JP2016150400A - Action history management system, management device, and action history management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an action history management system which improves the maintenance efficiency of an industrial robot.SOLUTION: An industrial robot acts according to a command transmitted from a host device. A controller receives the command from the host device, and controls the action of the industrial robot. A management device 1 is connected to a controller through a network. A command action data storage processing portion 100 obtains the command from the host device, positional data of the industrial robot, and servo data from the controller, in actual time, and associated with the command to stored. A command action data management portion 110 searches the stored command, and outputs the positional data and/or the servo data corresponding to the searched command.SELECTED DRAWING: Figure 2A

Description

  The present invention relates to an operation history management system, a management apparatus, and an operation history management method, and more particularly to an operation history management system, a management apparatus, and an operation history management method for managing an operation history of an industrial robot.

2. Description of the Related Art Conventionally, for industrial robots equipped with a drive unit such as a servo motor, there is a technique for storing an operation history of the servo motor and using it for maintenance.
For example, Patent Document 1 describes a failure diagnosis device including a data conversion unit, a determination unit, a fluctuation range management value memory, and an alarm unit. The fluctuation width management value memory for the second servo motor, the fluctuation width management value for the third servo motor, and the fluctuation width management value for the oscillating servo motor are stored in the fluctuation width management value memory of the failure diagnosis apparatus. I am letting. The failure diagnosis can be executed by comparing the failure diagnosis device fluctuation range management value with the torque information (the average value of the maximum fluctuation range for a certain period).
That is, in the technique of Patent Document 1, in order to monitor the secular change of the drive unit, an alarm can be issued if there is an abnormality as compared with the reference data at the beginning of introduction.

JP 2007-172150 A

  However, with the technique described in Patent Document 1, failure diagnosis can only be performed from torque information of only the time axis, and operation data associated with the actual operation of an industrial robot has not been managed. For this reason, it is difficult to analyze when trouble actually occurs, and maintenance efficiency is low.

  The present invention has been made in view of such a situation, and an object thereof is to provide an operation history management system having improved maintenance efficiency.

The operation history management system of the present invention includes an industrial robot that operates in response to a command transmitted from a host device, a controller that receives the command from the host device and controls the operation of the industrial robot, A management device connected to a controller, and the management device acquires the command from the host device and the position data and servo data of the industrial robot from the controller in real time, Command operation data storage processing means for storing in association with each other, and a command for searching for the command stored by the command operation data storage processing means and outputting position data and / or servo data corresponding to the searched command And an operation data management means.
With this configuration, history management can be performed based on commands from the host device, and maintenance efficiency can be improved.

In the operation history management system of the present invention, the command operation data management means includes a search for the command for operation history management, preventive maintenance, and trouble handling of the industrial robot, position data corresponding to the command, and / or Alternatively, servo data output is executed.
With this configuration, the user can arbitrarily search for commands for each of history management, preventive maintenance, and troubleshooting.

In the operation history management system of the present invention, the command operation data management means displays tact motion from the position data in a period corresponding to the command and / or corresponds to the command as the operation history management. Torque motion is displayed from the servo data of the period.
With this configuration, it is possible to realize operation torque management, tact management, and the like based on commands.

In the operation history management system of the present invention, the command operation data storage processing unit stores specific torque data included in the servo data corresponding to the command at a specific interval for a specific period or more, and the command operation data management unit includes: As the preventive maintenance, a change at a specific interval of the specific torque data is displayed.
With this configuration, it is possible to manage long-term torque changes based on commands as preventive maintenance.

In the operation history management system of the present invention, the command operation data management means searches for the command in a specific period immediately before the trouble as the trouble correspondence, and uses the corresponding position data and / or servo data as data relating to the trouble correspondence. It is characterized by outputting.
With this configuration, it is possible to immediately determine what command caused an error.

The operation history management system of the present invention is characterized in that the command operation data management means extracts data necessary for identifying the cause of trouble from the data relating to trouble handling and transmits the data to a specific mail address.
With this configuration, it is easy to grasp the cause of the trouble even when the user is at a remote place.

The management device of the present invention includes an industrial robot that operates in response to a command transmitted from a host device, a controller that receives the command from the host device and controls the operation of the industrial robot, and the controller A management device of an operation history management system comprising a connected management device, which obtains the command from the host device and the position data and servo data of the industrial robot in real time from the controller. , Command operation data storage processing means for storing in association with the command, search for the command stored by the command operation data storage processing means, and position data and / or servo data corresponding to the searched command And command operation data management means for outputting.
With this configuration, history management can be performed based on commands from the host device, and maintenance efficiency can be improved.

The operation history management method of the present invention includes an industrial robot that operates in response to a command transmitted from a host device, a controller that receives the command from the host device and controls the operation of the industrial robot, An operation history management method executed by a management device of an operation history management system including a management device connected to a controller, wherein the command from the host device is transmitted in real time from the controller, and the industrial Obtaining robot position data and servo data, storing them in association with the commands, searching for the stored commands, and outputting position data and / or servo data corresponding to the searched commands. Features.
With this configuration, history management can be performed based on commands from the host device, and maintenance efficiency can be improved.

  According to the present invention, the position data and / or servo data is stored in association with the command from the host device, and the retrieval and output of the position data and / or servo data allows the operation of the industrial robot with higher maintenance efficiency than before. A history management system can be provided.

