation management value memorizer in.Relatively this trouble-shooter amplitude of fluctuation management value and moment information (certain period
The meansigma methods of maximum amplitude of fluctuation), it is possible to perform fault diagnosis.
It is to say, in the technology of patent documentation 1, for the change all the year round in monitoring driving portion, and with the benchmark initially imported
Data compare, and then can produce alarm if any abnormal.
Prior art literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2007-172150 publication
Summary of the invention
Invent problem to be solved
But, in the technology that patent documentation 1 is recorded, the moment information of time shaft can only be depended alone and carry out tracing trouble, and not
The data of the action associated with the action of actual industrial robot are managed.Therefore, actual cause fault time, difficult
To resolve, thus maintenance efficiency reduces.
The present invention in light of this situation, can improve for the purpose of the action record management system of maintenance efficiency by offer.
For solving the technical scheme of problem
The action record management system of the present invention is characterised by, it has: industrial robot, described industrial machine
People carries out action according to the instruction sent from epigyny device；Controller, described controller receives described finger from described epigyny device
Order the action to described industrial robot are controlled；And managing device, described managing device is with described controller even
Connecing, described managing device has: instruction action data preserve processing unit, and described instruction action data preserve processing unit from institute
State in controller and to obtain in real time from described instruction, the position data of described industrial robot of described epigyny device and to watch
Take data, and be associated with described instruction and preserve；And instruction action Data Management Unit, described instruction action data management
Unit retrieval is preserved, by described instruction action data, the described instruction that processing unit preserves, and exports and the described instruction retrieved
Corresponding position data and/or servo data.
By constituting like this, it is possible to implement record management based on the instruction from epigyny device such that it is able to improve and safeguard effect
Rate.
The action record management system of the present invention is characterised by, front instruction action Data Management Unit pair and described work
The described instruction that the record management of the action of industry robot, prevention are saved from damage and fault reply is relevant is retrieved, and exports
The position data corresponding with described instruction and/or servo data.
By constituting like this, user can arbitrarily retrieve save from damage to record management, prevention respectively, the fault relevant finger of reply
Order.
This bright action record management system is characterised by, front instruction action Data Management Unit is according to described
The described position data display contact of the period that instruction is corresponding is dynamic, and/or according to the period corresponding with described instruction
The display torque of described servo data is dynamic, using the record management as described action.
By constituting like this, it is possible to realize action torque management, contact mange-ment etc. on the basis of instruction.
The action record management system of the present invention is characterised by, described instruction action data preserve processing unit with specific
The specific torque data that interval will be contained in the described servo data corresponding with described instruction preserves specific period more than, institute
State instruction action Data Management Unit and show the change in specific interval of the described specific torque data, using as described prevention
Save from damage.
By constituting like this, it is possible on the basis of instruction, the change to long-term torque is managed, to save from damage as prevention.
The action record management system of the present invention is characterised by, in described instruction action Data Management Unit, as institute
State fault reply, retrieval will break down before the described instruction of specific period, position data corresponding to output and/or
Person's servo data is as the data relevant to fault reply.
By constituting like this, it is possible to judge which bar instruction to cause mistake by immediately.
The action record management system of the present invention is characterised by, described instruction action Data Management Unit is from former with described
Data Concurrent needed for the extracting data that barrier reply is relevant determines the reason of fault delivers to specific addresses of items of mail.
By constituting like this, even if user is also easily mastered the reason of fault at So Far Away.
The managing device of the present invention is the managing device of action record management system, it is characterised in that described action resume
Management system has: industrial robot, and described industrial robot carries out action according to the instruction sent from epigyny device；Control
Device processed, described controller receives described instruction from described epigyny device and the action to described industrial robot is controlled；
And managing device, described managing device is connected with described controller, and described managing device has: at instruction action data preservation
Reason unit, described instruction action data preserve processing unit and obtain the institute from described epigyny device from described controller in real time
State instruction, the position data of described industrial robot and servo data, and be associated with described instruction and preserve；And refer to
Action data administrative unit, the retrieval of described instruction action Data Management Unit is made to be preserved processing unit by described instruction action data
The described instruction preserved, exports the position data corresponding with the described instruction retrieved and/or servo data.
By constituting like this, it is possible to carry out record management based on the instruction from epigyny device such that it is able to improve and safeguard effect
Rate.
The action record management method of the present invention is characterised by, it is held by the managing device of action record management system
OK, described action record management system has: industrial robot, and described industrial robot is according to sending from epigyny device
Instruction carries out action；Controller, described controller receives described instruction and to described industrial robot from described epigyny device
Action be controlled；And managing device, described managing device is connected with described controller, described action record management method
For: obtain the described instruction from described epigyny device, the positional number of described industrial robot from described controller in real time
According to this and servo data, it is associated with described instruction and preserves, the described instruction that retrieval is preserved, output and the institute retrieved
State position data corresponding to instruction and/or servo data.
By constituting like this, it is possible to carry out record management based on the instruction from epigyny device such that it is able to improve and safeguard effect
Rate.
Invention effect
In accordance with the invention it is possible to provide the action record management system of a kind of industrial robot, its by with from upper
Position instruction save location data and/or the servo data explicitly of device and retrieve and export these data, with
Maintenance efficiency is improve toward comparing.
Accompanying drawing explanation
Figure 1A is the system construction drawing of the action record management system involved by embodiments of the present invention.
Figure 1B is the figure of the object lesson illustrating the industrial robot shown in Figure 1A.
Fig. 2 A is to illustrate the block diagram that the system of the managing device shown in Figure 1A is constituted.
Fig. 2 B is the block diagram of the composition illustrating the instruction action data shown in Fig. 2 A.
Fig. 3 is the flow chart that the action resume preservation involved by embodiments of the present invention processes.
Fig. 4 is the flow chart that the action resume search and output involved by embodiments of the present invention processes.
Fig. 5 is the picture example that the user shown in Fig. 4 indicates input processing.
Fig. 6 A is the picture example of the torque dynamic display processing shown in Fig. 4.
Fig. 6 B is the picture example of the torque dynamic display processing shown in Fig. 4.
