JP2002154085A - Maintenance support method and maintenance support device for working robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a maintenance support device which can provide an optimum maintenance operation procedure depending on a level of skill of a maintenance manager. SOLUTION: In a display part 22 of this maintenance support device, switchover touch switches 32a and 32b are arranged which selects, in order to recover a failure with respect to a system which is an object of maintenance, an operation mode for mainly performing a parts replacement or an operation mode for mainly performing a research such that with the research for identifying a failure point is performed and the parts replacement is carried out. By displaying the operation procedure suitable for the level of skill of the maintenance manager with respect to the system which is the object of maintenance, the recovery of the system failure can be carried out quickly and smoothly, whereby the effective maintenance operation can be performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a maintenance support method and a maintenance support device for a working robot system, and more particularly to a maintenance support method and maintenance support capable of providing an optimum maintenance work procedure according to the skills of a maintenance manager. Related to the device.

[0002]

2. Description of the Related Art Work robot systems (industrial robots) have been actively introduced with the automation of various manufacturing industries. As a work robot system, an articulated robot with six axes or the like is generally used, and the work is quickly performed on behalf of humans when accurate and quick work is required or when work is dangerous. can do. The work robot system is configured by attaching a desired work tool, for example, a spot welding gun, an arc welding torch, a sealer (adhesive applicator) gun, a material hand, etc., to the end of the arm of the articulated robot. , A form adapted to a desired use can be constructed. In particular, in the automobile manufacturing industry and the like that frequently uses large parts for assembling and welding, various types of work robots are arranged in large quantities on the manufacturing line side and perform predetermined operations sequentially.

As described above, since a large number of working robots are arranged on a production line, even if one of the working robots fails, the entire production line is stopped. Recovery work from a major failure is essential. Normally, a maintenance manager is on standby in the production line, and a system for quickly recovering from a failure of the working robot is established.

In general, various types of work robots are arranged on a production line. However, it is inefficient and impractical to make a dedicated maintenance manager stand by individually. Therefore, one maintenance manager has to be in charge of maintenance of a plurality of types of working robots. For this reason, there is a case where the skill level (skill) related to the maintenance work is different for each work robot. That is, there is a case where a certain working robot has a high level of skill, but another working robot is not very skilled. Some maintenance managers are skilled in all industrial robots, while others have little experience in maintenance management. Even in such a case, it is desirable to instruct a maintenance procedure so that a similar maintenance operation can be performed. For example, Japanese Utility Model Laid-Open No. 4-10276
The operation panel of the production facility disclosed in Japanese Patent Publication No. 3 is configured to be able to display information on handling and operation procedures on a display unit when performing a driving procedure, a failure diagnosis, or the like. By performing such a display, a maintenance manager having a low level of skill can perform an appropriate maintenance operation.

[0005]

As described above, the level of skill of the maintenance manager differs for each work robot subject to failure recovery, and the level of skill of the maintenance manager itself also differs. For example, there is a person who is skilled in maintenance of symptom analysis of a mechanical system failure and maintenance such as recovery measures, but is not skilled in maintenance of symptom analysis of a failure of an electric circuit system and recovery measures. Some are skilled in both, while others have little experience. In general, when the level of skill is high, analysis of the symptom and checking of detailed parts are performed according to the symptom of the failure to identify the failed part, and only the part is replaced to recover from the failure. Conversely, if the level of skill is low, performing a complicated analysis or checking a detailed portion conversely stagnates the work and increases the time until failure recovery. Therefore, a method of sequentially replacing parts that may cause a failure and recovering from the failure is adopted.

[0006] However, as in the technique disclosed in Japanese Utility Model Application Laid-Open No. 4-102763, when a procedure is displayed in consideration of a low-skilled maintenance manager, the maintenance manager with a high level of skill is delicate. If the procedure guidance is perceived to be troublesome, and if the work is performed according to the procedure, there is a possibility that replacement of unnecessary parts or useless work before recovery may be guided, which may require a long time. Conversely, it is conceivable to display procedures that take into account maintenance managers with a high level of skill.However, for those with a low level of skill, the meaning of the guidance displayed and the work method cannot be fully understood, and The time is lengthened, wasteful work may be performed, and a long time may be required before recovery. That is, there is a problem that an optimal maintenance operation cannot be performed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a maintenance support method and a maintenance support apparatus capable of providing an optimum maintenance work procedure according to the skill level of a maintenance worker. Aim.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a maintenance support method for a working robot system for sequentially performing a predetermined work. A mode selection step of selecting a work mode mainly for component replacement or a work mode of a research subject to perform component replacement after conducting a survey for identifying a failed part based on the An item display step of displaying the procedure items in descending order of the probability of causing a failure, and, depending on the selected procedure item, a work content for failure recovery. Displaying a content to be displayed.

