JP2017177258A - Processing device, robot control device, and teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a processing device that can display an alarm desired by a user on a first display part.SOLUTION: A processing device can cancel an alarm relating to a robot displayed on a first display part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a processing device, a robot control device, and a teaching device.

  Research and development of a technique for displaying an alarm on a robot control device that controls a robot and a teaching device that teaches robot operation to the robot control device have been conducted.

  In this regard, there is known a robot teaching operation panel for displaying a battery voltage drop alarm in a robot teaching operation panel for teaching or operating a robot (see Patent Document 1).

Japanese Patent Laid-Open No. 09-76182

  However, in such a robot teaching operation panel, the alarm cannot be canceled unless the cause of the alarm is removed. As a result, the robot teaching operation panel may not be able to provide the user with an alarm desired by the user.

In order to solve at least one of the above problems, one embodiment of the present invention is a processing device capable of releasing an alarm related to a robot displayed on a first display unit.
With this configuration, the processing apparatus can cancel the alarm regarding the robot displayed on the first display unit. Accordingly, the processing device can display an alarm desired by the user on the first display unit.

In another aspect of the present invention, the processing apparatus may include the first display unit.
With this configuration, the processing apparatus can cancel the alarm regarding the robot displayed on the first display unit included in the processing apparatus. Thereby, the processing apparatus can display the alarm desired by the user on the first display unit included in the processing apparatus.

According to another aspect of the present invention, in the processing apparatus, the alarm may be an alarm based on life information of an object related to the robot.
With this configuration, the processing apparatus can cancel the alarm displayed on the first display unit and based on the life information of the object related to the robot. Thereby, the processing apparatus can display the alarm desired by the user among the alarms based on the life information of the object related to the robot on the first display unit.

Moreover, the structure which displays the said lifetime information on a 2nd display part may be used for the other aspect of this invention in a processing apparatus.
With this configuration, the processing apparatus displays the life information on the second display unit. Thereby, the processing apparatus can visually provide the user with life information corresponding to the alarm displayed on the first display unit.

In another aspect of the present invention, in the processing apparatus, a configuration in which the life information is displayed on the second display unit by at least two different aspects may be used.
With this configuration, the processing apparatus displays the life information on the second display unit in at least two different modes. Thereby, the processing apparatus can make a user distinguish easily the lifetime information corresponding to the alarm displayed on the 1st display part, and the lifetime information which does not respond | correspond to the said alarm.

Further, according to another aspect of the present invention, in the processing apparatus, the two different aspects are an aspect indicating that a life consumption rate based on the life information is a first threshold value or more and less than a second threshold value, and the life information. The structure which is an aspect which shows that the lifetime consumption rate based on is more than the said 2nd threshold value may be used.
With this configuration, the processing device indicates that the lifetime consumption rate based on the lifetime information is not less than the first threshold and less than the second threshold, and that the lifetime consumption rate based on the lifetime information is not less than the second threshold. The lifetime information is displayed on the second display unit in at least two different modes from the mode shown. Thereby, the processing device can easily distinguish between the life information corresponding to the alarm displayed on the first display unit and the life information not corresponding to the alarm based on the life consumption rate based on the life information. Can be made.

Further, according to another aspect of the present invention, in the processing apparatus, the two different aspects include an aspect in which an extra calculation based on the life information is less than a third threshold and a fourth threshold or more, and the life information. A configuration may be used that is an aspect that indicates that the remainder based on is less than the fourth threshold value.
With this configuration, the processing device has an aspect indicating that the extra calculation based on the lifetime information is less than the third threshold and the fourth threshold or more, and an aspect indicating that the extra calculation based on the lifetime information is less than the fourth threshold. The life information is displayed on the second display unit in at least two different modes. As a result, the processing device allows the user to easily distinguish between the life information corresponding to the alarm displayed on the first display unit and the life information not corresponding to the alarm based on the remainder based on the life information. be able to.

In another aspect of the present invention, in the processing apparatus, a configuration in which at least a part of the life information is stored in a storage unit may be used.
With this configuration, the processing apparatus stores at least a part of the life information in the storage unit. Thereby, the processing device can output at least a part of the life information to another device.