Fig. 7 A is the picture example of the contact dynamic display processing shown in Fig. 4.
Fig. 7 B is the picture example of the contact dynamic display processing shown in Fig. 4.
Fig. 8 A is the picture example that the torque data change display shown in Fig. 4 processes.
Fig. 8 B is the picture example that the torque data change display shown in Fig. 4 processes.
Fig. 9 A is that the failure cause shown in Fig. 4 determines the picture example extracting display process.
Fig. 9 B is that the failure cause shown in Fig. 4 determines the picture example extracting display process.
Detailed description of the invention
＜ embodiment ＞
(structure of action record management system X)
With reference to Figure 1A, 1B, the structure of action record management system X involved by embodiments of the present invention is illustrated.Dynamic
Make record management system X to include: managing device 1, epigyny device 2, controller 3 and industrial robot 4.Wherein, management dress
Put 1 to be connected with controller 3 by network 5.Further, the user terminal 6 of manager is connected with network 5.
Managing device 1 is the PC (Personal Computer: PC) etc. of the management being connected with controller 3.Pipe
Reason device 1 performs management program (not shown), and obtains the various data from controller 3, thus to industrial robot 4
Action resume be managed.
Epigyny device 2 is to indicate (hereinafter referred to as " instructing ") to be sent to the dress of controller 3 action of industrial robot 4
Put.Specifically, epigyny device 2 be PLC (Programmable Logic Controller: programmable logic controller),
PC etc..
According to Figure 1B, industrial robot 4 is the device carrying out action according to the instruction sent from epigyny device 2.Specifically
Ground is said, industrial robot 4 for example, uses in liquid crystal panel, semiconductor fabrication sequence and grasps various article by arm
Articulated robot etc..As an example of this industrial robot 4, such as, list Japanese Unexamined Patent Publication 11-
Robot described in No. 333768.
Briefly, industrial robot 4 specifically includes that base station；Hand, described hand (the such as first hand, second-hand
Portion) supported as rotating by base station；And horizontal mobile mechanism, described horizontal mobile mechanism makes base station move towards horizontal direction
Dynamic.
Base station is configured to base station top and can rotate relative to the base station bottom fixed.Base station top rotates at it
Center is provided with rotary shaft.Be provided with at rotary shaft pivot from the center as rotary shaft with base station top motor (with
Lower with " TH " expression).
Further, the linear actuators that can drive towards above-below direction is installed in rotary shaft.Thereby, it is possible to make on base station
Portion moves towards above-below direction, and can move up and down relative to base station bottom together with rotary shaft.In the present embodiment,
Described linear actuators uses about the first drive motor (following " Z1 " expression) and about the second drive motor (following
Representing with " Z2 ") the upper and lower drive motor of the two is driven.
And, industrial robot 4 has: substrate parts, and base station supporting is can be towards level by described substrate parts
Direction (such as left and right directions) is mobile；And horizontal mobile mechanism, described horizontal mobile mechanism can make base station relative to substrate
Parts move towards horizontal direction.This horizontal mobile mechanism is by travelling with driving motor (representing with " X " below) to drive.
Hand includes the first hand and the second hand.First hand is by the first arm (the first base station side arm and first-hand
Side arm) and first-hand composition.Second hand is made up of the second arm (the second base station side arm and second-hand's side arm) and second-hand.
About hand drive, the first hand is driven by the first hand drive motor (representing with symbol " R1 " below).The
Two hands are driven by the second hand drive motor (representing with " R2 " below).These first, second drive motors are held
It is contained in base station.
And, industrial robot 4 has: substrate parts, and base station supporting is can be towards level by described substrate parts
Direction (such as left and right directions) is mobile；And horizontal mobile mechanism, described horizontal mobile mechanism makes base station relative to substrate parts
Move towards horizontal direction.
Above-mentioned articulated robot 4 by joint portion with can mode be by the end side of the first base station side arm even rotationally
Receive base station.On the other hand, rotatably first-hand side arm is connected to another side of the first base station side arm.Picture
So, by making the first base station side arm and first-hand side arm implement expanding-contracting action, it is thus configured to make first-hand side arm front end exist
Regulation moves on path.In this case, the first base station side arm connected in connecting portion and first-hand side arm quilt
It is arranged to make first-hand side arm front end move straight in its mechanism.The rule of track accordingly, as the front end of first-hand side arm
Determine path linearly.
Further, in the front end of first-hand side arm, first-hand being configured to keeps the former material such as glass and semiconductor crystal wafer
They are carried by the state of material (hereinafter referred to as " workpiece ").Therefore, the workpiece being handled upside down move on regulation path or
Move on the straight line parallel with regulation path, and direction now i.e. workpiece or first hand moving direction.
Further, since second-hand implements and first-hand identical action, the most in this description will be omitted.Further, industrial robot 4
There are encoder and the sensor etc. that the temperature etc. in the position of these drive divisions, torque and each portion is sent to controller 3.
Network 5 is LAN (Local Area Network: LAN), WAN (Wide Area Network: wide area network) etc.
Network.Specifically, Ethernet (registered trade mark), unlimited LAN, the hands such as network 5 for example, 1000Base-T or 10GBASE-SR
Machine network, the Internet (registered trade mark) etc..
Controller 3 is to receive the dress that the instruction from epigyny device 2 action to industrial robot 4 are controlled
Put.Further, controller 3 obtains the instruction from epigyny device 2, various data from industrial robot 4 in real time, and sends
To managing device 1.
User terminal 6 be information that can receive Email from managing device 1, chat data, addresser etc. (with
Terminal the most referred to as " mail ").Specifically PC, panel computer terminal, PDA (Personal Data Assistant: the palm
Computer), smart phone, mobile phone, intelligent watch (Smart Watch) etc..User terminal 6 is for implementing industrial robot 4
The user safeguarded uses.Therefore, user terminal 6 remotely can also be connected with controller 3.
It addition, epigyny device 2 is connected with not shown another controller 3 and another managing device 1 etc..Further, controller 3
Also can have multiple.Further, managing device 1 can obtain and manage the data from the plurality of controller 3.Further, although not
Diagram, but, the such as device of the factory in addition to industrial robot 4 is also connected with network 5.