It is a system configuration figure of an operation history management system concerning an embodiment of the invention. It is a figure which shows the specific example of the industrial robot shown to FIG. 1A. It is a block diagram which shows the system configuration | structure of the management apparatus shown to FIG. 1A. It is a block diagram which shows the structure of the command operation data shown to FIG. 2A. It is a flowchart of the operation history saving process according to the embodiment of the present invention. It is a flowchart of the operation history search output processing according to the embodiment of the present invention. 5 is a screen example of a user instruction input process shown in FIG. 5 is a screen example of a torque motion display process shown in FIG. 5 is a screen example of a torque motion display process shown in FIG. 5 is a screen example of a tact motion display process shown in FIG. 5 is a screen example of a tact motion display process shown in FIG. 5 is a screen example of torque data change display processing shown in FIG. 4. 5 is a screen example of torque data change display processing shown in FIG. 4. 5 is a screen example of a trouble cause identification extraction display process shown in FIG. 4. 5 is a screen example of a trouble cause identification extraction display process shown in FIG. 4.

<Embodiment>
[Configuration of Operation History Management System X]
The configuration of the operation history management system X according to the embodiment of the present invention will be described with reference to FIGS. 1A and 1B. The operation history management system X includes a management device 1, a host device 2, a controller 3, and an industrial robot 4. Among these, the management apparatus 1 is connected to the controller 3 via the network 5. Further, a user terminal 6 for manager is connected to the network 5.

  The management apparatus 1 is a management PC (Personal Computer) connected to the controller 3. The management device 1 executes a management program (not shown), acquires various data from the controller 3, and manages the operation history of the industrial robot 4.

  The host device 2 is a device that transmits an operation instruction (hereinafter referred to as “command”) of the industrial robot 4 to the controller 3. Specifically, the host device 2 is a PLC (Programmable Logic Controller), a PC, or the like.

  According to FIG. 1B, the industrial robot 4 is a device that operates in response to a command transmitted from the host device 2. Specifically, the industrial robot 4 is, for example, a multi-joint robot or the like that is used in a liquid crystal panel or a semiconductor manufacturing process and holds various articles with an arm. An example of such an industrial robot 4 is a robot described in JP-A-11-333768.

  Briefly, the industrial robot 4 moves the base, the hand part (for example, the first hand part and the second hand part) supported so as to be able to turn on the base, and the base in the horizontal direction. Mainly composed of a horizontal movement mechanism.

  The base is provided such that the upper part of the base is rotatable with respect to the lower part of the fixed base. The upper part of the base is provided with a rotation shaft at the center of rotation. The rotating shaft is provided with a motor (hereinafter referred to as “TH”) that rotates around the axis with the base upper portion itself as the center of the rotating shaft.

  A linear actuator that can be driven in the vertical direction is attached to the rotation shaft. Thereby, the upper part of the base can be moved in the vertical direction, and can be moved up and down together with the rotation axis with respect to the lower part of the base. In this embodiment, the linear actuator includes a first vertical drive motor (hereinafter referred to as “Z1”), a second vertical drive motor (hereinafter referred to as “Z2”), and two vertical drives. It is driven using a motor.

  Furthermore, the industrial robot 4 includes a base member that supports the base so as to be movable in the horizontal direction (for example, the left-right direction), and a horizontal movement mechanism that moves the base in the horizontal direction relative to the base member. . This horizontal movement mechanism is driven by a travel drive motor (hereinafter, indicated by “X”).

  The hand part includes a first hand part and a second hand part. The first hand unit includes a first arm (first base side arm and first hand side arm) and a first hand. The second hand portion includes a second arm (second base side arm and second hand side arm) and a second hand.

  For hand driving, the first hand unit is driven by a first hand unit driving motor (hereinafter referred to as “R1”). The second hand unit is driven by a second hand unit driving motor (hereinafter, referred to as “R2”). These first and second drive motors are housed in a base.

  Furthermore, the industrial robot 4 includes a base member that supports the base so as to be movable in the horizontal direction (for example, the left-right direction), and a horizontal movement mechanism that moves the base in the horizontal direction relative to the base member. .

  The articulated robot 4 described above connects one end side of the first base side arm to the base so as to be rotatable via a joint portion. On the other hand, the first hand side arm is rotatably connected to the other end side of the first base side arm. Thus, the first hand side arm tip is configured to move along a predetermined path by causing the first base side arm and the first hand side arm to extend and contract. In this case, the first base side arm and the first hand side arm connected at the connecting portion are provided so that the front end of the first hand side arm moves straight due to the mechanism. For this reason, the predetermined path | route which is a locus | trajectory of the front-end | tip of a 1st hand side arm becomes linear.

In addition, a first hand is provided at the tip of the first hand side arm so that it can be conveyed while holding a material such as glass or semiconductor wafer (hereinafter referred to as “workpiece”). Therefore, the work to be transported moves on a predetermined path or a straight line parallel thereto, and the direction at that time is the movement direction of the work or the first hand.
Since the second hand performs the same operation as the first hand, the description here is omitted. The industrial robot 4 includes an encoder, a sensor, and the like that transmit the position and torque of these drive units, the temperature of each unit, and the like to the controller 3.

