GB2474869A - Robot control cable bypass apparatus - Google Patents

Abstract

Apparatus 30 includes switch units (341, 342 and 343 fig 2) for selectively connecting sections of a main cable 40 from a robot control unit 20 either to main cable 50 and associated intra-robot cables, such as wiring loom or wiring harness 60, or to diagnostic by-pass cables 71, 72, 73. This permits identification of a break in one of the intra-robot cables (61, 62, 63 fig 2) and permits the continued operation of the robot 10 pending replacement or repair of the intra-robot cable. The cables 60, 71, 72, 73 connect the robot control unit 20 to motors 122, 132, 142 of robot 10. Apparatus 30 may be connected to robot control unit 20 and robot 10 when required. Robot 30 may be used in an automotive manufacturing process.

Description

ROBOT SYSTEM AUXILIARY APPARATUS AND ROBOT SYSTEM AUXILIARY

METHOD

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a robot system auxiliary apparatus and a robot system auxiliary method. More specifically, the present invention relates to a robot system auxiliary apparatus and a robot system auxiliary method that are applied to a robot system used in an automotive manufacturing process.

Related Art Conventionally, a robot system is known which includes: a robot used in an automotive manufacturing process; and a robot oontroller for controlling the robot.

FIG. 3 is a diagram showing a configuration of a robot system 500 according to a conventional example of the present invention.

The robot system 500 includes: a robot 510; and a robot controller 520 connected to the robot 510 via a control cable 530. The robot 510 includes: a base 511 into which the control cable 530 is introduced; a first motor 515 that operates an upper arm portion 512 that is pivotally supported by the base 511; a second motor 516 that operates a forearm portion 513 that is pivotally supported by the upper arm portion 512; and a third motor 517 that operates a wrist portion 514 that is pivotally supported by the forearm portion 513.

The control cable 530 is wired inside the base 511, the upper arm portion 512 and the forearm portion 513, and is branched to be connected to the first motor 515, the second motor 516 and the third motor 517 (see Patent Document 1).

Patent Document 1: Japanese Unexamined Patent Application, First Publication No. 2006-515B1

SUMMARY OF THE INVENTION

However, in the robot system 500 described in Patent Document 1, the control cable 530 is wired inside the base 511, the upper arm portion 512 and the forearm portion 513, and thus, in a case in which the control cable 530 is broken, it is impossible to find which portion is broken. Moreover, in a case in which the control cable 530 is broken, the robot system 500 can not be repaired unless the robot 510 is disassembled, and thus a wiring break immediately disables the system.

An object of the present invention is to provide a robot system auxiliary apparatus, with which a broken portion of the cable can be identified, and the use of a robot system can be continued even in the case of a wiring break.

The robot system auxiliary apparatus (for example, a robot system auxiliary apparatus 30 to be described later) of the present invention is a robot system auxiliary apparatus that is applied to a robot system (for example, a robot system 1 to be described later) including a robot (for example, a robot 10 to be described later) driven by a plurality of motors (for example, a first motor 122, a second motor 132 and a third motor 142 to be described later) and a robot control unit (for example, a robot control unit 20 to be described later) outputting electric current to the robot, in which the robot performs input/output of electric current with the robot control unit, and having base input units (for example, a first base input unit 101, a second base input unit 102 and a third base input unit 103 to be described later) connected to the plurality of motors via current paths (for example, a first intra-robot cable 61, a second intra-robot cable 62 or a third intra-robot cable 63 to be described later), the apparatus including; input units (for example, a first input unit 311, a second input unit 312 and a third input unit 313 to be described later) that perform input/output of electric current with the robot control unit; and first output units (for example, a first motor output unit 321, a second motor output unit 322 and a third motor output unit 323 to be described later) and second output units (for example, a first motor diagnosis output unit 331, a second motor diagnosis output unit 332 and a third motor diagnosis output unit 333 to be described later) that perform input/output of electric current with each of the motors among the plurality of motors; and switch units (for example, a first switch unit 341, a second switch unit 342 and a third switch unit 343 to be described later) that are capable of selectively connecting the input units to the first output units or the second output units.