It follows that according to Fig. 2 A and Fig. 2 B, the managing device 1 involved by embodiments of the present invention is carried out specifically
Bright.
Managing device 1 specifically includes that control portion 10, storage part 20, I/O (input/output) portion 30, display part 40 and input unit
50。
Control portion 10 is MPU (Micro Processing Unit: microprocessing unit), GPU (Graphics
Processing Unit: Graphics Processing Unit), DSP (Digital Signal Processor: digital signal processor),
ASIC (Applicati On Specific Integrated Circuit: special IC) etc. control arithmetic element.
Storage part 20 is RAM (Random Access Memory: random access memory), ROM (Read Only
Memory: read only memory), HDD (Hard Disk Drive: hard drive), the non-transitory such as flash memory (Flash Memory)
Record medium.
I/O portion 30 is chipset (Chipset), I/O (Input/Output: the input/defeated being connected with outside equipment
Go out) etc. circuit and interface.I/O portion 30 includes: the general serial of the network interface that is connected with network 5, RS-232C and USB etc.
Interface, parallel interface, DV interface etc..
Display part 40 includes: liquid crystal display；Organic EL (Organic Electro-Luminescence: organic electric shock
Luminous) matrix display and the LED (Light Emitting Diode: light emitting diode) etc. such as display.At display part 40
In, show various by being used for managing the GUI (Graphical User Interface: graphic user interface) of action resume
Data and chart etc..
Input unit 50 is the input user of location equipment, the touch screen etc. of keyboard or switch, mouse or digital converter etc.
The input block of instruction.
It addition, managing device 1 the most also can have the output unit of not shown printer etc., user authentication unit
And image first-class.
Further, display part 40 also can form as one with input unit 50.
Saying in more detail, control portion 10 has instruction action data preservation process portion 100 (at instruction action data preservation
Reason unit) and instruction action Data Management Department 110 (instruction action Data Management Unit).
Further, storage part 20 stores instruction action data 200 and addresses of items of mail 210.
Instruction action data preservation process portion 100 obtains various data from controller 3.These various packets are containing from upper
The instruction of device 2, position data 310 (Fig. 2 B) and the servo data 320 of industrial robot 4.Instruction action data preserve
Process portion 100 makes the instruction in these various data be associated with other data, and is stored in storage as instruction action data 200
Portion 20.
Further, instruction action data preservation process portion 100 preserves the servo of instruction action data 200 with appointed specific interval
Data 320 at least some of as given torque data 340.Now, instruction action data preservation process portion 100 is by specific turn
Square data 340 preserve specific period more than in storage part 20.About this specific interval, such as, will be used for obtaining several by user
Hour it is set in storage part 20 to the time interval of torque of some months.
Instruction action Data Management Department 110 retrieval is commanded the instruction that action data preservation process portion 100 preserves.And
And, instruction action Data Management Department 110 by GUI show with retrieved instruct corresponding position data 310 and/or
Servo data 320 and the chart etc. being made up of these data, or output them into user terminal 6.
Specifically, in the present embodiment, instruction action Data Management Department 110 is as action record management unit, pre-
Anti-security unit, failure diagnosis unit play a role.Instruction action Data Management Department 110 retrieval is saved from damage with record management, prevention
And tackle relevant instruction as the fault of fault diagnosis, and utilize GUI show with instruct corresponding position data 310 with
And/or person's servo data 320 or output are to user terminal 6.
Now, instruction action Data Management Department 110 (action record management unit) is according to the servo number of the period corresponding with instruction
Position data 310 display according to the 320 display dynamic charts of torque and/or according to the period corresponding with instruction contacts dynamic
The chart of state, using the record management as action.
Further, instruction action Data Management Department 110 (prevention security unit) shows that specific torque data is at specific interval
In change save from damage as prevention.
Further, the specific period before will breaking down is retrieved by instruction action Data Management Department 110 (failure diagnosis unit)
Instruct, and position data 310 and/or the servo data 320 corresponding to output tackles relevant data as to fault, with
Tackle as fault.
And, instruction action Data Management Department 110 (failure diagnosis unit) determines from the extracting data relevant to fault reply
Data needed for the reason of fault are also sent to addresses of items of mail 210 by mail.
Instruction action data 200 refer to refer to various data separate that are that send and that received by network 5 from controller 3
Action data preservation process portion 100 is made to store the data of the action resume in the present embodiment of storage part 20.
Later instruction action data 200 will be described in detail.
Addresses of items of mail 210 refers to the address of the receiver representing mail sent when fault is tackled.Specifically, mail
Address 210 is the address of the user to industrial robot 4 putting maintenance into practice.It is to say, user can be connect by user terminal 6
Receive and read and be sent to the mail of addresses of items of mail 210.
It addition, control portion 10 by being stored in the not shown control program of storage part 20 in the middle expansion such as RAM execution,
It is used as instruction action data preservation process portion 100 and instruction action Data Management Department 110 plays a role.
It follows that according to Fig. 2 B, instruction action data 200 are described in detail.
Instruction action data 200 include multiple position datas 310 of associating with director data 300 and servo data 320, specific
Torque data 340.
Director data 300 includes: various events (Event), time data (Time data) and with instruction corresponding in
Hold data (Contents Data).
Wherein, various events include the instruction of expression epigyny device 2 and the state of the various actions of industrial robot 4
Data.
The a certain slot etc. of storage box and the storage box having incorporated workpiece is such as specified in instruction, and indicates taking-up (GET) or put
Enter actions such as (PUT).It is to say, the instruction of GET indicates at a given speed from specific storage box to industrial robot 4
Specific slot in take out workpiece.Further, the instruction of PUT is then contrary, but rather indicate that will be grasped by industrial robot 4 at present
Workpiece put into the specific slot of specific storage box at a given speed.Further, instruction also includes making industrial robot 4
Operation start (RUN) or stop the instruction of (STOP) and set the instruction etc. of teaching of position of storage box and slot.