In another aspect of the present invention, in the processing apparatus, the object may be at least one of a speed reducer, a motor, a timing belt, a ball screw, and a battery.
With this configuration, the processing apparatus can cancel the alarm related to the robot displayed on the first display unit and based on at least one life information of the speed reducer, the motor, the timing belt, the ball screw, and the battery. is there. Thereby, the processing device displays the alarm desired by the user among the alarms displayed on the first display unit and based on at least one life information of the speed reducer, the motor, the timing belt, the ball screw, and the battery. It can be displayed on the first display unit.

Moreover, the other aspect of this invention is a robot control apparatus provided with the processing apparatus as described above.
With this configuration, the robot control device can cancel the alarm regarding the robot displayed on the first display unit. Thereby, the robot controller can display an alarm desired by the user on the first display unit.

Moreover, the other aspect of this invention is a teaching apparatus provided with the processing apparatus as described above.
With this configuration, the teaching device can cancel the alarm regarding the robot displayed on the first display unit. Thereby, the teaching apparatus can display an alarm desired by the user on the first display unit.

  As described above, the processing device, the robot control device, and the teaching device can cancel the alarm regarding the robot displayed on the first display unit. Thereby, the processing device, the robot control device, and the teaching device can display an alarm desired by the user on the first display unit.

It is a figure showing an example of composition of robot system 1 concerning an embodiment. 2 is a diagram illustrating an example of a hardware configuration of a robot control device 30. FIG. 2 is a diagram illustrating an example of a functional configuration of a robot control device 30. FIG. It is a flowchart which shows an example of the flow of a process in which the robot control apparatus 30 produces | generates the lifetime information of a consumable object. It is a flowchart which shows an example of the flow of a process in which the robot control apparatus 30 displays the alarm AR. It is a flowchart which shows an example of the flow of the process which the robot control apparatus 30 performs regarding a lifetime information display screen. It is a figure which shows an example of a lifetime information display screen. It is a figure for demonstrating the process which the robot control apparatus 30 backs up lifetime information. It is a figure which shows an example of a structure of the robot system 1a which concerns on the modification of embodiment. It is a figure which shows an example of the hardware constitutions of the teaching apparatus. It is a figure which shows an example of a function structure of the robot control apparatus 30a and the teaching apparatus 50. FIG. It is a flowchart which shows an example of the flow of the process in which the teaching apparatus 50 acquires lifetime information from the robot control apparatus 30a. 10 is a flowchart illustrating an example of a process flow in which the robot control device 30a outputs life information to the teaching device 50.

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Robot system configuration>
First, the configuration of the robot system 1 will be described.
FIG. 1 is a diagram illustrating an example of a configuration of a robot system 1 according to the embodiment. The robot system 1 includes a robot 20 and a robot control device 30.

  The robot 20 is a single-arm robot including an arm A and a support base B that supports the arm A. The single arm robot is a robot having one arm (arm) like the arm A in this example. The robot 20 may be a multi-arm robot instead of the single-arm robot. The multi-arm robot is a robot having two or more arms (for example, two or more arms A). Of the multi-arm robot, a robot having two arms is also referred to as a double-arm robot. That is, the robot 20 may be a double-arm robot having two arms or a multi-arm robot having three or more arms (for example, three or more arms A). The robot 20 may be another robot such as a SCARA robot or a rectangular coordinate robot. The rectangular coordinate robot is, for example, a gantry robot.

The arm A includes an end effector E and a manipulator M.
In this example, the end effector E is an end effector including a finger portion that can grip an object. The end effector E may be an end effector capable of lifting an object by air suction, a magnetic force, a jig or the like, or another end effector, instead of the end effector including the finger portion.

  The end effector E is communicably connected to the robot control device 30 via a cable. Thereby, the end effector E performs an operation based on the control signal acquired from the robot control device 30. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB (Universal Serial Bus), for example. The end effector E may be configured to be connected to the robot control device 30 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  The manipulator M includes seven joints. Each of the seven joints includes an actuator (not shown). That is, the arm A including the manipulator M is a 7-axis vertical articulated arm. The arm A performs an operation with seven degrees of freedom by a coordinated operation by the support base B, the end effector E, the manipulator M, and the actuators of each of the seven joints included in the manipulator M. The arm A may be configured to operate with a degree of freedom of 6 axes or less, or may be configured to operate with a degree of freedom of 8 axes or more.