According to the present invention, provided are: input units that perform input/output of electric current with the robot control unit; first output units and second output units that perform input/output of electric current with each of the motors among the plurality of motors; and switch units that are capable of selectively connecting the input units to the first output units or the second output units.

Therefore, in a case in which there is a defect in an operation of the robot, the input units are connected to the robot control unit, and the first output units are connected to the motors via a base unit or second output units are connected directly to the motors using the by-pass cables.

Next, the switch units selectively connect the input units to the first output units or the second output units.

In this way, an operation of the robot when the input units are connected to the first output units is compared with an operation of the robot when the input units are connected to the second output units, and in a case in which there is a difference therebetween, it is found that the current path connected to the corresponding motor is broken. Moreover, since a motor with a defect in drive power due to a wiring break is driven normally, the robot system can be used without repairing. Then, the operation hours of the robot system can be maintained by repairing the wiring break while the robot system is not being operated. Therefore, a broken portion of the cable can be identified, and the use of the robot system can be continued even in the case of a wiring break.

In this case, it is preferable that the first output units are connected to the base input units of the robot, and the second output units are directly connected to each of the motors of the robot.

According to the present invention, the first output units are connected to the base input units of the robot, and the second output units are directly connected to each of the motors of the robot. Therefore, in a case in which the input units are connected to the first output units, electric current that is input to the base input units is input to each of the motors via the current paths. On the other hand, in a case in which the input units are connected to the second output units, electric current that is directly input to the second output units is input to each of the motors without involving the current paths. As a result, by connecting the input units to the second output units, a motor with a defect in drive power due to a wiring break is driven normally, and thus the robot system can be used without repairing. Therefore, a broken portion of the cable can be identified, and the use of the robot system can be continued even in the case of a wiring break.

The robot system auxiliary method (for example, a method of performing failure diagnosis) of the present invention is a robot system auxiliary method using the robot system auxiliary apparatus, the method including: a conduction confirmation step of (for example, a conduction confirmation step to be described later) confirming for each of the motors whether electric current is properly conducted from the first output units or the second output units to each of the motors; and a wiring break determination step (for example, a wiring break determination step to be described later) of, in a case where electric current is not properly conducted to any of the motors in the conduction confirmation step, determining whether a current path connected to each of the motors, to which electric current is not properly conducted, is broken.

According to the present invention, confirmation is made for each of the motors whether electric current is properly conducted from the first output units or the second output units to each of the motors; and in a case in which electric current is not properly conducted to any of the motors, a current path connected to the motor, to which electric current is not properly conducted, is determined to be broken.

Therefore, a broken portion of the cable can be identified.

The robot system auxiliary method (for example, a method of performing an emergency procedure) of the present invention is a robot system auxiliary method using the robot system auxiliary apparatus, the method including: an output confirmation step of (for example, an output confirmation step to be described later) confirming for each of the motors whether an output of electric current is properly conducted from the first output units or the second output units to each of the motors; and a connection step (for example, a connection step to be described later) of, in a case where an output is not properly conducted to any of the motors in the output confirmation step, the second output units are connected in the switch units to each of the motors to which an output is not properly conducted.

According to the present invention, confirmation is made for each of the motors whether an output of electric current is properly conducted from the first output units or the second output units to each of the motors; and in a case in which an output is not properly conducted to any of the motors, the second output units are connected in the switch units to each of the motors to which an output is not properly conducted. Therefore, the use of the robot system can be continued even in the case of a wiring break. For example, in a state in which an emergency procedure has been taken by the connection step, the use of the robot system is continued up to when the factory operating the robot system stops, and the robot is repaired after the factory is stopped, thereby making it possible to maintain manufacturing production.