Further, state includes the fault of the various maintenances (overhaul) of industrial robot 4, stroke defect etc., firmware more
Newly, with or without the data of the various states such as battery saving mode.
Further, time data such as comprises the date (Date) in units of millisecond to second and time (Time).
Further, content-data comprises each corresponding with instruction of the content (Contents) of the lteral data (text) as event
Plant binary system (numerical value) data etc..
Position data 310 is the data of the position of each drive division representing industrial robot 4.Specifically, this position
Data are according to the number obtained as increment signal and absolute position signal etc. from encoder being connected with each drive division etc.
According to calculating.The position of each drive division can be implemented pictorialization as " contact is dynamically " according to this position data 310.
Servo data 320 is the data of the servo control mechanism of each drive division of industrial robot 4.Specifically, although should
The data of the electric current flowing through each drive division that servo data 320 is e.g. determined by ammeter, but it is as each drive division
The value of torque and the data that are computed.
According to this servo data 320, it is possible to the torque of each drive division is implemented pictorialization as " torque is dynamic ".
Given torque data 340 are that value of the specific torque being comprised in servo data 320 etc. is according to specific interval
And the data preserved.The value of this specific torque comprises turning of specific drive division corresponding to the specific instruction set with user
The value of square.
Further, since position data 310 and servo data 320 are huge capacity, therefore depositing according to managing device 1
The capacity in storage portion 20, the setting etc. of user, preserve specific period, such as, preserve about some months, after this, by from old
Data play deletion.
But, about given torque data 340, then preserve longer than this specific period, such as in units of 1 year to decades
Preserve.
(action resume preservation process)
It follows that the action resume preservation process involved by embodiments of the present invention is illustrated according to Fig. 3.In this enforcement
During the action resume preservation of mode processes, in the case of obtaining various data from controller 3, with the finger from epigyny device 2
Order is associated and is stored in storage part 20 as instruction action data 200.
The action resume preservation of present embodiment processes and is mainly utilized by the instruction action data preservation process portion 100 in control portion 10
Hardware resource cooperates with each several part and performs to be stored in the control program of storage medium.Instruction action data preservation process portion 100
In the case of starting to obtain action resume the most standby, if receiving the various data from controller 3, then start following
Process.
Hereinafter, according to the flow chart of Fig. 3, each step processing action resume preservation is described in detail.
(step S101)
First, instruction action data preservation process portion 100 implements the process of various data receiver.
Instruction action data preservation process portion 100, via network 5, utilizes I/O portion 30 to receive the various numbers sent by controller 3
According to.
Further, instruction action data preservation process portion 100 is preserved the servo of instruction action data 200 by the specific interval specified
Data 320 are as given torque data 340.Now, given torque data 340 are existed by instruction action data preservation process portion 100
Storage part 20 preserves specific period more than.
It addition, start to obtain the opportunity of these action resume, obtain interval etc. can by the display field 609 of Fig. 5 described later by
Buttons etc. set.
(step S102)
Process it follows that instruction action data preservation process portion 100 implements instruction association preservation.
Instruction action data preservation process portion 100 analyzes paid-in various data and extracts the instruction from epigyny device 2, shape
State.On this basis, instruction action data preservation process portion 100 carrys out cognitive various things according to the instruction extracted, state etc.
Part.Instruction action data preservation process portion 100 makes director data 300, described director data 300 comprise described various event,
The content-data extracted from instruction, state etc. and the time data of the time obtaining various data.
Further, instruction action data preservation process portion 100 analyzes various data, also extracts the position from industrial robot 4
Data 310 and servo data 320.On this basis, the instruction number that instruction action data preservation process portion 100 will make
According to 300, the position data 310 extracted and servo data 320 etc. carry out link etc. as index, and are associated.
The data that association terminates are included in instruction action data 200 preservation by instruction action data preservation process portion 100.Thus
The data of action resume can be preserved.
(step S103)
It follows that determined whether specific interval by instruction action data preservation process portion 100.At instruction action data preservation
Reason portion 100 is with reference to the time data of director data 300, and have passed through specific from previous preservation given torque data 340
In the case of every, it is determined that for "Yes".In the case of in addition, instruction action data preservation process portion 100 is judged to "No".
In the case of "Yes", process is proceeded to step S104 by instruction action data preservation process portion 100.
In the case of "No", the tenth skill resume preservation of instruction action data preservation process portion 100 processes.
(step S104)
In the case of specific interval, instruction action data preservation process portion 100 carries out the preservation of given torque data 340
Process.
Instruction action data preservation process portion 100 is by the value bag of the specific torque of the servo data 320 of instruction action data 200
It is contained in given torque data 340 preservation.
By above-mentioned, terminate the action resume preservation involved by embodiments of the present invention and process.
(process of action resume search and output)
It follows that according to Fig. 4 to Fig. 9 B, the action resume search and output involved by embodiments of the present invention is processed and says
Bright.
In the action resume search and output of present embodiment processes, obtained the instruction of user by GUI, and retrieve and described finger
Show corresponding instruction.On this basis, by the form corresponding with the instruction of user, show corresponding with the instruction retrieved
Position data 310 and/or servo data 320, thus realize record management, prevention save from damage and fault reply.Further,
Mail is sent to user when fault is tackled.
The action resume search and output of present embodiment process mainly by the instruction action Data Management Department 110 in control portion 10 with each
Partial cooperative, uses hardware resource to perform to be stored in the control program of storage medium.
Hereinafter, according to the flow chart of Fig. 4, each step processing action resume search and output is described in detail.
(step S201)
First, instruction action Data Management Department 110 implements user's indicator retrieval process.
The record management picture of the action of industrial robot 4 is shown in display by instruction action Data Management Department 110 by GUI
Portion 40, and the instruction of user is obtained from input unit 50.
Instruction action Data Management Department 110 retrieves the finger corresponding with the instruction of the user obtained from instruction action data 200
Order etc..
Picture example 500 according to Fig. 5, illustrates the record management picture of the GUI for obtaining user's instruction.