  When the arm A operates with a degree of freedom of 7 axes, the posture that the arm A can take is increased as compared with the case where the arm A operates with a degree of freedom of 6 axes or less. Thereby, for example, the operation of the arm A is smooth, and interference with an object existing around the arm A can be easily avoided. Further, when the arm A operates with a degree of freedom of 7 axes, the control of the arm A is easy and requires a smaller calculation amount than when the arm A operates with a degree of freedom of 8 axes or more.

  Each of the seven actuators (provided at the joints) included in the manipulator M is communicably connected to the robot controller 30 via a cable. Thereby, the actuator operates the manipulator M based on the control signal acquired from the robot control device 30. Note that wired communication via a cable is performed according to standards such as Ethernet (registered trademark) and USB, for example. Further, a part or all of the seven actuators included in the manipulator M may be configured to be connected to the robot control device 30 by wireless communication performed according to a communication standard such as Wi-Fi (registered trademark).

  In this example, the robot control device 30 is a robot controller. In the example shown in FIG. 1, the robot control device 30 is installed outside the robot 20. The robot control device 30 may be configured to be built in the robot 20 instead of being configured outside the robot 20.

  The robot control device 30 operates the robot 20 by transmitting a control signal to the robot 20. As a result, the robot control device 30 causes the robot 20 to perform a predetermined operation. The predetermined work is, for example, a work of gripping an object (not shown) from a material supply area (not shown) and removing the gripped object into a material removal area (not shown). The predetermined work may be another work instead of this. The object is, for example, an industrial part, member, device, or the like. Instead of this, the object may be a non-industrial daily commodity part, member, device or the like, or a living body such as a cell.

<Outline of processing performed by robot controller>
Hereinafter, an outline of processing performed by the robot control device 30 will be described.
As shown in FIG. 1, the robot control device 30 in this example includes a first display unit 35 that is a 7-segment display. The robot control device 30 displays the alarm AR on the first display unit 35. The alarm AR is an alarm related to the robot 20. The alarm is an alarm based on the life information of the object related to the robot 20. The object is, for example, an object that receives a load when the robot 20 operates. Hereinafter, for convenience of explanation, the object will be referred to as a consumable object.

  The consumable object is, for example, at least one of a speed reducer, a motor, a timing belt, a ball screw, and a battery. Instead of these, the consumable object may be another part, member, device, or the like constituting the robot 20, or may be a part, member, device, or the like constituting the robot control device 30, A peripheral device that can communicate with the robot 20 or a peripheral device that can communicate with the robot control device 30 such as a teaching pendant may be used, and a robot system such as an imaging unit, work table, jig, or tool. 1 may be a device or an instrument used in 1. Peripheral devices that can communicate with the robot 20 are different from the robot control device 30.

  The lifetime information of a certain consumable object is information including the life consumption rate information, which is information indicating the life consumption rate indicating the rate at which the lifetime of the consumable object is consumed. In this example, the life of a certain consumable object is the L10 life of the consumable object. The L10 life of a certain consumable object is the time from the start of using the consumable object until a defect occurs in the consumable object with a probability of 10%. That is, when the lifetime consumption rate of a certain consumable object reaches 100%, the consumable object has a defect with a probability of 10%. The life of a certain consumable object may be other life such as the L50 life or a predetermined number of times the L10 life instead of the L10 life of the consumable object. The L50 life of a certain consumable object is the time from when the consumable object begins to be used until a defect occurs in the consumable object with a probability of 50%. The predetermined number is, for example, 5, but may be a number other than 5.

  For example, when the lifetime consumption rate of at least one of the consumable objects reaches 100%, the robot control device 30 displays the alarm AR on the first display unit 35. For example, when the lifetime consumption rate of at least one of the consumable objects has reached 500%, the robot control device 30 displays the alarm AR on the first display unit 35. Thereby, the user can know that the lifetime consumption rate of at least one of the consumable objects has reached 100% or 500% by the alarm AR displayed on the first display unit 35. Instead of these cases, the robot control device 30 displays the alarm AR on the first display unit 35 in other cases such as when the life consumption rate of at least one of the consumable objects has reached the L50 life. The structure to be made may be sufficient. In the following, as an example, the robot control device 30 has a case where the lifetime consumption rate of at least one of the consumable objects reaches 100% and the life consumption rate of at least one of the consumable objects reaches 500%. A case where the alarm AR is displayed on the first display unit 35 in both cases will be described.