According to the present invention, a robot system auxiliary apparatus is provided, with which a broken portion of a cable can be identified, and the use of a robot system can be continued even in the case of a wiring break.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a robot system, to which a robot system auxiliary apparatus according to an embodiment

S

of the present invention is applied; FIG. 2 is a diagram illustrating wiring of the robot system, to which the robot system auxiliary apparatus according to the embodiment of the present invention is applied; and FIG. 3 is a diagram showing a configuration of a robot system according to a conventional example of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

An embodiment of the present invention will be described hereinafter with reference to the attached drawings.

FIG. 1 is a diagram illustrating a robot system 1, to which a robot system auxiliary apparatus 30 according to an embodiment of the present invention is applied.

The robot system 1 includes: a robot 10 used in an automotive manufacturing process; and a robot control unit 20 outputting electric current to the robot 10.

The robot system auxiliary apparatus 30 is connected to main cables 40 extending from the robot control unit 20.

Moreover, the robot system auxiliary apparatus 30 is connected to the robot 10 via diagnostic main cables 50. The robot system auxiliary apparatus 30 is applied to the robot system 1 in a case in which a defect occurs in an operation of the robot 10.

The robot 10 includes: a hand 13 that operates in an automotive manufacturing process; and an arm 12 that changes a position and a posture of the hand 13 in the three-dimensional space.

The arm 12 includes: a base portion 110 fixed to the floor; a first arm portion 120; a second arm portion 130; a third arm portion 140; and a fourth arm portion 150.

The base portion 110 includes a base input unit 100, to which the diagnostic main cables 50 extending from the robot system auxiliary apparatus 30 are detachably connected. Intra-robot cables 60 extending inside the robot 10 are connected to the base input unit 100. The main cables 40 extending from the robot control unit 20 are connected to the base input unit 100 in a case in which the robot system auxiliary apparatus 30 is not applied thereto.

The first arm portion 120 has an elongated shape, and is pivotally supported by a base. The first arm portion 120 rotates on a first rotational axis 111 that extends in a substantially perpendicular direction. The first rotational axis 111 is driven by a base motor 112 provided in the base portion 110. The intra-robot cables 60 are branched to be connected to the base motor 112.

The second arm portion 130 has an elongated shape, and is pivotally supported by the first arm portion 120. The second arm portion 130 rotates around a second rotational axis 121 that extends in a direction intersecting an extending direction of the first arm portion 120. As a result, an angle formed by the extending direction of the first arm portion 120 and an extending direction of the second arm portion 130 is changed. The second rotational axis 121 is driven by a first motor 122 provided in the second arm portion l30 The intra-robot cables 60 are branched to be connected to the first motor 122. Moreover, a first diagnostic by-pass cable 71 extending from the robot system auxiliary apparatus 30 is connected to the first motor 122.

The third arm portion 140 has an elongated shape, and is pivotally supported by the second arm portion 130. The third arm portion 140 rotates around a third rotational axis 131 that extends in a direction intersecting the extending direction of the second arm portion 130. As a result, an angle formed by the extending direction of the second arm portion and an extending direction of the third arm portion 140 is changed. The third rotational axis 131 is driven by a second motor 132 provided in the second arm portion 130. The intra-robot cables 60 are branched to be connected to the second motor 132. Moreover, a second diagnostic by-pass cable 72 extending from the robot system auxiliary apparatus 30 is connected to the second motor 132.

The fourth arm portion 150 has an elongated shape, and is pivotally supported by the third arm portion 140. The fourth arm portion 150 rotates around a fourth rotational axis 141 that extends in a direction intersecting the extending direction of the third arm portion 140. As a result, an angle formed by the extending direction of the third arm portion 140 and an extending direction of the fourth arm portion 150 is changed. The fourth rotational axis 141 is driven by a third motor 142 provided in the third arm portion 140. The intra-robot cables 60 are branched to be connected to the third motor 142. Moreover, a third diagnostic by-pass cable 73 extending from the robot system auxiliary apparatus 30 is connected to the third motor 142.