Display field 600 is the display field that director data 300 shows as action resume.In the example of display field 600, each row are aobvious
It is shown with date and time, various event and content.In the example of fig. 5, in the director data 300 of this display field 600 one
Mesh show with being clear overhaul terminate, automatically operating in, stop and changing the parameter of action and restart middle generation fault
The information of action resume.
Display field 601 is to represent the light of the position of the director data 300 that user is selected in display field 600 by input unit 50
Mark.
Display field 602 is the selectionbar of the industrial robot 4 for the object selected as display action resume.
Display field 603 is to select the selectionbar of the time of the action resume of display in display field 600.If selecting this action to carry out
The period gone through, then instruction action Data Management Department 110 is according to the instruction of the time data retrieval correspondence of director data 300, and
Display field 600 shows.
Display field 604 is for specifying the hurdle of the specific instruction for showing the dynamic chart of torque.In display field 604,
In addition to the instruction from epigyny device 2, it is possible to specify various event, state etc. as specific instruction.
The button of the display field 605 specific instruction for specifying in display field 604 for retrieval.If pressing this button, then
Industrial robot 4 as object, within the time limit of the action resume selected, is retrieved by instruction action Data Management Department 110
Comprise the director data 300 of specific instruction.The director data 300 retrieved is shown by instruction action Data Management Department 110
In display field 600.
Display field 606 is to specify the hurdle for showing the specific instruction contacting dynamic chart.Display field 606 also can
Enough appointments are from the instruction of epigyny device 2, various event, state etc..
Display field 607 is for showing the button contacting dynamic chart.If pressing this button, then instruction action data management
Portion 110 shows that the contact of the position selected by the cursor of display field 601 is dynamic.
Display field 608 is the button of the specific instruction specified in display field 606 for retrieval.
Display field 609 is for setting the acquisition of the position data 310 of acquirement in real time and servo data 320 interval
(Cycle) button.
Display field 610 is the button of instruction " renewal ".Instruction action Data Management Department 110 is pressed after being set in each display field
In the case of this button, again retrieve the director data 300 corresponding with this setting and show in display field 600.
Display field 611 is the button for the historical analysis (History Analysis) indicating prevention to save from damage.
(step S202)
It follows that instruction action Data Management Department 110 determines whether to carry out record management.
In the case of the position etc. selected with cursor in pressing display field 601 or the button pressing display field 607, instruction action
Data Management Department 110 is judged to "Yes".In the case of in addition, instruction action Data Management Department 110 is judged to "No".
In the case of "Yes", process is advanced to step S203 by instruction action Data Management Department 110.
In the case of "No", process is advanced to step S207 by instruction action Data Management Department 110.
(step S203)
In the case of implementing record management, instruction action Data Management Department 110 determines whether to carry out torque Dynamic Announce.Double
In the case of light target position hitting display field 601 etc., instruction action Data Management Department 110 is judged to "Yes".In addition
In the case of, instruction action Data Management Department 110 is judged to "No".
In the case of "Yes", process is advanced to step S204 by instruction action Data Management Department 110.
In the case of "No", process is advanced to step S205 by instruction action Data Management Department 110.
(step S204)
In the case of carrying out torque Dynamic Announce, instruction action Data Management Department 110 carry out torque dynamic display processing.
The torque corresponding with the director data 300 retrieved dynamically is depicted as chart also by instruction action Data Management Department 110
Display part 40 shows.
With reference to Fig. 6 A, picture example 510 selects the dynamic chart of torque with the cursor of display field 601 in being shown in display field 600
The example of display.Instruction action Data Management Department 110 makes the torque dynamic chart corresponding with the event selected with this cursor.
With reference to Fig. 6 B, picture example 520 illustrates the example of the dynamic chart of the torque shown.In this chart, to select
Moment of instruction be transverse axis, for the longitudinal axis, the value of the torque of each drive division is depicted as chart with the value of torque.In this chart,
Using the values of 2 times of the rated value of the torque of each drive division to 3 times of grades as " torque alert level " display forming failure cause.
It is to say, in the case of there is the position having more than this torque alert level in the dynamic chart of torque, it is possible to easily
Judge drive division gear distress or arm is blocked by barrier in specific position or the specific tooth of gear lacks this
The state of kind.
(step S205)
Here, instruction action Data Management Department 110 determines whether to carry out contacting Dynamic Announce.At the button pressing display field 607
In the case of Deng, instruction action Data Management Department 110 is judged to "Yes".In the case of in addition, instruction action data pipe
Reason portion 110 is judged to "No".
In the case of "Yes", process is advanced to step S206 by instruction action Data Management Department 110.
In the case of "No", process is advanced to step S207 by instruction action Data Management Department 110.
(step S206)
In the case of carrying out contacting Dynamic Announce, instruction action Data Management Department 110 carry out contacting dynamic display processing.
With reference to Fig. 7 A, picture example 530 is shown in the cursor of the interior display field 601 of display field 600 and selects event and use display field
The button of 607 selects to contact the example that dynamic chart shows.Instruction action Data Management Department 110 makes and selects with this cursor
The dynamic chart of contact corresponding to event.
With reference to Fig. 7 B, picture example 540 illustrates the example contacting dynamic chart shown.In this chart, to select
Moment of instruction be transverse axis, with the value of position as the longitudinal axis, the value of the position of each drive division is depicted as chart.
It addition, instruction action Data Management Department 110 can also show the dynamic chart of torque and contact dynamic chart simultaneously.
(step S207)
It follows that instruction action Data Management Department 110 determines whether that carrying out prevention saves from damage.Pressing going through of display field 611 (Fig. 5)
In the case of history analysis button, instruction action Data Management Department 110 is judged to "Yes".In the case of in addition, instruction is dynamic
Make Data Management Department 110 and be judged to "No".
In the case of "Yes", process is advanced to step S208 by instruction action Data Management Department 110.
In the case of "No", process is advanced to step S209 by instruction action Data Management Department 110.
(step S208)
Carrying out in the case of prevention saves from damage, instruction action Data Management Department 110 carrying out torque data change display and process.
With reference to Fig. 8 A, picture example 550 illustrates that setting torque data is by the picture of the pop-up window of the display of monthly variation.?