  Here, when the lifetime consumption rate of a certain consumable object is 100%, no trouble occurs in 90% of the consumable object. For this reason, there is a case where the user wants to replace only the consumable object whose life consumption rate has reached 500% without replacing the consumable object whose life consumption rate has reached 100%. However, as described above, in the robot control device 30, the life consumption rate of at least one of the consumable objects reaches 100% and the life consumption rate of at least one of the consumable objects reaches 500%. In both cases, the alarm AR is displayed on the first display unit 35. For this reason, if the user only looks at the alarm AR displayed on the first display unit 35, the lifetime consumption rate of at least one of the consumable objects has reached 100%, or the consumable object It cannot be distinguished whether at least one lifetime consumption rate has reached 500%.

  Also, in the robot control device X different from the robot control device 30, when an alarm regarding the robot 20 is displayed on the 7-segment display provided in the robot control device X, the user must report the alarm unless the cause of the alarm is removed. Could not be released. That is, the robot controller X cannot release the alarm unless the user removes the cause of occurrence. In this example, canceling a certain alarm means deleting (erasing) the alarm displayed on a certain display unit from the display unit. For this reason, when the user causes the robot controller X to control the robot 20, the user must replace the consumable object corresponding to the alarm every time the alarm is displayed on the display unit included in the robot controller X. did not become.

Therefore, the robot control device 30 in this example can cancel the alarm AR related to the robot 20 displayed on the first display unit 35. Thereby, the robot control device 30 can display the alarm AR desired by the user on the first display unit 35. As a result, the user can distinguish whether the alarm AR displayed on the first display unit 35 is the alarm AR desired by the user or another alarm AR.
Hereinafter, a process in which the robot control device 30 generates the life information of the consumable object and a process of canceling the alarm AR related to the robot 20 displayed on the first display unit 35 will be described in detail.

<Hardware configuration of robot controller>
Hereinafter, the hardware configuration of the robot control device 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a hardware configuration of the robot control device 30. The robot control device 30 includes, for example, a CPU (Central Processing Unit) 31, a storage unit 32, an input reception unit 33, a communication unit 34, the first display unit 35, and the second display unit 36 described above. Further, the robot control device 30 communicates with the robot 20 via the communication unit 34. These components are connected to each other via a bus Bus so that they can communicate with each other.

The CPU 31 executes various programs stored in the storage unit 32.
The storage unit 32 includes, for example, a hard disk drive (HDD), a solid state drive (SSD), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), and a random access memory (RAM). The storage unit 32 is an external storage device connected by a digital input / output port such as CF (Compact Flash, registered trademark) or USB instead of the one built in the robot control device 30. Also good. The storage unit 32 stores various information, images, programs, the above-described life information, and the like that are processed by the robot control device 30.

The input receiving unit 33 is, for example, a keyboard, a mouse, a touch pad, or other input device. The input receiving unit 33 may be configured integrally with the second display unit 36 as a touch panel.
The communication unit 34 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
In this example, the first display unit 35 is a 7-segment display. Alternatively, the first display unit 35 may be another display unit such as an LED (Light Emitting Diode), a liquid crystal display panel, or an organic EL (ElectroLuminescence) display panel.
The second display unit 36 is, for example, a liquid crystal display panel or an organic EL display panel.

<Functional configuration of robot controller>
Hereinafter, the functional configuration of the robot control device 30 will be described with reference to FIG. 3. FIG. 3 is a diagram illustrating an example of a functional configuration of the robot control device 30. The robot control device 30 includes a storage unit 32, an input receiving unit 33, a first display unit 35, a second display unit 36, a robot control unit 37, and a processing device 40.

  The robot control unit 37 controls the entire robot control device 30. In addition, the robot control unit 37 operates the robot 20 to cause the robot 20 to perform a predetermined operation.