  The network 5 is a network such as a LAN (Local Area Network) or a WAN (Wide Area Network). Specifically, the network 5 is, for example, Ethernet (registered trademark) such as 1000Base-T or 10GBASE-SR, a wireless LAN, a mobile phone network, the Internet (registered trademark), or the like.

  The controller 3 is a device that receives a command from the host device 2 and controls the operation of the industrial robot 4. Further, the controller 3 acquires commands from the host device 2 and various data from the industrial robot 4 in real time (real time) and transmits them to the management device 1.

  The user terminal 6 is a terminal capable of receiving e-mail, chat data, messenger messages, etc. (hereinafter referred to as “mail”) from the management apparatus 1. Specifically, it is a PC, a tablet terminal, a PDA (Personal Data Assistant), a smartphone, a mobile phone, a smart watch, or the like. The user terminal 6 is used by a user who performs maintenance of the industrial robot 4. For this reason, the user terminal 6 may be remotely connected to the controller 3.

  The host device 2 is connected to another controller 3 (not shown), another management device 1 and the like. A plurality of controllers 3 may be provided. The management device 1 can acquire and manage data from the plurality of controllers 3. Although not shown, for example, a factory apparatus other than the industrial robot 4 is also connected to the network 5.

Next, details of the management apparatus 1 according to the embodiment of the present invention will be described with reference to FIGS. 2A and 2B.
The management apparatus 1 mainly includes a control unit 10, a storage unit 20, an I / O unit 30, a display unit 40, and an input unit 50.

  The control unit 10 is a control calculation unit such as an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit).

  The storage unit 20 is a non-temporary recording medium such as a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), or a flash memory.

  The I / O unit 30 is a circuit and an interface such as a chipset and I / O (Input / Output) for connecting to an external device. The I / O unit 30 includes a network interface for connecting to the network 5, a general-purpose serial interface such as RS-232C and USB, a parallel interface, a digital video interface, and the like.

  The display unit 40 includes a liquid crystal display, a dot matrix display such as an organic EL (Organic Electro-Luminescence) display, an LED (Light Emitting Diode), and the like. Various data, graphs, and the like are displayed on the display unit 40 by a GUI (Graphical User Interface) for managing the operation history.

  The input unit 50 is an input unit that inputs user instructions such as a keyboard, a switch, a pointing device such as a mouse and a digitizer, and a touch panel.

The management apparatus 1 may further include an output unit such as a printer (not shown), a user authentication unit, a camera, and the like.
Further, the display unit 40 and the input unit 50 may be formed integrally.

More specifically, the control unit 10 includes a command operation data storage processing unit 100 (command operation data storage processing unit) and a command operation data management unit 110 (command operation data management unit).
Further, the storage unit 20 stores command operation data 200 and a mail address 210.

The command operation data storage processing unit 100 acquires various data from the controller 3. These various data include commands from the host device 2, position data 310 (FIG. 2B) of the industrial robot 4, and servo data 320. The command operation data storage processing unit 100 associates other data with the command among the various data, and stores the command operation data 200 in the storage unit 20.
Further, the command operation data storage processing unit 100 stores at least a part of the servo data 320 of the command operation data 200 as specific torque data 340 at a specified specific interval. At this time, the command operation data storage processing unit 100 stores the specific torque data 340 in the storage unit 20 for a specific period or longer. As the specific interval, for example, a time interval for acquiring torque such as several hours to several months is set in the storage unit 20 by the user.

  The command operation data management unit 110 searches for the command stored by the command operation data storage processing unit 100. Further, the command operation data management unit 110 displays the position data 310 and / or servo data 320 corresponding to the searched command and a graph or the like created from these data on the GUI or outputs them to the user terminal 6. To do.

Specifically, in this embodiment, the command operation data management unit 110 functions as an operation history management unit, a preventive maintenance unit, and a failure diagnosis unit. The command operation data management unit 110 displays a command search for trouble management as history management, preventive maintenance, and failure diagnosis, and displays position data 310 and / or servo data 320 corresponding to the command on a GUI, or a user Output to the terminal 6.
At this time, the command operation data management unit 110 (operation history management means) displays a torque motion graph from the servo data 320 in a period corresponding to the command and / or a period corresponding to the command as operation history management. A tact motion graph is displayed from the position data 310.

Further, the command operation data management unit 110 (preventive maintenance means) displays changes at specific intervals of specific torque data as preventive maintenance.
Further, the command operation data management unit 110 (failure diagnosing means) searches for a command in a specific period immediately before the trouble as a trouble response, and outputs the corresponding position data 310 and / or servo data 320 as data relating to the trouble correspondence. .
Further, the command operation data management unit 110 (failure diagnosing means) extracts data necessary for identifying the cause of the trouble from the data related to the trouble, and transmits the data to the mail address 210 by mail.

The command operation data 200 is operation history data in this embodiment in which various data transmitted from the controller 3 and received via the network 5 are stored in the storage unit 20 by the command operation data storage processing unit 100.
Details of the command operation data 200 will be described later.

  The e-mail address 210 is an address indicating the destination of e-mail to be transmitted when troubleshooting. Specifically, the mail address 210 is an address of a user who performs maintenance of the industrial robot 4. That is, the user can receive and browse mail addressed to the mail address 210 at the user terminal 6.