The hand 13 is pivotally supported by the fourth arm portion 150. This hand 13 rotates around a fifth rotational axis 151 that extends in an extending direction of the fourth arm portion 150.

The robot control unit 20 includes a current output unit 210 to which the main cables 40 are connected.

The robot system auxiliary apparatus 30 includes: an input unit 310; a first output unit 320; and a second output unit including a first motor diagnosis output unit 331, a second motor diagnosis output unit 332 and a third motor diagnosis output unit 333.

The main cables 40 extending from the robot control unit are connected to the input unit 310.

The diagnostic main cables 50 are connected to the first motor output unit 321. The first diagnostic by-pass cable 71 is connected to the first motor diagnosis output unit 331. The second diagnostic by-pass cable 72 is connected to the second motor diagnosis output unit 332. The third diagnostic by-pass cable 73 is connected to the third motor diagnosis output unit 333.

FIG. 2 is a diagram illustrating wiring of the robot system 1, to which the robot system auxiliary apparatus 30 is applied.

The base input unit 100 of the robot 10 includes: a first base input unit 101; a second base input unit 102; and a third base input unit 103. The first base input unit 101 performs input/output of electric current with the first motor 122. The second base input unit 102 performs input/output of electric current with the second motor 132. The third base input unit 103 performs input/output of electric current with the third motor 142.

The current output unit 210 of the robot control unit 20 includes: a first current output unit 211; a second current output unit 212; and a third current output unit 213. The first current output unit 211 outputs electric current to the first motor 122. The second current output unit 212 outputs electric current to the second motor 132. The third current output unit 213 outputs electric current to the third motor 142.

The robot system auxiliary apparatus 30 includes: the input unit 310; the first output unit 320; the second output unit including the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333; a first switch unit 341; a second switch unit 342; and a third switch unit 343.

The input unit 310 includes a first input unit 311, a second input unit 312, and a third input unit 313. The first input unit 311 performs input/output of electric current with the first output unit 211. The second input unit 312 performs input/output of electric current with the second output unit 212. The third input unit 313 performs input/output of electric current with the third output unit 213.

The first output unit 320 includes the first motor output unit 321, a second motor output unit 322, and a third motor output unit 323. The first motor output unit 321 performs input/output of electric current with the first base input unit 101. The second motor output unit 322 performs input/output of electric current with the second base input unit 102. The third motor output unit 323 performs input/output of electric current with the third base input unit 103.

The first motor diagnosis output unit 331 performs input/output of electric current with the first motor 122. The second motor diagnosis output unit 332 performs input/output of electric current with the second motor 132. The third motor diagnosis output unit 333 performs input/output of electric current with the third motor 142.

The first switch unit 341 selectively connects the first input unit 311 to either of the first motor output unit 321 or the first motor diagnosis output unit 331. The second switch unit 342 selectively connects the second input unit 312 to either of the second motor output unit 322 or the second motor diagnosis output unit 332. The third switch unit 343 selectively connects the third input unit 313 to either of the third motor output unit 323 or the third motor diagnosis output unit 333.

The main cables 40 include a first main cable 41, a second main cable 42, and a third main cable 43.

The first main cable 41 connects the first current output unit 211 and the first input unit 311. The second main cable 42 connects the second current output unit 212 and the second input unit 312. The third main cable 43 connects the third current output unit 213 and the third input unit 313.

The diagnostic main cables 50 include a first diagnostic main cable 51, a second diagnostic main cable 52, and a third diagnostic main cable 53.

The first diagnostic main cable 51 connects the first motor output unit 321 and the first base input unit 101. The second diagnostic main cable 52 connects the second motor output unit 322 and the second base input unit 102. The third diagnostic main cable 53 connects the third motor output unit 323 and the third base input unit 103.

The intra-robot cables 60 include a first intra-robot cable 61, a second intra-robot cable 62, and a third intra-robot cable 63.