In the example of Fig. 8 A, show: the selectionbar of the industrial robot 4 of the display identical with the display field 602 of Fig. 5 and display
The hurdle of the appointment specific instruction that hurdle 604 is identical, display time limit, the instruction button of display and return push-button etc..If pressing aobvious
The instruction button shown, then instruction action Data Management Department 110 reads the given torque number corresponding with the instruction of industrial robot 4
According to 340, the instruction of described industrial robot 4 is corresponding with the setting selected.Instruction action Data Management Department 110 is special according to these
Determining torque data 340, the torque making the every month set respectively is dynamic.
With reference to Fig. 8 B, picture example 560 illustrates that arrangement shows the picture of torque every month dynamic torque data change display.
By arrange like this display torque change all the year round, user easily to needed for specific drive division torque increase situation or
The situation that the change of torque becomes to have some setbacks is grasped.Therefore, in order to prevent, it is possible to implement replacing corresponding with this drive division
Parts, carry out large repairs, change the such disposal of instruction from epigyny device 2.
(step S209)
Here, instruction action Data Management Department 110 determines whether to produce fault.At the shape from controller 3 input action mistake etc.
In the case of state, instruction action Data Management Department 110 is judged to "Yes".In the case of in addition, instruction action data pipe
Reason portion 110 is judged to "No".
In the case of "Yes", process is advanced to step S210 by instruction action Data Management Department 110.
In the case of "No", instruction action Data Management Department 110 terminates resume output and processes.
(step S210)
In case of failure, before instruction action Data Management Department 110 carries out fault, instruction retrieval processes.
Instruction action Data Management Department 110, with reference to the time data of the director data 300 of instruction action data 200, retrieves and obtains
Take the director data 300 before the states such as mistake and shown by GUI.As the director data 300 before this, acquisition can determine
Generally it is contemplated that the number of degree of fault.
With reference to Fig. 9 A, picture example 570 shows this director data 300 obtained in display field 600.Here, producing event
In the case of barrier, there are the situation that cannot obtain normal position data 310 and servo data 320 etc..Therefore, such as display field
612 like that, and instruction action Data Management Department 110 is to obtaining the position data 310 and servo associated with this director data 300
The part of data 320 grade, is changed background concn etc. and shows.Instruction action Data Management Department 110 is for obtaining this
The part of servo data 320 grade, as the cursor at display field 601 be designated, by double-click in the case of, make torque dynamic
Chart.
The picture example 580 of Fig. 9 B illustrates the example of this dynamic chart of torque made.
(step S211)
It follows that carried out failure cause by instruction action Data Management Department 110 to determine extraction process.
The director data 300 of the specific period before the states such as instruction action Data Management Department 110 retrieval error, and extract refer to this
Position data 310 corresponding to the event of data 300 and servo data 320 is made to tackle, as with fault, the data associated.Instruction
Action data management department 110 tackles, with reference to this fault, the data associated, and estimates the reason of mistake etc..By the heuristic rule specified
Then or threshold value carries out this presumption.
(step S212)
It follows that carried out mail transmission process by instruction action Data Management Department 110.
Instruction action Data Management Department 110 compression and the fault data etc. that associate of reply extracted, and will describe and estimate
The mail of out of order reason is sent to user.Also can be at the URL of the CGI etc. being able to access that managing device 1 described in this mail
(Uniform Resource Locator: unified resource location) etc..
Receive the user search of this mail and will produce the instruction of the specific period before fault such that it is able to easily obtain correspondence
Position data 310 and/or servo data 320 tackle, as with fault, the data that associate.
By said process, terminate the action resume search and output involved by embodiments of the present invention and process.
(main efficacy results of present embodiment)
By composition as above-mentioned, it is possible to obtain following this effect.
In the past, as described in Patent Document 1 as, only preserve position and the servo data 320 etc. of operation robot as shoe
Go through the data of management.Therefore, in conventional operation robot, it is difficult to the data preserved are analyzed, and dimension
Protect aspect the most bothersome.
Being directed to this, action record management system X involved by embodiments of the present invention is characterised by, comprising: industrial
With robot 4, described industrial robot 4 carries out action according to the instruction sent from epigyny device 2；Controller 3, described control
Device 3 receives instruction from epigyny device 2 and the action to industrial robot 4 is controlled；And managing device 1, described management
Device 1 is connected with controller 3, and managing device 1 has: instruction action data preservation process portion 100, and described instruction action data are protected
Deposit process portion 100 and obtain the position data 310 of the instruction from epigyny device 2, industrial robot 4 in real time from controller 3
And servo data 320, it is associated with instruction and preserves；And instruction action Data Management Department 110, described instruction action data
The instruction preserved by instruction action data preservation process portion 100 is retrieved by management department 110, and exports corresponding with the instruction retrieved
Position data 310 and/or servo data 320.
By constituting like this, it is possible to the index as record management that instructs from epigyny device 2 is managed, thus carries
High maintenance efficiency.
Further, conventional liquid crystal panel, use in semiconductor manufacturing apparatus industrial robot in, the resume of action are entered
Go preservation, and carry out status monitoring protection.In status monitoring protection, monitor running status all the time, discover before fault occurs
To abnormal, or also utilize the information of the action resume preserved to shorten recovery time when breaking down.
Make here, operation robot is gone forward side by side to take action by upper device instruction.But, operate the state of robot in monitoring in the past
In the case of, being not included in Monitoring Data from upper instruction of these, only by by the prespecified action etc. of time shaft
Data implement data collection as object, implement the record management of relevant data of robot motion with reality.
Being directed to this, action record management system X of present embodiment utilizes managing device 1, the position data that will start with in real time
310, servo data 320 etc. carry out linking, manage and showing using the instruction from epigyny device 2 obtained simultaneously as index
Show.Thus, by managing device 1, it is possible to utilize GUI etc. simply instruction and state to be carried out picture and show and carry out
Management.As a result, it is possible to easily based on the instruction corresponding with the instruction from epigyny device 2, action data is analyzed.
Thus, even if in the case of bad in the action causing industrial robot 4 because of certain reason, also can judge which is
Bar instructs.Further, it is possible to judge the pass of this bad instruction and corresponding position data 310, servo data 320 etc. immediately
System.Therefore, it is possible to raising maintenance efficiency.