  The control unit 10 functions as the command operation data storage processing unit 100 and the command operation data management unit 110 by developing a control program (not shown) stored in the storage unit 20 on a RAM or the like and executing it.

Next, the details of the command operation data 200 will be described with reference to FIG. 2B.
The command operation data 200 includes a plurality of position data 310, servo data 320, and specific torque data 340 associated with the command data 300.

  The command data 300 includes various events (Event), time data (Time data), and content data (Contents Data) accompanying the command.

Among these, the various events include state data indicating various commands of the host device 2 and various operations of the industrial robot 4.
The command, for example, designates a cassette containing a workpiece, a slot in which the cassette is located, etc., and instructs an operation such as taking out (GET) or placing (PUT). That is, the GET command instructs the industrial robot 4 to take out the workpiece at a specific speed from a specific slot of a specific cassette. On the contrary, the PUT command instructs to place the workpiece currently held by the industrial robot 4 in a specific slot of a specific cassette at a specific speed. The command also includes an instruction to start (RUN) or stop (STOP) the operation of the industrial robot 4, a teaching instruction to set the position of the cassette or slot, and the like.

The state includes data on various states such as various maintenance (overhaul) of the industrial robot 4, troubles such as operation errors, firmware update, presence / absence of power saving mode, and the like.
The time data includes, for example, date (Date) and time (Time) data in milliseconds to seconds.
The content data includes content (Contents) which is character data (text) of the event, various binary (numerical value) data associated with the command, and the like.

  The position data 310 is data indicating the position of each drive unit of the industrial robot 4. Specifically, the position data is calculated from data acquired as an incremental signal, an absolute value position signal, or the like from an encoder or the like connected to each drive unit. From the position data 310, the position of each drive unit can be graphed as “tact motion”.

The servo data 320 is data of the servo mechanism of each drive unit of the industrial robot 4. Specifically, the servo data 320 is, for example, data obtained by measuring the current flowing through each drive unit with an ammeter and calculating the torque value of each drive unit.
From the servo data 320, the torque of each drive unit can be graphed as “torque motion”.

  The specific torque data 340 is data in which specific torque values and the like included in the servo data 320 are stored at specific intervals. The specific torque value includes a specific drive unit torque value corresponding to a specific command set by the user.

Since the position data 310 and the servo data 320 have a huge capacity, they are stored for a specific period, for example, several months, corresponding to the capacity of the storage unit 20 of the management apparatus 1 and user settings. Are deleted from the oldest.
However, the specific torque data 340 is stored longer than the specific period, for example, in units of one year to several tens of years.

[Operation history saving process]
Next, the operation history storing process according to the embodiment of the present invention will be described with reference to FIG.
In the operation history saving process of the present embodiment, when various data is acquired from the controller 3, the data is saved as command operation data 200 in the storage unit 20 in association with the command from the higher-level device 2.
In the operation history storage processing of this embodiment, the command operation data storage processing unit 100 of the control unit 10 mainly executes a control program stored in a storage medium using hardware resources in cooperation with each unit. The command operation data storage processing unit 100 always stands by when the acquisition of the operation history is started, and starts the following processing when receiving various data from the controller 3.
In the following, the details of the operation history storage process will be described step by step with reference to the flowchart of FIG.

(Step S101)
First, the command operation data storage processing unit 100 performs various data reception processes.
The command operation data storage processing unit 100 receives various data transmitted by the controller 3 by the I / O unit 30 via the network 5.
Further, the command operation data storage processing unit 100 stores the servo data 320 of the command operation data 200 as specific torque data 340 at a specified specific interval. At this time, the command operation data storage processing unit 100 stores the specific torque data 340 in the storage unit 20 for a specific period or longer.
Note that the operation history acquisition start timing, acquisition interval, and the like can be set by a button or the like in a display field 609 in FIG. 5 to be described later.

(Step S102)
Next, the command operation data storage processing unit 100 performs command association storage processing.
The command operation data storage processing unit 100 analyzes various received data and extracts commands and states from the host device 2. Then, the command operation data storage processing unit 100 recognizes various events from the extracted command, state, and the like. The command operation data storage processing unit 100 creates command data 300 including the various events, content data extracted from commands, states, and the like, and time data of times when the various data are acquired.
Further, the command operation data storage processing unit 100 analyzes various data and extracts the position data 310 and the servo data 320 from the industrial robot 4. Then, the command operation data storage processing unit 100 associates the created command data 300 with the extracted position data 310 and servo data 320 by linking them as indexes.
The command operation data storage processing unit 100 stores the data for which the association has been completed in the command operation data 200. Thereby, operation history data can be stored.

(Step S103)
Next, the command operation data storage processing unit 100 determines whether or not a specific interval has been reached. The command operation data storage processing unit 100 refers to the time data of the command data 300 and determines Yes when a specific interval has elapsed since the previous storage of the specific torque data 340. In other cases, the command operation data storage processing unit 100 determines No.
In the case of Yes, the command operation data storage processing unit 100 proceeds with the process to step S104.
In No, the command operation data storage processing unit 100 ends the operation history storage process.

(Step S104)
When the specific interval has elapsed, the command operation data storage processing unit 100 performs a specific torque data 340 storage process.
The command operation data storage processing unit 100 includes and stores the specific torque value of the servo data 320 of the command operation data 200 in the specific torque data 340.
Thus, the operation history saving process according to the embodiment of the present invention is completed.