  The processing device 40 includes a load calculation unit 41, a life information generation unit 43, a storage control unit 45, a first display control unit 47, a second display control unit 48, and a timer unit 49. These functional units included in the processing device 40 are realized, for example, when the CPU 31 executes various programs stored in the storage unit 32. Further, some or all of the functional units may be hardware functional units such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit). The processing device 40 may be separate from the robot control device 30. In this case, the processing device 40 includes a first display unit that is different from the first display unit 35 and a storage unit that is different from the storage unit 32, and is connected to the robot control device 30 in a communicable manner by wire or wirelessly.

  The load calculation unit 41 calculates a value representing the load applied to the consumable object based on the operation information stored in the storage unit 32 by the storage control unit 45 every time a predetermined condition is satisfied. The predetermined condition will be described later.

  The operation information is information in which the rotation speed information, torque information, and time information are associated with each other. The rotation speed information is information indicating the rotation speed per unit time of each actuator included in the robot 20 (the unit is, for example, rpm (Revolution Per Minutes)). The torque information is information indicating the torque (unit: N · m, for example) generated by each actuator. The time information is the time when the operation information is stored in the storage unit 32. Note that the operation information may include other information used to calculate a value representing the load, instead of a part or all of the rotation speed information, torque information, and time information. In addition to torque information and time information, other information used for calculating a value representing a load may be included.

  The value representing the load is determined in advance according to the consumable object. For example, when the consumable object is any one of a speed reducer, a motor, a timing belt, and a ball screw, the load torque and the operation within a predetermined period. It is at least one value of speed and operating distance. The load torque is an average value of torque generated by the consumable object within a predetermined period. The operation speed is at least one of an average value within a predetermined period of the speed at which the consumable object has moved and an average value within a predetermined period of the angular speed at which the consumable object has moved. The operating distance is at least one of a cumulative value within a predetermined period of the distance that the consumable object has moved, or a cumulative value within a predetermined period of the angle (or rotational speed) that the consumable object has moved. In this case, the value representing the load may be another value instead of a part or all of the load torque, the operation speed, and the operation distance. In addition to the load torque, the operation speed, and the operation distance, other values may be used. The value of may be included. For example, when the consumable object is a battery, the value representing the load is at least one of the power supply time and the power non-supply time. In this case, the value representing the load may be another value instead of one or both of the power supply time and the power non-supply time, and is added to the power supply time and the power non-supply time. Other values may be included.

The life information generation unit 43 generates life information based on the value representing the load calculated by the load calculation unit 41.
The storage control unit 45 stores the operation information acquired from the encoders of the actuators included in the robot 20 in the storage unit 32 every time a predetermined time elapses. The time is, for example, about 0.5 seconds. The time may be another time. In addition, the storage control unit 45 causes the storage unit 32 to store the life information generated by the life information generation unit 43.

The first display control unit 47 displays the alarm AR on the first display unit 35 based on the life information. Further, the first display control unit 47 cancels the alarm AR displayed on the first display unit 35 based on the operation received from the user.
The second display control unit 48 generates various screens based on the operation received from the user. The second display control unit 48 displays the generated screen on the second display unit 36. The second display control unit 48 generates a life information display screen that is a screen for displaying the life information. The second display control unit 48 causes the second display unit 36 to display the generated life information display screen.
The timer 49 measures the time.

<Process in which the robot controller generates life information of the consumable object>
Hereinafter, with reference to FIG. 4, a process in which the robot control device 30 generates lifetime information of the consumable object will be described.

  The robot control device 30 in this example generates life information of the consumable object every time a predetermined condition is satisfied. The predetermined condition is, for example, that a predetermined time elapses. Below, the case where predetermined time is 24 hours is demonstrated as an example. The predetermined time may be other time instead of this. Further, the predetermined condition may be another condition such that the robot 20 performs a predetermined work for a predetermined number of times, instead of the predetermined time elapses.