In order to achieve the above object, the present invention relates to a maintenance support device for a working robot system which sequentially performs a predetermined work, wherein the detecting unit detects a failure of the working robot system, For recovery from a failure based on the detection result, a form selection unit that selects a work form mainly for parts replacement or a work form of a research body to perform a part replacement after conducting a survey to identify a failed part, A control unit for displaying the contents of maintenance support corresponding to the selected work mode, comprising: an item display control for displaying at least procedure items in descending order of the probability of causing a failure; and a work content according to the selected procedure item. A control unit for controlling display of content to be displayed;
A display unit that performs display based on the control of the control unit.

[0010] According to this configuration, a work mode mainly based on component replacement and a work mode mainly performed by a researcher who performs a research for specifying a failed part and then perform a component replacement can be arbitrarily selected. It is possible to obtain work support according to the level of skill of the maintenance manager, and it is possible to quickly recover from a failure of the work robot system.

In order to achieve the above object, the present invention is characterized in that, in the above configuration, the item display step displays a processing time required for processing according to the displayed procedure item.

In order to achieve the above object, the present invention is characterized in that, in the above configuration, the control unit displays a processing time according to the displayed procedure item.

Here, the processing time required for processing in accordance with the procedure item indicates the time required for replacement of each part in the case of work mainly for component replacement, and in the case of work mainly for investigation, the time required for each investigation. The time required is indicated. As the processing time, a standard time calculated based on a past repair history or the like is adopted, for example.

According to this configuration, it is possible to easily recognize the time required for the recovery work from the failure. In addition, it is possible to select a work mode based on the time required for the recovery work from the failure.

In order to achieve the above object, according to the present invention, in the above configuration, the item display step includes an order update step of updating a display order of the procedure items based on at least a past failure history. It is characterized by the following.

In order to achieve the above object, the present invention is characterized in that, in the above configuration, the control unit updates a display order of procedure items based on at least a past failure history.

In order to achieve the above object, the present invention is characterized in that, in the above configuration, the item display step includes a content update step of updating a work content based on at least a past repair history. And

In order to achieve the above object, the present invention is characterized in that, in the above configuration, the control section updates the work content based on at least a past repair history.

According to this configuration, quick maintenance work can always be performed in an optimal procedure.

In order to achieve the above object, the present invention provides a maintenance support device for a working robot system having the above-mentioned configuration, which is mounted on a teaching operation device for teaching operation of the working robot system. Features.

Here, the teaching operation device may be a portable type or a stationary type. According to this configuration, the recovery work from the failure can be easily performed in the vicinity of the working robot system.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention (hereinafter referred to as embodiments) will be described below with reference to the drawings.

FIG. 1 shows a working articulated robot system 10 (hereinafter, simply referred to as a system 10) of the present embodiment and a unit storage section 14 of a robot controller (hereinafter, simply referred to as a controller) 12 of the system 10. The conceptual configuration of an operating device 18 that is detachably attached and performs the operation of the system 10 and the operation teaching of the articulated robot 16 is shown. The articulated robot 16 shown in FIG.
It has a shaft configuration and is configured by a combination of joint driving mechanisms a, b, c, d, e, f and arms A, B, C, D, E, and the like. The joint drive mechanisms a, d, and f are joints that perform turning operations of the arms B and E, and the joint drive mechanisms b, c, and e are joints that perform up and down operations of the arms C, D, and E. By the combined operation of these joints, the work tool 20 mounted on the distal end of the arm E can be made to approach a desired position at a desired angle and perform a desired work.

The control device 12 includes a drive unit such as a motor for operating each of the joint driving mechanisms a, b, c, d, e, and f, a power supply, and joint driving mechanisms a, b, c, d, and
An arithmetic processing unit and the like for operating e and f by a predetermined program are housed and arranged.