The first intra-robot cable 61 connects the first base input unit 101 and the first motor 122. The second intra-robot cable 62 connects the second base input unit 102 and the second motor 132. The third intra-robot cable 63 connects the third base input unit 103 and the third motor 142. In the present embodiment, the third intra-robot cable 63 is broken.

The first diagnostic by-pass cable 71 connects the first motor diagnosis output unit 331 and the first motor 122. The second diagnostic by-pass cable 72 connects the second motor diagnosis output unit 332 and the second motor 132. The third diagnostic by-pass cable 73 connects the third motor diagnosis output unit 333 and the third motor 142.

The robot system 1 operates as follows, for example, by applying the robot system auxiliary apparatus 30 thereto.

In the following description of operation, the third switch unit 343 of the robot system auxiliary apparatus 30 connects the third input unit 313 to the third motor diagnosis output unit 333. Operations of the fourth arm portion 150 of the robot 10 in this case are described.

The robot control unit 20 outputs electric current from the third current output unit 213 to the third input unit 313 of the robot system auxiliary apparatus 30. The electric current that is output to the third input unit 313 is then output from the third motor diagnosis output unit 333 of the robot system auxiliary apparatus 30 to the third motor 142 via the third diagnostic by-pass cable 73. Then the third motor 142 drives the fourth rotational axis 141. As a result, the fourth arm portion 150 rotates around the fourth rotational axis 141. In other words, the broken third intra-robot cable 63 can be bypassed to output the electric current to the third motor 142, thereby making it possible to operate the fourth arm portion 150.

EXAMPLES

Although the present invention is hereinafter described in further detail based on embodiments, the present invention is not limited thereto.

First Embodiment As a first embodiment, a method is described of performing failure diagnosis of the robot system 1 by using the robot system auxiliary apparatus 30 as shown in FIG. 2.

In the first embodiment, in a case in which a defect occurs in an operation of the robot 10, failure diagnosis of the robot system 1 is performed by using the robot system auxiliary apparatus 30, thereby identifying a broken portion in the intra-robot cables 60. In the first embodiment, a connection step, a conduction confirmation step and a wiring break determination step are sequentially performed.

First, the connection step is performed, in which the robot system auxiliary apparatus 30 is connected to the robot system 1 in which a defect occurs in an operation of the robot 10.

In the connection step, the first main cable 41, which is connected to the robot control unit 20, is disconnected from the first base input unit 101 of the robot 10. The first diagnostic main cable 51, which is connected to the robot system auxiliary apparatus 30, is then connected to the first base input unit 101. Similarly, the second main cable 42 is disconnected from the second base input unit 102. The second diagnostic main cable 52 is then connected to the second main cable 42. Moreover, the third main cable 43 is disconnected from the third base input unit 103. The third diagnostic main cable 53 is then connected to the third base input unit 103.

In addition, the first main cable 41, which is connected to the robot system auxiliary apparatus 30, is connected to the first input unit 311 of the robot system auxiliary apparatus 30. Similarly, the second main cable 42 is connected to the second input unit 312. Furthermore, the third main cable 43 is connected to the third input unit 313.

Moreover, the first diagnostic by-pass cable 71, which is connected to the first motor diagnosis output unit 331 of the robot system auxiliary apparatus 30, is connected to the first motor 122. Similarly, the second diagnostic by-pass cable 72 is connected to the second motor 132. In addition, the third diagnostic by-pass cable 73 is connected to the third motor 142.

Next, the conduction confirmation step is performed to confirm whether electric current is properly conducted to each of the motors.

In the conduction confirmation step, firstly, the robot control unit 20 is caused to output electric current in a state in which the connection step has been performed, and an operation of the robot 10 at this time is confirmed as an initial operation. Next, the first switch unit 341, the second switch unit 342 and the third switch unit 343 are sequentially operated in the robot system auxiliary apparatus 30.