Further, action record management system X involved by embodiments of the present invention is characterised by, instruction action data
The instruction saved from damage to the record management of the action of industrial robot 4, prevention and fault reply is relevant is carried out by management department 110
Retrieve and export the position data 310 corresponding with instruction and/or servo data 320.
By constituting like this, user can arbitrarily retrieve save from damage to record management, prevention respectively, the fault relevant finger of reply
Order, and can suitably export the position data 310 corresponding with this instruction and/or servo data 320 such that it is able to improve
Maintainability.
Further, action record management system X involved by present embodiment is characterised by, instruction action Data Management Department
110 contact dynamically and/or according to the phase corresponding with instruction according to position data 310 display of the period corresponding with instruction
Between servo data 320 show that torque is dynamic, using the record management as action.
By constituting like this, it is possible to by the instruction unit of industrial robot 4, action is carried out and implements torque and position
Management, and the management of action link with actual industrial robot 4 can be implemented.It is to say, user can be with specifically
Instruction on the basis of, easily carry out action torque management, contact mange-ment etc..
Further, only need to be wanted the scope of the instruction represented by appointment, just can retrieve the action of this industrial robot 4, and should
The data of torque be shown as with the data etc. contacted torque dynamically with contact dynamic chart, thus user can slap intuitively
Hold.
Further, action record management system X involved by embodiments of the present invention is characterised by, instruction action data
Preservation process portion 100 will be contained in preserving with the specific torque data instructed in corresponding servo data 320 with specific interval
More than specific period, instruction action Data Management Department 110 shows the change in specific interval of the specific torque data, using as
Prevention is saved from damage.
By constituting like this, it is possible to torque change over a long time is managed on the basis of the instruction of epigyny device 2,
To save from damage as prevention.I.e. it is capable of with the action potential change to the long-term servo data 320 of industrial robot 4
Change is managed.Thus, user can carefully identify the replacing construction etc. of parts of industrial robot 4, it is possible to calculates
Most suitable service intervals etc., thus management becomes easy.
Further, action record management system X involved by embodiments of the present invention is characterised by, instruction action data
In management department 110, tackle as fault, retrieve the instruction of the specific period before will breaking down, export corresponding position
Data 310 and/or servo data 320 are as the data relevant to fault reply.
By constituting like this, such as in the case of the fault in mistake etc. stops, it is possible to judging it is by from epigyny device 2
The instruction of which bar form mistake.It is to say, when causing fault, easily determine reason according to instruction.Further, easily slap
Hold and produce because mistake causes the relation etc. of the action, torque and the position that stop.It is possible to carry out efficiently accident analysis, thus
Maintenance efficiency can be improved.
Further, action record management system X involved by embodiments of the present invention is characterised by, instruction action data
Management department 110 determines the data needed for the reason of fault from the extracting data relevant to fault reply, and is sent to specific
Addresses of items of mail 210.
By constituting like this, even if user also is able to easily grasp the reason of fault at So Far Away, shorten from fault
The time recovered, repair time ahead of time.It is possible to improve the work efficiency of industrial robot 4, reduce production cost.
(other embodiments)
It addition, in the above-described embodiment, the example monthly preserved given torque data 340 is illustrated.But,
Save from damage with specific interval, position data 310 can also be preserved as prevention.
By constituting like this, such as, by the metastasis of position data 310 being saved as specific contact data, it is possible to hold
Change places and grasp the wrong data of position deviation.
Further, in the above-described embodiment, it is associated with instruction to by position data 310 and/or servo data 320
And preserve, and shown or export user terminal 6 by GUI, and the example exported as the data relevant to fault reply
Son is recorded.
But, in addition, for controlling by required I/O data in addition to the data except above-mentioned each drive division, it is also possible to
Similarly preserve, show or export and as the data output relevant to fault reply.
The action of absorption (opening and closing) state of these I/O data for example, arm of industrial robot 4, the temperature of each drive division
The data of the state etc. of degree, luminosity and other industrial robots 4.And, additionally it is possible to obtain and additional industrial via network 5
By the state of the air-conditioning arranging position of robot 4, other presences, the shipped quantity of workpiece, the running status etc. at workshop
Cannot be from the data of industrial robot 4 self acquisition as I/O data.
Specifically, instruction action data preservation process portion 100 can also obtain I/O data from controller 3, and similarly
Associate with instruction and preserve.
Further, instruction action Data Management Department 110 is identical, also by GUI to I/O with position data 310 and servo data 320
Data are indicated, or output is to user terminal 6.Further, instruction action Data Management Department 110 can select position data
310, any one in servo data 320 and I/O data or combinations thereof, show with GUI, or by position data
310, any one in servo data 320 and I/O data or combinations thereof export user terminal 6.
Further, instruction action Data Management Department 110 is for I/O data, it is also possible to be output as the data relevant to fault reply.
And, additionally it is possible to preserve I/O data with specific interval and save from damage for prevention.Thereby, it is possible to compare the change of I/O data,
Given torque data 340 and the position data 310 preserved with specific interval such that it is able to improve maintenance efficiency.
Further, in the above-described embodiment, in managing device 1, instruction action Data Management Department 110 is existed by GUI
The example of display part 40 display action resume is recorded.
But, managing device 1 also may be configured as server, user terminal 6 be managed action resume.It is to say, be
Can allow the user terminal 6 implement record management, instruction action Data Management Department 110 also can have CGI (Common Gateway
Interface: CGI(Common gateway interface)), the server merit of Java (registered trade mark) Servlet, PHP (HyperText Preprocessor) etc.
Energy.
By constituting like this, it is possible to manage the action resume from remote place, thus improve the convenience of user, cut down dimension
Protect cost.
Further, in the above-described embodiment, describing managing device 1 is a purport for the device of preservation action resume.
However, it is possible to be configured to: identical with epigyny device 2, it is possible to refer to controller 3 transmission from managing device 1, user terminal 6
Order.In this case, it is indicated that cause the position of the resume of the director data 300 of problem, with can be defeated to industrial robot 4
Controller 3 is indicated by the mode gone out.