On the other hand, the operating device 18 can be used in a state of being mounted on the control device 12 or in a separated state as shown in FIG. When the operation device 18 is separated, the maintenance manager of the system 10 supports the operation device 18 with one hand and displays the operation device 18 on the switch 18a or the display unit 22 disposed on the surface with the other hand. By operating touch switches and the like, the system 10 and the articulated robot 16 are taught. Of course, when the operation device 18 is mounted in the unit storage section 14 of the control device 12, the maintenance manager stands in front of the control device 12, and there,
The operation of the operation device 18 is performed.

In this embodiment, the operating device 18
Also functions as a maintenance support device used when performing maintenance work on the system 10. When the system 10 normally functions normally, the operation device 18 functions as an operation device or a teaching device of the system 10. Then, when an abnormality occurs in the system 10, that is, when a mechanical failure or an electrical failure occurs in the articulated robot 16 or the control device 12, the control device 18 immediately functions as a maintenance support device. become.

FIG. 2 shows an example of display contents displayed on the display unit 22 of the operation device 18 when a failure is detected by a detection unit incorporated in the system 10 and detecting a failure of the system 10. Have been. In the present embodiment, the failure of the system 10 is defined as a case where the operation of the system 10 is partially or completely stopped, or a case where the system 10 deviates from an allowable predetermined operation state. When the speed of the motor decreases or the turning position of the arm deviates from the predetermined position, it is regarded as a failure,
Target for maintenance execution.

As shown in FIG. 2, when a failure occurs,
The display content of the display unit 22 automatically shifts to the maintenance support / start screen. On the maintenance support / start screen,
For example, a general symptom of the failure of the system 10 is displayed on the upper right portion of the display unit 22, for example, in an error display area 24 indicated by a red background. In the case of FIG.
The general symptom of the failure is "The robot cannot move or is heavy. "E0038 servo error overload" is displayed. This indicates that the servomotor constituting the joint driving mechanism is overloaded for some reason, which warns that the motor will be damaged, the drive circuit will be damaged, and the like.

In such a case, the articulated robot 16 and the control device 12 are displayed in the main display area 26 of the display unit 22, and the cause of the above-described overload, that is, the portion that may cause a failure is, for example, Red flashing mark 2
Along with 8, items that may cause the failure are displayed. In the case of FIG. 2, items that may cause a failure include:
Interference with other equipment at the end of the arm of the articulated robot 16, malfunction of the drive unit in the control device 12, malfunction of the brake power supply, malfunction of the motor on the base side of the articulated robot 16, malfunction of wiring in the machine (including disconnection) , Defective bearings / reducers, etc. Items that can cause these failures include the past failure history of the system 10 to be maintained, items that are structurally considered to be the cause of the failure, and the self-diagnosis function of the system 10 (for example, the control device 12).
Items, etc., which are determined to be the cause of failure by the internal function) are prepared in advance and displayed. Specifically, a plurality of prepared error codes, in the case of FIG. 2, “error code E0038”
Are displayed, items that may cause a failure are displayed.
In addition, in the main display area 26, as a more specific error display 30a, for example, "An error is detected by exceeding the set value due to the operation of the electronic thermal. ”Etc. and the simplest error clearing method display 3
0b, that is, guidance such as use of the “error reset SW” is displayed. Further, on the left side of the error display area 24, the program and the step in which the error code is generated to indicate in which state of the operation program the system 10 is stopped (in FIG. Is shown). Further, immediately below the error display area 24, a display allocation code 24a used for performing classification management of the screen shown in the main display area 26 and acquiring detailed information by an external computer or the like is shown, which will be described later. . Normally, when an error code is output, a malfunction of the sensor or the like may be considered. Therefore, the error reset SW is used. If the error display is still continued, the error code displayed on the main display area 26 is displayed. Touch the "next" touch switch 30c to shift the display unit 22 of the operating device 18 to the next screen, and to display a specific maintenance support stage.

The characteristics of the present embodiment are as follows.
The display contents of the maintenance support are to be changed according to the skill level (skill) of the maintenance manager.