[Operation history search output processing]
Next, the operation history search output process according to the embodiment of the present invention will be described with reference to FIGS.
In the operation history search output process of the present embodiment, a user instruction is acquired through the GUI, and a command according to this instruction is searched. Then, the position data 310 and / or servo data 320 corresponding to the searched command is displayed in a format corresponding to the user's instruction to realize history management, preventive maintenance, and trouble handling. Also, when dealing with troubles, an email is sent to the user.
In the operation history search output process of this embodiment, the command operation data management unit 110 of the control unit 10 mainly executes a control program stored in a storage medium using hardware resources in cooperation with each unit.
Hereinafter, the details of the operation history search output process will be described step by step with reference to the flowchart of FIG.

(Step S201)
First, the command operation data management unit 110 performs a user instruction command search process.
The command operation data management unit 110 displays an operation history management screen of the industrial robot 4 on the display unit 40 through the GUI, and acquires a user instruction from the input unit 50.
The command operation data management unit 110 searches the command operation data 200 for a command corresponding to the acquired user instruction.

A GUI history management screen for acquiring user instructions will be described with reference to a screen example 500 in FIG.
The display column 600 is a display column in which the command data 300 is displayed as an operation history. In the example of the display column 600, the date and time, various events, and contents are displayed for each column. In the example of FIG. 5, the command data 300 in the display column 600 is displayed so that operation history information can be seen at a glance, such as overhaul end, automatic operation, stopping, changing operation parameters, and restarting trouble. Has been.
The display column 601 is a cursor indicating the location of the command data 300 selected by the user using the input unit 50 in the display column 600.
The display column 602 is a selection column for selecting the industrial robot 4 that is the target of displaying the operation history.
A display column 603 is a selection column for selecting a period of operation history displayed in the display column 600. When this operation history period is selected, the command operation data management unit 110 searches for the corresponding command based on the time data of the command data 300 and displays it in the display column 600.

The display column 604 is a column for designating a specific command for displaying a torque motion graph. In the display field 604, various events, states, and the like may be designated as specific commands in addition to commands from the higher-level device 2.
A display column 605 is a button for searching for a specific command specified in the display column 604. When this button is pressed, the command operation data management unit 110 searches the target industrial robot 4 for command data 300 including a specific command within the selected operation history period. The command operation data management unit 110 displays the searched command data 300 in the display field 600.

The display column 606 is a column for designating a specific command for displaying a tact motion graph. In the display field 606, commands, various events, states, and the like from the host device 2 can be designated.
A display field 607 is a button for displaying a tact motion graph. When this button is pressed, the command operation data management unit 110 displays the tact motion at the location selected by the cursor in the display field 601.
A display column 608 is a button for searching for a specific command specified in the display column 606.

A display column 609 is a button for setting an acquisition interval (Cycle) of the position data 310 and the servo data 320 acquired in real time.
A display column 610 is a button for instructing “update”. When this button is pressed after the command operation data management unit 110 is set in each display column, the command operation data management unit 110 re-searches the command data 300 corresponding to this setting and displays it in the display column 600.
A display field 611 is a button for instructing history analysis for preventive maintenance.

(Step S202)
Next, the command operation data management unit 110 determines whether to perform history management.
The command operation data management unit 110 determines Yes when the part selected by the cursor in the display field 601 is pressed or the button in the display field 607 is pressed. In other cases, the command operation data management unit 110 determines No.
In the case of Yes, the command operation data management unit 110 advances the process to step S203.
In No, command operation data management part 110 advances a process to Step S207.

(Step S203)
When history management is performed, the command operation data management unit 110 determines whether to perform torque motion display. The command operation data management unit 110 determines Yes when the position of the cursor in the display field 601 is double clicked. In other cases, the command operation data management unit 110 determines No.
In the case of Yes, the command operation data management unit 110 advances the process to step S204.
In the case of No, the command operation data management unit 110 advances the process to step S205.

(Step S204)
When performing torque motion display, the command operation data management unit 110 performs torque motion display processing.
The command operation data management unit 110 draws the torque motion corresponding to the searched command data 300 as a graph and displays it on the display unit 40.
Referring to FIG. 6A, a screen example 510 shows an example in which the torque motion graph display is selected with the cursor in the display field 601 in the display field 600. The command operation data management unit 110 creates a torque motion graph corresponding to the event selected by the cursor.
Referring to FIG. 6B, a screen example 520 shows an example of a graph of displayed torque motion. In this graph, the time of the selected command is plotted on the horizontal axis, the torque value on the vertical axis, and the torque value of each drive unit is plotted as a graph. In this graph, a value such as 2 to 3 times the rated torque value of each drive unit is displayed as a “torque warning level” that causes a failure. In other words, if there is a point that exceeds this torque warning level in the torque motion graph, the gear of the drive unit is broken, the arm is caught by an obstacle at a specific position, or a specific tooth of the gear is A state such as lacking can be easily discriminated.

(Step S205)
Here, the command operation data management unit 110 determines whether to perform tact motion display. The command operation data management unit 110 determines Yes when the button in the display field 607 is pressed. In other cases, the command operation data management unit 110 determines No.
In the case of Yes, the command operation data management unit 110 advances the process to step S206.
In the case of No, the command operation data management unit 110 advances the process to step S207.