  FIG. 4 is a flowchart illustrating an example of a flow of processing in which the robot control device 30 generates the life information of the consumable object. In the flowchart shown in FIG. 4, as an example, a case will be described in which the consumable object is a timing belt provided in a joint J7 that is a joint that rotates the end effector E among the joints of the manipulator M. When there are a plurality of consumable objects, the robot control device 30 performs the processing of the flowchart shown in FIG. 4 for each of the plurality of consumable objects, and generates life information for each consumable object. At this time, the robot control apparatus 30 associates identification information indicating the consumable object with the lifetime information of a certain consumable object. Thereby, the robot control apparatus 30 can specify the life information of the consumption object.

  The load calculation unit 41 waits until a predetermined condition is satisfied (step S110). The predetermined condition is, for example, that a predetermined time elapses. The predetermined condition may be another condition instead of this. The load calculating unit 41 determines that the predetermined condition is satisfied when it is determined that the predetermined time has elapsed based on the time measured by the time measuring unit 49. When it is determined that the predetermined condition is satisfied (step S110-YES), the load calculation unit 41 calculates the cumulative value of the rotational speed of the timing belt in the time from the time that is a predetermined time before the current time to the current time. Then, it is calculated as a value representing the load of the timing belt (step S120). Here, the process of step S120 will be described.

  The load calculation unit 41 reads all the operation information stored in the storage unit 32 by the storage control unit 45 within a time period from a time that is a predetermined time earlier than the current time to the current time. The load calculation unit 41 calculates the average value per unit time within the time of the rotation speed of the actuator based on the rotation speed information included in the read operation information and the rotation speed information of the actuator that moves the timing belt. To do. The load calculation unit 41 calculates the number of rotations of the actuator within the time by multiplying the calculated average value by a predetermined time.

  Further, the load calculation unit 41 reads shape information stored in advance in the storage unit 32 from the storage unit 32. The shape information is information indicating the shape and size of the consumable object and the parts, members, and devices related to the consumable object. That is, in this example, the shape information is information indicating the shape and size of the timing belt and the parts, members, and devices related to the timing belt. The parts, members, and devices related to the timing belt are, for example, an actuator that moves the timing belt, a pulley on which the timing belt is hung, and the like. The load calculation unit 41 calculates a cumulative value of the rotation speed of the timing belt as a value representing the load of the timing belt based on the read shape information and the rotation speed of the actuator that is the calculated rotation speed and moves the timing belt. To do. The cumulative value is a cumulative value of the number of rotations of the timing belt within a time period from a time that is a predetermined time earlier than the current time to the current time. More specifically, the load calculation unit 41 calculates the rotation number of the actuator that moves the timing belt, which is the calculated rotation number, from a time that is a predetermined time later than the current time based on the shape information. Is converted into a cumulative value of the number of rotations of the timing belt within the time period.

  After the value representing the timing belt load is calculated in step S120, the life information generating unit 43 generates the timing belt life information based on the value representing the timing belt load calculated by the load calculating unit 41 in step S120. (Calculate) (step S130). Here, the process of step S130 will be described.

  The life information generating unit 43 obtains the number of times N1 of the timing belt from the shape information read from the storage unit 32 by the load calculating unit 41, the number of teeth N2 of the timing belt, and the number of teeth N3 of the pulley on which the timing belt is hung. Extract. The life information generating unit 43 shows the following based on each of the extracted number of flexing times N1, the number of teeth N2, and the number of teeth N3, and the cumulative value of the rotational speed of the timing belt calculated by the load calculating unit 41 in step S120. The life of the timing belt is calculated using the equation (1).

  h = (N1 × N2) / (N4 × N3 × k) (1)

  Here, h indicates the life of the timing belt. N4 indicates the cumulative value of the rotational speed of the timing belt calculated by the load calculation unit 41 in step S120. K is a coefficient for converting the dimension of the right side of the above equation (1) into time and converting the value of the right side of the above equation (1) into the L10 life of the timing belt. k is stored in advance in the storage unit 32, and is read by the life information generation unit 43. In this example, k is 60 [1 / hour]. K is a coefficient for converting the dimension of the right side of the above equation (1) into time and converting the value of the right side of the above equation (1) into another life such as the L50 life of the timing belt. Also good. Further, the life information generating unit 43 may be configured to calculate the life of the timing belt using another equation instead of the above equation (1). The formula for calculating the lifetime of the consumable object as in the above formula (1) differs depending on the consumable object. Therefore, the life information generating unit 43 stores in advance information indicating an expression corresponding to the consumable object.