FIG. 3 (a) is a screen mainly showing a work form mainly for component replacement for a maintenance manager of low skill to recover from a failure, and FIG. 3 (b) mainly shows a work form. 6 is a screen showing a work form of a researcher who causes a maintenance manager having a high level of skill to perform a research for specifying a failed part and then perform a component replacement. The screen shown in FIG. 2 may be changed to the screen shown in FIG. 3A, or the screen shown in FIG. 2 may be changed to the screen shown in FIG. Touch switch 30
When the screen is shifted from the screen of FIG. 2 to the screen of FIG. 3A in FIG. 3C, by touching the changeover touch switch 32a for requesting the screen of the “investigation method” of the component appearing in the right corner of the main display area 26, When the screen shifts to the screen of FIG. 3B and the screen of FIG. 2 shifts to the screen of FIG. By touching 32b, FIG.
The screen shifts to the screen of (a). That is, a desired screen can be alternately displayed by the changeover touch switches 32a and 32b (form selection unit) (form selection step).

First, the case where the screen shown in FIG. 3 (a) showing the work mode mainly for component replacement is selected will be described. In the case of a failure recovery work mainly for component replacement, items that may cause an error shown in the error display area 24 are shown as procedural items in descending order of the probability of occurrence. In the case of FIG. 3A, the error display area 24 indicates "The robot is unable to move or is heavy. The procedure item indicated as the cause of “E0038 servo error overload” is
It is set in advance based on a failure history, a structural reason, a result of a self-diagnosis of the system 10, and the like. It is preferable that the display order of the procedure items be updated based on a past failure history or the like (order update step). By performing this order update, an efficient replacement procedure can be provided. For example, first, “interference with other equipment” is 70
%, The second is "drive unit failure" with a 20% probability, the third "brake power failure" is 5%, and the fourth "motor failure" is 2 %, And the fact that "insufficient wiring in the machine" may be the cause with a probability of 2% is displayed (item display step). Therefore, by performing component replacement in accordance with this procedure item, the recovery work can be performed most efficiently in failure recovery mainly with component replacement.
In addition, each procedure item is indicated by a numerical value (3 minutes, 10 minutes, etc.) indicating the processing time required for the part replacement work and a bar graph indicating the numerical value, so that it is easy to recognize the required time until the failure is recovered. I can do it. This processing time is desirably, for example, a standard time that is calculated and set based on past parts replacement history (repair history) and the like. Further, the display of the work mode mainly based on the component replacement shown in FIG. 3A and the display of the work mode mainly based on the investigation shown in FIG. 3B described later can be easily visually distinguished. To
For example, the bar graph of FIG.
It is preferable that the bar graph in (b) be shown in any other color such as blue. In the case of FIG. 3A, five items are displayed in the main display area 26, and thereafter, the procedure items are scrolled by using the scroll keys 34a and 34b. Etc. can be displayed.

Subsequently, when the maintenance manager touches the procedure item displayed in the main display area 26 of FIG. 3A, a specific procedure for replacing the part is shown (content display step). In FIG. 3A, when the user touches the procedure item of “interference with other equipment”, a part that may be interfered with and visually checked before the replacement operation is displayed. Here, in order to show a work procedure mainly for component replacement to a person who is unfamiliar with the maintenance of the system 10, it is desirable that the position to be visually checked and the contents of the confirmation be simple and minimized.

When it is confirmed that there is no interference with other equipment, the maintenance manager next touches the procedure item of "defective drive unit", and as shown in FIG. 4, a screen showing the procedure for replacing the drive unit is displayed. Transition. In the example of FIG. 4, the selected procedure item "defective drive unit" is displayed in the upper display area 36a of the main display area 26, and the location of the drive unit in the controller 12 is graphically displayed in the lower left location display area 36b. Indicated by
In the display area 36a, a processing time (for example, 10 minutes) required for replacing the drive unit is displayed. Also, in the case of FIG. 4, the processing time (5 minutes) necessary for the investigation when the investigation regarding the drive unit described later is performed is displayed for reference. Further, the main display area 26
The specific work content 36c is shown on the right side of. In other words, the "item name", "model / part number", "remarks (part storage shelf number)", etc. of the drive unit to be replaced are displayed in the upper part of the work content 36c, and "tools" required for part replacement in the middle part. For example, "M5 screw / plus driver (20
0 mm or more) is displayed, and the lower part shows the procedure of the work indicating the actual replacement method, for example, “1. Turn off the control unit power.
FF. After 5 minutes or more after the power is turned off. ], [2. Remove all cables connected to the drive unit. ], [3. Remove the six mounting screws and pull out the drive unit. Weight: about 170
N. ], [4. Fit a new drive unit. 』
Are sequentially shown. When there is further work content, a scroll key is displayed, and the subsequent work content can be displayed. At this time, at the lower left of the main display area 26, a commentary screen 36d for performing component replacement more smoothly is displayed. On the commentary screen 36d, for example, an external view of the drive unit to be replaced is displayed. Displayed sequentially. Of course, a series of procedures may be displayed in a moving image. Further, the position of the storage shelf may be indicated by touching the “Remarks” column shown in the work content 36c, or the actual shape and storage location of the tool may be indicated on the explanation screen 36d by touching the tool column. . It is preferable that the work content shown here is updated based on a past repair history, a change in a used part, or the like (content update step). By updating the contents, an efficient replacement procedure can be provided.