(Step S206)
When performing tact motion display, the command operation data management unit 110 performs tact motion display processing.
Referring to FIG. 7A, a screen example 530 shows an example in which an event is selected with the cursor in the display field 601 in the display field 600 and a tact motion graph display is selected with the button in the display field 607. The command operation data management unit 110 creates a tact motion graph corresponding to the event selected by the cursor.
Referring to FIG. 7B, an example screen 540 shows an example of a displayed tact motion graph. In this graph, the value of the position of each drive unit is drawn as a graph with the time of the selected command as the horizontal axis and the position value as the vertical axis.
The command operation data management unit 110 can simultaneously display a torque motion graph and a tact motion graph.

(Step S207)
Next, the command operation data management unit 110 determines whether to perform preventive maintenance. The command operation data management unit 110 determines Yes when the history analysis button in the display field 611 (FIG. 5) is pressed. In other cases, the command operation data management unit 110 determines No.
In the case of Yes, the command operation data management unit 110 advances the process to step S208.
In the case of No, the command operation data management unit 110 advances the process to step S209.

(Step S208)
When performing preventive maintenance, the command operation data management unit 110 performs torque data change display processing.
Referring to FIG. 8A, a screen example 550 shows a pop-up screen for setting display of monthly change of torque data. In the example of FIG. 8A, the selection column of the industrial robot 4 to be displayed, which is the same as the display column 602 of FIG. 5, the column for designating a specific command similar to the display column 604, the display period, the display instruction button, The return button is displayed. When the display instruction button is pressed, the command operation data management unit 110 reads the specific torque data 340 corresponding to the command of the industrial robot 4 corresponding to the selected setting. The command operation data management unit 110 creates a set monthly torque motion from the specific torque data 340.
Referring to FIG. 8B, a screen example 560 shows a torque data change display screen in which the monthly torque motions are arranged and displayed. By displaying the secular change of torque side by side in this way, the user can easily grasp when the torque required for a specific drive unit has increased or when the torque change has become smoother. For this reason, it is possible to preventively replace parts corresponding to the drive unit, overhaul, or change a command from the host device 2.

(Step S209)
Here, the command operation data management unit 110 determines whether or not a trouble has occurred. The command operation data management unit 110 determines Yes when a state such as an operation error is input from the controller 3. In other cases, the command operation data management unit 110 determines No.
In the case of Yes, the command operation data management unit 110 advances the process to step S210.
In the case of No, the command operation data management unit 110 ends the history output process.

(Step S210)
When a trouble occurs, the command operation data management unit 110 performs a command search process immediately before the trouble.
The command operation data management unit 110 refers to the time data of the command data 300 of the command operation data 200, searches for and acquires the command data 300 immediately before the state such as an error, and displays it on the GUI. As the command data 300 immediately before this, a number that can identify a trouble that can be normally considered is acquired.
Referring to FIG. 9A, in the screen example 570, the acquired command data 300 is displayed in the display field 600. Here, when a trouble occurs, normal position data 310, servo data 320, etc. may not be acquired. For this reason, the command operation data management unit 110 changes the density of the background, such as the display field 612, for the position data 310, servo data 320, etc. associated with the command data 300. Show. The command operation data management unit 110 creates a torque motion graph when the servo data 320 or the like can be acquired and designated as a cursor in the display column 601 and double-clicked.
FIG. 9B shows an example of the created torque motion graph as an example screen 580.

(Step S211)
Next, the command operation data management unit 110 performs trouble cause identification extraction processing.
The command operation data management unit 110 searches the command data 300 for a specific period immediately before a state such as an error, and extracts the position data 310 and the servo data 320 corresponding to the event of the command data 300 as data relating to troubleshooting. . The command operation data management unit 110 estimates the cause of an error or the like by referring to the data relating to the troubleshooting. This estimation is performed according to predetermined heuristic rules and threshold values.

(Step S212)
Next, the command operation data management unit 110 performs mail transmission processing.
The command operation data management unit 110 compresses the extracted data relating to troubleshooting, and transmits an email describing the cause of the estimated trouble to the user. In this mail, a URL (Uniform Resource Locator) that can access the CGI or the like of the management apparatus 1 may be described.
The user who has received this can search for a command in a specific period immediately before the trouble, and can easily obtain the position data 310 and / or servo data 320 corresponding to the trouble.
The operation history search output process according to the embodiment of the present invention is thus completed.

[Main effects of this embodiment]
With the configuration described above, the following effects can be obtained.
Conventionally, as described in Patent Document 1, only the position of the handling robot, the servo data 320, and the like have been stored as history management data. For this reason, with the conventional handling robot, it is difficult to analyze the stored data, and maintenance is troublesome.
On the other hand, the operation history management system X according to the embodiment of the present invention receives the industrial robot 4 that operates in response to the command transmitted from the host device 2 and the command from the host device 2, and A controller 3 for controlling the operation of the industrial robot 4 and a management device 1 connected to the controller 3. The management device 1 receives commands from the host device 2 in real time from the controller 3, and the industrial robot 4 The command operation data storage processing unit 100 that acquires the position data 310 and the servo data 320 and stores the position data 310 and the servo data 320 in association with the command, and the command stored by the command operation data storage processing unit 100 are searched. A command operation data management unit 110 that outputs position data 310 and / or servo data 320 corresponding to And butterflies.
With this configuration, commands from the host device 2 can be managed as an index for history management, and maintenance efficiency can be improved.