  Further, the life information generating unit 43 calculates an operating time that is a cumulative value of the time during which the timing belt is moving based on the operation information and the shape information read by the load calculating unit 41 from the storage unit 32. Specifically, the life information generating unit 43 calculates the time during which the actuator is moving based on the rotation speed information and time information included in the operation information, and converts the calculated time into operating time. Then, the life information generation unit 43 calculates the life consumption rate based on the information indicating the calculated timing belt life and the information indicating the calculated operation time of the timing belt. The lifetime consumption rate is (MT1 / LT1) × 100 [%] when the lifetime is LT1 and the operating time is MT1. In addition, the life information generation unit 43 calculates the remaining time obtained by subtracting the time corresponding to the calculated life consumption rate from the life (LT1 in the above example) as a remainder (remaining life).

  The life information generating unit 43 calculates the life consumption rate information indicating the calculated life consumption rate, the extra information indicating the calculated surplus, the information indicating the calculated life of the timing belt, and the calculated operation time of the timing belt. The life information is generated by associating the indicated information with the time information indicating the current time measured by the timer 49. That is, the lifetime information in this example is information in which these pieces of information are associated with each other. The time information is information indicating the time when the life information is generated. Based on the time information, the robot control device 30 can specify the latest life information from the life information.

  After the lifetime information is generated in step S130, the storage control unit 45 stores the lifetime information generated by the lifetime information generation unit 43 in step S130 in the storage unit 32 (step S140), and ends the process.

  The storage control unit 45 may be configured to delete the lifetime information stored before the predetermined storage period from the lifetime information stored in the storage unit 32. The predetermined storage period is, for example, 2 months. Accordingly, the storage control unit 45 can include a storage unit having a small storage capacity as the storage unit 32. In addition, instead of this, the predetermined storage period may be a time shorter than two months or a time longer than two months.

<Processing in which the robot controller displays an alarm>
Hereinafter, a process in which the robot control device 30 displays the alarm AR will be described with reference to FIG. FIG. 5 is a flowchart illustrating an example of a process flow in which the robot control device 30 displays the alarm AR.

  The robot control device 30 performs the process of the flowchart shown in FIG. 5 every time the lifetime information for each one or more consumables is stored in the storage unit 32 by the process of the flowchart shown in FIG. Instead of this, the robot control device 30 may be configured to perform the processing of the flowchart shown in FIG. 5 at another timing.

  After the life information for each one or more consumable objects is stored in the storage unit 32 by the process of the flowchart shown in FIG. 4, the first display control unit 47 performs steps S160 to S170 for each consumable object. The process is repeated (step S150).

  The first display control unit 47 determines whether or not the alarm condition is satisfied based on the latest life information stored in the storage unit 32 that is the life information of the consumable object selected in Step S150 ( Step S160). The alarm condition is, for example, satisfying at least one of the following two conditions 1) and 2).

1) The lifetime consumption rate indicated by the lifetime consumption rate information included in the lifetime information has reached the first threshold value or more and less than the second threshold value. 2) The lifetime consumption rate indicated by the lifetime consumption rate information included in the lifetime information is the second threshold value. Have reached

  Note that the alarm condition may be a configuration that satisfies other conditions instead of one or both of the above two conditions, and a configuration that satisfies the other conditions in addition to the above two conditions. It may be.

  When the first display control unit 47 determines that the alarm condition is not satisfied (step S160—NO), the first display control unit 47 proceeds to step S150 and selects the next consumable object. In this case, and when there is no unselected consumable object in step S150, the first display control unit 47 ends the process. On the other hand, when the first display control unit 47 determines that the alarm condition is satisfied (step S160-YES), the first display control unit 47 displays the alarm AR corresponding to the consumable object selected in step S150 on the first display unit 35 ( Step S170), the process is terminated.

<Processes performed by the robot controller on the life information display screen>
Hereinafter, with reference to FIG. 6, processing performed by the robot control device 30 regarding the life information display screen will be described. FIG. 6 is a flowchart illustrating an example of a flow of processing performed by the robot control device 30 regarding the life information display screen. In the flowchart shown in FIG. 6, the robot control device 30 performs an operation for causing the robot control device 30 to perform a process of displaying the life information display screen on the second display unit 36 immediately before the process of step S210 is started. The case where it has already been received from the user will be described.