The screen displayed in FIG. 4 is a code indicated by the display allocation code 24a, for example, “Exchange 003”.
801 ". In the case of FIG. 4, since "Exchange 003801" is displayed, the background color of that portion is inverted (for example, green display). When this display allocation code 24a is input to an external maintenance support computer or the like, more detailed screens and detailed information can be obtained.

When the maintenance manager has completed the replacement of the drive unit, touching the "return" key 38 displayed on the right of the main display area 26 in FIG. 4 returns to the screen in FIG. Then, when the user touches "abnormal brake power supply" at the third stage of the part replacement work, the screen shifts to a screen supporting brake power supply replacement having the same configuration as the screen in FIG. 4, and the replacement work can be performed. The same applies to "motor failure",
By touching a work item such as “defective wiring in the machine”, the motor can be replaced or the wiring can be replaced.

As described above, when a failure occurs in the system 10, the procedure items that may cause the failure are displayed in descending order of probability, and a special skill of replacing parts (for example,
Failure recovery work can be performed by work that can be performed without requiring detailed structural knowledge or detailed electric circuit knowledge. As a result, even when the user is unfamiliar with the system 10 to be maintained, the recovery operation can be performed quickly and efficiently.

Next, a case where a screen showing a work mode mainly based on the investigation shown in FIG. 3B is selected will be described. Also in the case of the failure recovery work mainly based on the investigation, items that may cause an error shown in the error display area 24 are shown as procedural items in descending order of the probability of occurrence.
In the case of FIG. 3B as well, the error display area 24 shows "The robot is unable to move or is heavy. The procedure item indicated as the cause of “E0038 servo error overload” is set in advance based on a failure history, a structural reason, a result of a self-diagnosis of the system 10, and the like. For example, firstly, "interference with other equipment" causes 70% of the time, for example, second, "failure of drive unit" 20% of the time, and thirdly, "brake power supply failure". It is displayed that "abnormal" is 5%, fourth is "motor failure" 2%, and fifth is "in-machine wiring failure" with a probability of 2% (item display step). Therefore, according to this procedure item, it is preferable to investigate each item, for example, to determine whether a predetermined voltage is applied to a predetermined terminal, whether the sensor is operating normally, and the like. In the case of a failure recovery mainly conducted by performing a survey for specifying a part and then performing a component replacement, the recovery work can be performed most efficiently. That is, it is possible to perform an efficient investigation, efficiently replace only the failed component, and restore the system 10.

In FIG. 3 (b), similarly to FIG. 3 (a), in each procedure item, the processing time required for the part inspection work is a numerical value (3 minutes, 5 minutes, etc.) and a bar indicating the numerical value. The graph is shown in a graph (for example, blue to facilitate identification with the state in FIG. 3A), and it is easy to recognize the processing time until the failed component is specified. In the case of FIG. 3B, five items are displayed in the main display area 26.
Thereafter, by scrolling the procedure item using the scroll keys 34a and 34b, the next item such as "Badness / reducer failure" can be displayed. In the case of FIG. 3B, the procedure items to be investigated are those in FIG.
Although the same case as (a) is displayed, for the same error code, the screen mainly for component replacement shown in FIG. 3 (a) and the screen mainly for investigation in FIG. 3 (b) are the same. Not always, for example, when investigating a drive unit failure, a procedure item such as "drive unit connection failure" or "drive unit IC failure" may be displayed to detect a drive unit failure. is there.