Conventionally, industrial robots for liquid crystal panels and semiconductor manufacturing apparatuses have been performing state monitoring and maintenance by storing operation histories. The state monitoring maintenance is to constantly monitor the operation state and detect an abnormality before a failure or shorten the recovery time by using the information of the operation history saved even when a failure occurs.
Here, the handling robot is instructed by a host device and is operating. However, conventionally, when the state of the handling robot is monitored, the instructions from these higher ranks are not included in the monitoring data, and only the time axis, data such as predetermined movements are collected, and the actual robot is collected. The history management of data linked to actions was not performed.
On the other hand, the operation history management system X of the present embodiment uses the command from the host device 2 that simultaneously obtains the position data 310, servo data 320, etc. obtained in real time on the management device 1 as an index. Link to manage and view. Thereby, commands and states can be displayed and managed on the management device 1 in an easy-to-understand manner on the GUI or the like. As a result, the operation data can be easily analyzed based on the command corresponding to the command from the higher-level device 2. Therefore, even when a malfunction in the operation of the industrial robot 4 occurs due to the command of the host device 2, it is possible to determine which command. Further, the relationship between the malfunction command and the corresponding position data 310, servo data 320, etc. can be immediately determined. For this reason, maintenance efficiency can be improved.

In addition, in the operation history management system X according to the embodiment of the present invention, the command operation data management unit 110 searches the commands for the operation history management, preventive maintenance, and troubleshooting of the industrial robot 4 and uses the commands. The output of the corresponding position data 310 and / or servo data 320 is performed.
With this configuration, the user can arbitrarily search for commands for history management, preventive maintenance, and troubleshooting, and output the position data 310 and / or servo data 320 corresponding to the commands as appropriate. Thus, maintainability can be improved.

In the operation history management system X according to the embodiment of the present invention, the command operation data management unit 110 displays the tact motion from the position data 310 in the period corresponding to the command as the operation history management, and / or The torque motion is displayed from the servo data 320 in the period corresponding to the command.
With this configuration, the operation history can be managed in terms of torque and position in units of commands of the industrial robot 4, and management linked to the actual operation of the industrial robot 4 can be performed. That is, based on specific commands, the user can easily perform operation torque management, tact management, and the like.
Also, simply by specifying the range of the command you want to display, search for the operation of the corresponding industrial robot 4, display the corresponding torque data, tact data, etc. as a torque motion or tact motion graph, The user can grasp intuitively.

Further, in the operation history management system X according to the embodiment of the present invention, the command operation data storage processing unit 100 stores specific torque data included in the servo data 320 corresponding to the command at a specific interval for a specific period or more, The command operation data management unit 110 displays a change in specific torque data at specific intervals as preventive maintenance.
With this configuration, it is possible to manage long-term changes in torque based on commands from the host device 2 as preventive maintenance. That is, changes in the servo data 320 of the industrial robot 4 over a long period can be managed in units of operation. Therefore, the user can recognize the replacement time of the parts of the industrial robot 4 in detail, and can calculate the optimum maintenance interval and the like, thereby facilitating management.

In addition, in the operation history management system X according to the embodiment of the present invention, the command operation data management unit 110 searches for a command in a specific period immediately before the trouble as a trouble response, and the corresponding position data 310 and / or servo. The data 320 is output as data relating to troubleshooting.
By configuring in this way, for example, when stopping due to a trouble such as an error, it is possible to determine what command from the host device 2 causes an error. That is, it becomes easy to identify the cause when trouble occurs based on the command. In addition, it is possible to easily grasp the relationship between the operation in which the stop due to the error has occurred, the torque and the position, and the like. Therefore, trouble analysis can be performed efficiently and maintenance efficiency can be improved.

Further, in the operation history management system X according to the embodiment of the present invention, the command operation data management unit 110 extracts data necessary for identifying the cause of the trouble from the data relating to the trouble handling and transmits the data to the specific mail address 210. It is characterized by doing.
With this configuration, even when the user is in a remote place, it becomes easy to grasp the cause of the trouble, the recovery time from the trouble can be shortened, and the repair time can be shortened. Thereby, the operating rate of the industrial robot 4 can be improved and the production cost can be reduced.

[Other Embodiments]
In the above-described embodiment, the example in which the specific torque data 340 is stored for each month has been described. However, the position data 310 can also be stored at specific intervals for preventive maintenance.
With this configuration, for example, by storing changes in the displacement of the position data 310 as specific tact data, it is possible to easily grasp error data of position deviation.

Further, in the above-described embodiment, the example in which the position data 310 and / or the servo data 320 are stored in association with the command, displayed on the GUI or output to the user terminal 6, and output as data related to the trouble is described. .
However, in addition to this, I / O data necessary for control other than the above-mentioned data of each drive unit can also be output as data relating to storage, display, output, and troubleshooting.