In the first switch unit 341, the first input unit 311 is connected to the first motor diagnosis output unit 331. On the other hand, in the second switch unit 342, the second input unit 312 is connected to the second motor output unit 322.

Moreover, in the third switch unit 343, the third input unit 313 is connected to the third motor output unit 323. In this state, the robot control unit 20 is caused to output electric current. Since the first intra-robot cable 61 is not broken, the robot 10 performs an operation that is similar to the initial operation. This makes it possible to confirm that electric current is properly conducted from the first motor output unit 321 to the first motor 122.

In the first switch unit 341, the first input unit 311 is connected to the first motor output unit 321. On the other hand, in the second switch unit 342, the second input unit 312 is connected to the second motor diagnosis output unit 332.

Moreover, in the third switch unit 343, the third input unit 313 is connected to the third motor output unit 323. In this state, the robot control unit 20 is caused to output electric current. Since the second intra-robot cable 62 is not broken, the robot 10 performs an operation that is similar to the initial operation. This makes it possible to confirm that electric current is properly conducted from the second motor output unit 322 to the second motor 132.

In the first switch unit 341, the first input unit 311 is connected to the first motor output unit 321. Moreover, in the second switch unit 342, the second input unit 312 is connected to the second motor output unit 322. On the other hand, in the third switch unit 343, the third input unit 313 is connected to the third motor diagnosis output unit 333. In this state, the robot control unit 20 is caused to output electric current.

Since the third intra-robot cable 63 is broken, the robot 10 performs an operation that is different from the initial operation. This makes it possible to confirm that electric current is not properly conducted from the third motor output unit 323 to the third motor 142.

Next, the wiring break determination step is performed, in which a current path connected to the motor, to which electric current is not properly conducted, is determined to be broken.

As for the first intra-robot cable 61 connected to the first motor 122, the operation of the robot 10 when the first input unit 311 is connected to the first motor diagnosis output unit 331 is similar to the initial operation, and thus it is determined that the first intra-robot cable 61 is not broken. As for the second intra-robot cable 62 connected to the second motor 132, the operation of the robot 10 when the second input unit 312 is connected to the second motor diagnosis output unit 332 is similar to the initial operation, and thus it is determined that the second intra-robot cable 62 is not broken. On the other hand, as for the third intra-robot cable 63 connected to the third motor 142, the operation of the robot 10 when the third input unit 313 is connected to the third motor diagnosis output unit 333 is different from the initial operation, and thus it is determined that the third intra-robot cable 63 is broken.

Second Embodiment As a second embodiment, a method is described of performing an emergency procedure of the robot system 1 by using the robot system auxiliary apparatus 30 as shown in FIG. 2.

In the second embodiment, in a case in which a defect occurs in an operation of the robot 10, an emergency procedure of the robot system 1 is performed by using the robot system auxiliary apparatus 30. In the second embodiment, the connection step, an output confirmation step and another connection step are sequentially performed.

Since the connection step is similar to that in the first

embodiment, a description thereof is omitted.

Next, the output confirmation step is performed to confirm whether electric current is properly conducted to each of the motors. In the output confirmation step, firstly, the robot control unit 20 is caused to output electric current in a state in which the connection step has been performed, and an operation of the robot 10 at this time is confirmed as an initial operation. Next, the first switch unit 341, the second switch unit 342 and the third switch unit 343 are sequentially operated in the robot system auxiliary apparatus 30.

In the first switch unit 341, the first input unit 311 is connected to the first motor diagnosis output unit 331. On the other hand, in the second switch unit 342, the second input unit 312 is connected to the second motor output unit 322.

Moreover, in the third switch unit 343, the third input unit 313 is connected to the third motor output unit 323. In this state, the robot control unit 20 is caused to output electric current. Since the first intra-robot cable 61 is not broken, the robot 10 performs an operation that is similar to the initial operation. This makes it possible to confirm that the output of electric current from the first motor output unit 321 is properly conducted to the first motor l22 In the first switch unit 341, the first input unit 311 is connected to the first motor output unit 321. On the other hand, in the second switch unit 342, the second input unit 312 is connected to the second motor diagnosis output unit 332.