Subsequently, when the maintenance manager touches the procedure item displayed in the main display area 26 of FIG. 3B, a specific investigation procedure is shown (content display step). FIG.
In (b), when the user touches the procedure item of “interference with other equipment”, a part that may be checked visually or by using various tools as necessary is displayed.
Here, a maintenance manager who is skilled in the maintenance of the relevant system 10 is presented with a guide for performing a check operation requiring a predetermined skill in order to show a work procedure mainly for investigating a defect part (a failure cause part). Is done.

When it is confirmed that there is no interference with other equipment, the operator touches the procedure item of “defective drive unit”. As shown in FIG. 5, a screen showing a procedure for investigating a drive unit defect is displayed. Move to In the example of FIG. 5, the selected procedure item “Drive unit failure” is displayed in the display area 36 a above the main display area 26, and the processing time required for the investigation (5 minutes) and the failure as a result of the investigation The processing time (10 minutes) required when the drive unit is found and replacement of the drive unit is required is also displayed.
It is to be noted that these processing times are preferably standard times determined in advance based on past investigation histories (including repair histories and the like) as described above. In addition, specific investigation contents are shown in an investigation procedure display area 36e below it. In the case of FIG. 5, the contents of the survey are “1. Can the brake be released manually? ], [2. There is only one defective axis. ], [3. Even when the brake is released, the voltage between BA2 and PB remains at 0V. ]. A maintenance manager who is familiar with the maintenance-relevant system 10 and has detailed structural knowledge, detailed electric circuit knowledge, and the like uses various tools, test devices, and the like to conduct a survey in accordance with the above-described survey contents.

As a result of this investigation, if it is determined that the drive unit has failed, the main display area 26
Touching the "replacement method" key 32b appearing on the left side of the screen allows the display to shift to the screen shown in FIG. 3A, and guide the replacement operation. Also, as a result of the investigation, if the drive unit is confirmed to be normal,
Touching the "return" key 38 returns to the screen of FIG. 3B, and allows selection of "abnormal brake power supply" in the third stage of the investigation work. The brake power supply having the same configuration as the screen of FIG. The screen shifts to a screen that assists in the investigation of, and the next investigation work can be performed. Until the faulty part can be identified, work items such as “defective motor” and “defective wiring in the machine” can be selected, and the motor and wiring can be investigated in the same manner as described above.

In the case of FIG. 5, the investigation procedure is displayed in a bulleted list, but for example, the investigation procedure may be shown in a flowchart form. In this case, it is easy to understand the overall flow of the survey, and a smoother survey can be performed.

The screen displayed in FIG. 5 is a code indicated by the display allocation code 24a, for example, “Survey 003
820 ”. In the case of FIG. 5, since "Exchange 003820" is displayed, the background color of that portion is inverted (for example, green display). Also in this case, when the display allocation code 24a is input to an external maintenance support computer or the like, more detailed screens and detailed information can be obtained.

As described above, when a failure occurs in the system 10, items that may cause the failure are displayed in descending order of probability, and a special skill of investigation (for example, detailed structural knowledge or detailed electric circuit knowledge) is displayed. ) Can be carried out by the work requiring. In this case, since the faulty part is efficiently specified, the maintenance manager who is familiar with the system to be maintained 10 can quickly and accurately identify the parts that need to be replaced with a minimum amount of work. It can be performed efficiently and efficiently, and the recovery work of the system 10 can be performed quickly.

In FIG. 2 to FIG. 5, a key "list" exists at the lower right of the main display area 26. In the present embodiment, the key 40 is operated to display a list of error codes. Is displayed, and a detailed content of the air code can be obtained by selecting a desired error code from the displayed error codes.

As described above, in the present embodiment, in order to recover the failure, the system 10 to be maintained is subjected to an investigation mainly for the replacement of the parts or an investigation for specifying the failed part, and then the parts are replaced. It is possible to select the work form of the survey subject to be performed. As a result, according to the level of skill of the maintenance manager with respect to the system 10 to be maintained, it is possible to appropriately provide a work procedure for quickly and smoothly recovering from the failure of the system 10 and perform efficient maintenance work. it can.

The display screen shown in the present embodiment is an example, and in order to recover from a failure, a work mode mainly for component replacement or an investigation for specifying a failed portion is performed, and then the component replacement is performed. It is optional as long as the work form of the investigation subject to be selected is selected and the work procedure is displayed, and the screen may be manually or automatically customized by the maintenance manager. Can be obtained. Similarly, it goes without saying that the display contents and the display order of each screen are also updated based on the failure history of the system 10, the change of the used parts, and the like.