  The I / O data is, for example, data such as the operation of the arm of the industrial robot 4 in the adsorption (opening / closing) state, the temperature of each driving unit, the luminous intensity, and the state of the other industrial robot 4. Further, as the I / O data, data that is not acquired from the industrial robot 4 itself, such as the air-conditioning state of the installation site of the industrial robot 4, the state of other lines, the number of workpieces loaded, the factory operating state, etc. It is also possible to obtain and add via.

Specifically, the command operation data storage processing unit 100 can acquire I / O data from the controller 3 and similarly store the I / O data in association with the command.
The command operation data management unit 110 can also display I / O data on the GUI or output it to the user terminal 6 as with the position data 310 and the servo data 320. Further, the command operation data management unit 110 can select any one or a combination of the position data 310, the servo data 320, and the I / O data and display it on the GUI or output it to the user terminal 6. .
The command operation data management unit 110 can also output I / O data as data relating to troubleshooting.
It is also possible to store I / O data at specific intervals for preventive maintenance. This makes it possible to compare the change in the I / O data with the specific torque data 340 and the position data 310 stored at a specific interval, thereby improving maintenance efficiency.

Further, in the above-described embodiment, an example in which the command operation data management unit 110 displays the operation history on the display unit 40 in the management apparatus 1 using the GUI is described.
However, the management device 1 may be configured as a server and manage the operation history from the user terminal 6. That is, the command operation data management unit 110 may be provided with a server function such as CGI (Common Gateway Interface), Java (registered trademark) servlet, and PHP in order to perform history management from the user terminal 6.
With this configuration, it is possible to manage an operation history from a remote location, improve user convenience, and reduce maintenance costs.

In the above-described embodiment, it has been described that the management device 1 is simply a device that stores an operation history.
However, it may be configured such that a command can be transmitted from the management device 1 or the user terminal 6 to the controller 3 in the same manner as the host device 2. In this case, it is possible to instruct the controller 3 to point out the history location of the command data 300 in which a problem has occurred and output it to the industrial robot 4.
With this configuration, the industrial robot 4 can be operated without inputting commands to the host device 2 one by one, so that it is easy to grasp the cause of the error and the like, and the trouble response can be speeded up.

  In the above-described embodiment, the robot 4 is described as a robot including a first hand and a second hand. However, it is also possible to acquire various data about a single arm robot and execute the above-described processing. The above-described processing can also be executed for other industrial machines such as humanoid robots and belt conveyors.

  Note that the configuration and operation of the above-described embodiment are examples, and it is needless to say that the configuration and operation can be appropriately changed and executed without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Management apparatus 2 Host apparatus 3 Controller 4 Industrial robot 5 Network 6 User terminal 10 Control part 20 Storage part 30 I / O part 40 Display part 50 Input part 100 Command action data storage process part 110 Command action data management part 200 Command action Data 210 Mail address 300 Command data 310 Position data 320 Servo data 340 Specific torque data 500, 510, 520, 530, 540, 550, 560, 570, 580 Screen examples 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612 Display column X Operation history management system

Claims (8)

An industrial robot that operates in response to commands sent from the host device;
A controller that receives the command from the host device and controls the operation of the industrial robot;
A management device connected to the controller;
The management device
Command operation data storage processing means for acquiring the command from the host device and the position data and servo data of the industrial robot in real time from the controller, and storing the command data in association with the command;
Operation history comprising: command operation data management means for searching for the command stored by the command operation data storage processing means and outputting position data and / or servo data corresponding to the searched command. Management system. The command operation data management means includes
The history of operation of the industrial robot, management of preventive maintenance, and troubleshooting are searched for, and output of position data and / or servo data corresponding to the command is executed. Operation history management system described in 1. The command operation data management means displays a tact motion from the position data in a period corresponding to the command and / or a torque motion from the servo data in a period corresponding to the command as history management of the operation. The operation history management system according to claim 1, wherein the operation history management system is displayed. The command operation data storage processing means stores specific torque data included in the servo data corresponding to the command at a specific interval for a specific period or more,
The operation history management system according to any one of claims 1 to 3, wherein the command operation data management means displays changes at specific intervals of the specific torque data as the preventive maintenance. The command operation data management means searches for the command in a specific period immediately before the trouble as the trouble response, and outputs the corresponding position data and / or servo data as data related to the trouble. 5. The operation history management system according to any one of 1 to 4. The command operation data management means includes
6. The operation history management system according to claim 5, wherein data necessary for identifying the cause of the trouble is extracted from the data relating to the trouble handling and transmitted to a specific mail address. An industrial robot that operates in response to commands sent from the host device;
A controller that receives the command from the host device and controls the operation of the industrial robot;
A management device of an operation history management system comprising a management device connected to the controller,
Command operation data storage processing means for acquiring the command from the host device and the position data and servo data of the industrial robot in real time from the controller, and storing the command data in association with the command;
Command operation data management means for searching for the command stored by the command operation data storage processing means and outputting position data and / or servo data corresponding to the searched command. . An industrial robot that operates in response to commands sent from the host device;
A controller that receives the command from the host device and controls the operation of the industrial robot;
An operation history management method executed by a management device of an operation history management system including a management device connected to the controller,
From the controller, in real time, obtain the command from the host device and the position data and servo data of the industrial robot, store in association with the command,
An operation history management method comprising: searching for the stored command and outputting position data and / or servo data corresponding to the searched command.

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