Moreover, in the third switch unit 343, the third input unit 313 is connected to the third motor output unit 323. In this state, the robot control unit 20 is caused to output electric current. Since the second intra-robot cable 62 is not broken, the robot 10 performs an operation that is similar to the initial operation. This makes it possible to confirm that an output of electric current is properly conducted from the second motor output unit 322 to the second motor 132.

In the first switch unit 341, the first input unit 311 is connected to the first motor output unit 321. Moreover, in the second switch unit 342, the second input unit 312 is connected to the second motor output unit 322. On the other hand, in the third switch unit 343, the third input unit 313 is connected to the third motor diagnosis output unit 333. In this state, the robot control unit 20 is caused to output electric currentS Since the third intra-robot cable 63 is broken, the robot 10 performs an operation that is different from the initial operation. This makes it possible to confirm that an output of electric current is not properly conducted from the third motor output unit 323 to the third motor 142.

Next, another connection step is performed, in which the third motor diagnosis output unit 333 is connected to the third motor 142 to which an output is not properly conducted.

This makes it possible to input electric current to the third motor 142, thereby making it possible to perform an emergency procedure of the robot system 1.

According to the present embodiment, the following effects are achieved.

(1) In a case in which there is a defect in an operation of the robot 10, the input unit 310 of the robot system auxiliary apparatus 30 is connected to the robot control unit 20. Moreover, the first diagnostic by-pass cable 71 is connected to the first motor 122. The second diagnostic by-pass cable 72 is connected to the second motor 132. The third diagnostic by-pass cable 73 is connected to the third motor 142. Next, in the first switch unit 341, the first input unit 311 is selectively connected to either of the first motor output unit 321 or the first motor diagnosis output unit 331.

In the second switch unit 342, the second input unit 312 is selectively connected to either of the second motor output unit 322 or the second motor diagnosis output unit 332. In the third switch unit 343, the third input unit 313 is selectively connected to either of the third motor output unit 323 or the third motor diagnosis output unit 333.

In this way, an operation of the robot 10 when the first input unit 311, the second input unit 312 and the third input unit 313 are respectively connected to the first motor output unit 321, the second motor output unit 322 and the third motor output unit 323 is compared with an operation of the robot 10 when the first input unit 311, the second input unit 312 and the third input unit 313 are respectively connected to the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333. In a case in which there is a difference therebetween, it is found that any of the first intra-robot cable 61, the second intra-robot cable 62 and the third intra-robot cable 63 respectively connected to the first motor 122, the second motor 132 and the third motor 142 is broken.

Moreover, since a motor with a defect in drive power due to a wiring break is driven normally, the robot system can be used without repairing. Then, the operation hours of the robot system can be maintained by repairing the wiring break while the robot system is not being operated.

(2) In a case in which the first input unit 311, the second input unit 312 and the third input unit 313 are respectively connected to the first motor output unit 321, the second motor output unit 322 and the third motor output unit 323, electric current that is input to the first base input unit 101, the second base input unit 102 and the third base input unit 103 is input to the first motor 122, the second motor 132 and the third motor 142, via the first intra-robot cable 61, the second intra-robot cable 62 and the third intra-robot cable 63, respectively. On the other hand, in a case in which the first input unit 311, the second input unit 312 and the third input unit 313 are respectively connected to the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333, electric current that is input to the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333 is directly input to the first motor 122, the second motor 132 and the third motor 142, without involving the first intra-robot cable 61, the second intra-robot cable 62 and the third intra-robot cable 63, respectively.

In this way, the first input unit 311, the second input unit 312 and the third input unit 313 are respectively connected to the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333, a result of which any of the first motor 122, the second motor 132 and the third motor 142, having had a defect in drive power due to a wiring break, is driven normally, thereby making it possible to use the robot system 1 without repairing. Therefore, a broken portion of the cable can be identified, and the use of the robot system can be continued even in the case of a wiring break.