Also, in FIGS. 3A and 3B,
The processing time in each work mode is shown, but the processing time of the work mainly for component replacement and the processing time mainly for the investigation are compared, and the work mode that can restore the system 10 more quickly is selected. It is also possible to improve the degree of freedom of work selection.

In the case of the present embodiment, the operating device 18 is connected to the control device 12 of the system 10, and the actual power supply and the control unit of the display unit 22 (item display control, content display control, etc.) are controlled by the control device. Although the example performed on the 12 side is shown, a power supply, a control unit, and the like may be provided on the operation device 18 side. In addition, the display unit 22 of the portable operation device 18 may be displayed using an external computer or the like because the display area is limited. That is, in the present embodiment, an example is shown in which the maintenance support device is mounted on the operation device 18, but the maintenance support device may be configured by an external computer or the maintenance support device alone. Of course, the above-described customization of the display contents and the like may be performed by this external computer.

[0051]

According to the present invention, a work mode mainly based on parts replacement and a work mode mainly performed by a researcher who performs a research for specifying a failed part and then perform a component replacement can be arbitrarily selected. Good maintenance support that minimizes the stoppage of production lines and production cyclones by providing a procedure for quickly recovering from the failure of the working robot system according to the level of skill of the maintenance manager. It can be performed.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram illustrating a configuration of a work robot system illustrating a maintenance support device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a maintenance support start screen when a failure occurs in a work robot system in the maintenance support device according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating a screen showing a work procedure mainly for component replacement and a screen showing a work procedure mainly for investigation in the maintenance support device according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a screen showing the contents of each work item of a work procedure mainly for component replacement in the maintenance support device according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram illustrating a screen showing the contents of each work item of a work procedure mainly for investigation in the maintenance support device according to the embodiment of the present invention.

[Explanation of symbols]

10 multi-joint robot system for work, 12 robot control device, 14 unit storage unit, 16 multi-joint robot, 18 operation device, 20 work tools, 22 display unit, 24 error display area, 26 main display area, 32a, 32b switching Touch switch, 34a, 3
4b Scroll key.

Claims (9)

[Claims] 1. A maintenance support method for a working robot system that sequentially performs a predetermined work, comprising: a work form or a failure mainly for replacing parts for recovering a failure based on a failure occurring in the working robot system. A form selection step for selecting a work form of the researcher who performs a part replacement after conducting a survey for specifying a part, and a selectable procedure item corresponding to the selected work form, which may cause a failure. An item display step of displaying procedure items in descending order of probability; and a content display step of displaying work content for failure recovery in accordance with the selected procedure item. Conservation support method. 2. The maintenance support method for a working robot system according to claim 1, wherein the item displaying step displays a processing time required for processing according to the displayed procedure item. 3. The method according to claim 1, wherein the item displaying step includes an order updating step of updating a display order of procedure items based on at least a past failure history. Maintenance support method for work robot system. 4. The method according to claim 1, wherein the item display step includes a content update step of updating a work content based on at least a past repair history. Support method for a working robot system. 5. A maintenance support device for a working robot system for sequentially performing a predetermined work, comprising: a detecting unit that detects a failure of the working robot system; and a part replacement unit for recovering the failure based on the detection result. A configuration selection unit that selects a work mode or a work mode in which a participant replaces parts after conducting a survey to identify a failed part, and a maintenance support content corresponding to the selected work mode. A control unit for displaying, wherein the control unit performs at least an item display control for displaying the procedure items in descending order of the probability of causing a failure, and a content display control for displaying a work content according to the selected procedure item; And a display unit that performs display based on control of the unit. 6. The maintenance support method for a working robot system according to claim 5, wherein the control unit displays a processing time according to the displayed procedure item. 7. The maintenance of a working robot system according to claim 5, wherein the control unit updates a display order of the procedure items based on at least a past failure history. Support equipment. 8. The work robot system according to claim 5, wherein the control unit updates the work content based on at least a past repair history. Maintenance support device. 9. The maintenance support of a working robot system, wherein the device according to any one of claims 5 to 8 is mounted on a teaching operation device for teaching operation of the working robot system. apparatus.