By constituting like this, even if being likely to enough make industrial robot 4 move owing to the most upwards position device 2 inputs instruction
Make, be therefore easily mastered error reason etc. such that it is able to the most corresponding fault.
Further, in the above-described embodiment, robot 4 is described as having first-hand and second-hand robot.
However, it is possible to obtain the various data about one armed robot and perform above-mentioned this process.And, additionally it is possible to humanoid machine
Other industrial machines such as people, conveyer belt perform process as described above.
It addition, the structure of above-mentioned embodiment and action are an example, in the scope of the purport without departing from the present invention
In can suitably change.
Label declaration
1 managing device
2 epigyny devices
3 controllers
4 industrial robots
5 networks
6 user terminals
10 control portions
20 storage parts
30 I/O portions
40 display parts
50 input units
100 instruction action data preservation process portions
110 instruction action Data Management Departments
200 instruction action data
210 addresses of items of mail
300 director datas
310 position datas
320 servo datas
340 given torque data
500,510,520,530,540,550,560,570,580 picture example
600,601,602,603,604,605,606,607,608,609,610,611,612 display field
X action record management system
Claims (8)
1. an action record management system, it is characterised in that this action record management system includes:
Industrial robot, described industrial robot carries out action according to the instruction sent from epigyny device；
Controller, described controller receives described instruction from described epigyny device, and the action to described industrial robot is entered
Row controls；And
Managing device, described managing device is connected with described controller,
Described managing device has:
Instruction action data preserve processing unit, and described instruction action data preserve processing unit and obtain from described controller in real time
Fetch from the described instruction of described epigyny device, the position data of described industrial robot and servo data, with described finger
Order is associated and preserves；And
Instruction action Data Management Unit, described instruction action Data Management Unit is retrieved by described instruction action data preservation
The described instruction that reason unit preserves, and export the position data corresponding with the described instruction retrieved and/or servo data.
Action record management system the most according to claim 1, it is characterised in that
Described instruction action Data Management Unit performs the record management of the action of retrieval and described industrial robot, prevention is protected
Entirely and the relevant described instruction of fault reply, and perform output and instruct corresponding position data and/or servo with described
Data.
Action record management system the most according to claim 1 and 2, it is characterised in that
In described instruction action Data Management Unit, as the record management of described action, during corresponding with described instruction
The display contact of described position data dynamically, and/or the described servo data according to the period corresponding with described instruction is aobvious
Show that torque is dynamic.
4. according to the action record management system described in any one in claims 1 to 3, it is characterised in that
Described instruction action data preserve processing unit and will be contained in the described servo number corresponding with described instruction with specific interval
Specific torque data according to preserves specific period more than,
In described instruction action Data Management Unit, save from damage as described prevention, show that described specific torque data is specific
Change in interval.
Action record management system the most according to any one of claim 1 to 4, it is characterised in that
In described instruction action Data Management Unit, tackle as described fault, retrieve the specific period before will breaking down
Described instruction, and position data corresponding to exporting and/or servo data as to the fault relevant data of reply.
Action record management system the most according to claim 5, it is characterised in that
Described instruction action Data Management Unit determines the reason institute of fault from the extracting data relevant to the reply of described fault
The Data Concurrent needed delivers to specific addresses of items of mail.
7. the managing device of an action record management system, it is characterised in that
Described action record management system includes:
Industrial robot, described industrial robot carries out action according to the instruction sent from epigyny device；
Controller, described controller receives the described instruction from described epigyny device, and moves described industrial robot
It is controlled；And
Managing device, described managing device is connected with described controller,
Described managing device has:
Instruction action data preserve processing unit, and described instruction action data preserve processing unit and obtain from described controller in real time
Fetch from the described instruction of described epigyny device, the position data of described industrial robot and/or servo data, with institute
State instruction be associated and preserve；And
Instruction action Data Management Unit, described instruction action Data Management Unit is retrieved by described instruction action data preservation
The described instruction that reason unit preserves, and export the position data corresponding with the described instruction retrieved and/or servo number
According to.
8. the action record management method that a kind is performed by the managing device of action record management system, it is characterised in that
Described action record management system includes:
Industrial robot, described industrial robot carries out action according to the instruction sent from epigyny device；
Controller, described controller receives the described instruction from described epigyny device, and moves described industrial robot
It is controlled；And
Managing device, described managing device is connected with described controller,
Described action record management method is:
The described instruction from described epigyny device, the positional number of described industrial robot is obtained in real time from described controller
According to and/or servo data, be associated with described instruction and preserve,
The described instruction that retrieval is preserved, and export the position data corresponding with the described instruction retrieved and/or watch
Take data.
Applications Claiming Priority (2)
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|---|---|---|---|
| JP2015-028466 | 2015-02-17 | ||
| JP2015028466A JP6563210B2 (en) | 2015-02-17 | 2015-02-17 | Operation history management system, management apparatus, and operation history management method |
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| CN105892405A true CN105892405A (en) | 2016-08-24 |
| CN105892405B CN105892405B (en) | 2019-11-05 |
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| CN110303491A (en) * | 2018-03-27 | 2019-10-08 | 日本电产三协株式会社 | Act history management system |
| CN110320825A (en) * | 2018-03-28 | 2019-10-11 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus counting equipment state |
| CN112276937A (en) * | 2019-07-25 | 2021-01-29 | 发那科株式会社 | Fault prediction system |
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| CN112276937A (en) * | 2019-07-25 | 2021-01-29 | 发那科株式会社 | Fault prediction system |
| CN113211426A (en) * | 2020-12-02 | 2021-08-06 | 格创东智(深圳)科技有限公司 | Robot fault diagnosis method and device, computer equipment and storage medium |
| CN113211426B (en) * | 2020-12-02 | 2023-02-28 | 格创东智(深圳)科技有限公司 | Robot fault diagnosis method and device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6563210B2 (en) | 2019-08-21 |
| JP2016150400A (en) | 2016-08-22 |
| CN105892405B (en) | 2019-11-05 |
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