(3) Confirmation is made for each of the motors whether electric current is properly conducted from the first motor output unit 321, the second motor output unit 322 and the third motor output unit 323, or from the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333, to the first motor 122, the second motor 132 and the third motor 142, respectively, and in a case in which electric current is not properly conducted to any of the first motor 122, the second motor 132 and the third motor 142, a corresponding one of the first intra-robot cable 61, the second intra-robot cable 62 and the third intra-robot cable 63, which is connected to the motor to which electric current is not properly conducted, is determined to be broken. Therefore, a broken portion of the cable can be identified.

(4) Confirmation is made for each of the motors whether an output of electric current is properly conducted from the first motor output unit 321, the second motor output unit 322 and the third motor output unit 323, or from the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333, to the first motor 122, the second motor 132 and the third motor 142, respectively, and in a case in which electric current is not properly conducted to any of the first motor 122, the second motor 132 and the third motor 142, a corresponding one of the first motor diagnosis output unit 331, the second motor diagnosis output unit 332 and the third motor diagnosis output unit 333 is connected to a corresponding one of the first motor 122, the second motor 132 and the third motor 142, to which an output is not properly conducted.

Therefore, the use of the robot system can be continued even in the case of a wiring break. For example, in a state in which an emergency procedure has been taken by the connection step, the use of the robot system is continued up to when the factory operating the robot system stops operation, and the robot is repaired after the factory is stopped, thereby making it possible to maintain the manufacturing.

It should be noted that the present invention is not limited to the embodiments, and variations, improvements and the like within a scope in which the object of the present invention can be achieved are included in the present invention.

For example, in each embodiment described above, one robot system auxiliary apparatus 30 is applied to one robot system 1. However, it is not limited thereto, and one robot system auxiliary apparatus 30 may be prepared for a plurality of robot systems 1, in which the one robot system auxiliary apparatus 30 can be sequentially applied to the robot systems 1 with a defect in an operation of the robot 10.

In the above embodiments, the invention is described as being used with all of the second output units being connected to each of the motors of the robot 10. However, the scope of the present invention is not limited to this, and also includes other modes of use, such as with only one of the second output units (by-pass cables) being connected, and then the operations of the robot 10 being tested, followed by repeating the test until the robot 10 operates correctly.

Claims (4)

1. What is claimed is: 1. A robot system auxiliary apparatus that is applied to a robDt system including a robot driven by a plurality of motors and a robot control unit outputting electric current to the robot, in which the robot performs input/output of electric current with the robot control unit, and having a base input unit connected to the plurality of motors via a current path, the apparatus comprising: an input unit that performs input/output of electric current with the robot control unit; a first output unit and a second output unit that perform input/output of electric current with each of the motors among the plurality of motors; and a switch unit that is capable of selectively connecting the input unit to the first output unit or the second output unit.
2. 2. The robot system auxiliary apparatus according to claim 1, wherein the first output unit is connected to the base input unit of the robot, and wherein the second output unit is directly connected to each of the motors of the robot.
3. 3. A robot system auxiliary method using the robot system auxiliary apparatus according to claim 2, the method comprising: a conduction confirmation step of confirming for each of the motors whether electric current is properly conducted from the first output unit or the second output unit to each of the motors; and a wiring break determination step of, in a case where electric current is not properly conducted to any of the motors in the conduction confirmation step, determining whether a current path connected to each of the motors, to which electric current is not properly conducted, is broken.
4. 4. A robot system auxiliary method using the robot system auxiliary apparatus according to claim 2, the method comprising: an output confirmation step of confirming for each of the motors whether an output of electric current is properly conducted from the first output unit or the second output unit to each of the motors; and a connection step of, in a case where electric current is not properly conducted to any of the motors in the output confirmation step, the second output unit is connected in the switch unit to each of the motors to which an output is not properly conducted.