  The second display control unit 48 generates life information display screen information that is information for displaying the life information display screen on the second display unit 36 (step S210). Next, the 2nd display control part 48 outputs the signal containing the lifetime information display screen information produced | generated in step S210 to the 2nd display part 36 as a signal which displays a lifetime information display screen on the 2nd display part 36. FIG. Thereby, the 2nd display control part 48 displays a life information display screen on the 2nd display part 36 (step S220).

  Next, the second display control unit 48 stands by until an operation by the user is accepted from the life information display screen displayed on the second display unit 36 (step S230). When it is determined that the user's operation has been received from the life information display screen (step S230-YES), the second display control unit 48 determines whether or not the user's operation received from the life information display screen is an end operation ( Step S240). The end operation is an operation for deleting (erasing) the life information display screen from the second display unit 36. The second display control unit 48 may be configured to accept an end operation from the user via a hardware button, or may be configured to accept an end operation from the user via a software button.

  When it is determined that the user operation received from the life information display screen is not an end operation (NO in step S240), the second display control unit 48 responds to the user operation received from the life information display screen in step S230. Processing is executed (step S250). And the 2nd display control part 48 changes to step S230, and waits until it receives operation by a user from a lifetime information display screen again. On the other hand, when it is determined that the user operation received from the life information display screen is an end operation (step S240-YES), the second display control unit 48 deletes the life information display screen from the second display unit 36, End the process.

<Processing of the robot controller according to the user's operation received from the life information display screen>
Hereinafter, with reference to FIG. 7, the process of the robot control device 30 according to the operation from the user received on the life information display screen will be described. That is, here, the processing of steps S230 to S250 shown in FIG. 6 will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a life information display screen. The life information display screen P1 shown in FIG. 7 is an example of the life information display screen displayed on the second display unit 36 by the second display control unit 48 in step S220 shown in FIG.

  The life information display screen P1 includes, for example, a pull-down menu PL, a tab area TB, a life information display area RA1, a button BT1, and a button BT2. The life information display screen P1 may be configured to include other information and GUI (Graphical User Interface) in addition to these.

  The pull-down menu PL is a GUI for selecting a device desired by the user from a plurality of devices provided in the robot system 1. The device includes at least one of the robot 20, a peripheral device connected to the robot 20, a robot control device 30, and a peripheral device connected to the robot control device 30. When a plurality of robots including the robot 20 are connected to the robot control apparatus 30, the apparatus includes the plurality of robots. FIG. 7 shows an example in which the robot 20 is selected as an apparatus desired by the user. Therefore, a character string “robot 20” that is information indicating the robot 20 is displayed in the pull-down menu PL.

  In the tab area TB, tabs corresponding to the device selected from the pull-down menu PL are displayed. The tab corresponding to the device is a tab associated with each of one or more predetermined parts included in the device. In this example, the predetermined part is a part having a consumable object. In the example shown in FIG. 7, since the device selected by the pull-down menu PL is the robot 20, the predetermined part is each joint included in the manipulator M, that is, each of the joints J1 to J7 and each of these joints. It is eight parts with a common part which is a different part and a part provided with a consumable object. That is, eight tabs are displayed in the tab area TB shown in FIG.

  The tab displaying the character string “common” shown in FIG. 7 is a tab associated with the above-described common part. Further, the tab on which the character string “J1” is displayed is a tab associated with the joint J1. Further, the tab on which the character string “J2” is displayed is a tab associated with the joint J2. Further, the tab on which the character string “J3” is displayed is a tab associated with the joint J3. Further, the tab on which the character string “J4” is displayed is a tab associated with the joint J4. Further, the tab on which the character string “J5” is displayed is a tab associated with the joint J5. Further, the tab on which the character string “J6” is displayed is a tab associated with the joint J6. Further, the tab on which the character string “J7” is displayed is a tab associated with the joint J7.

  When one of the tabs displayed in the tab area TB is clicked (tapped) by the user, the life information display area RA1 includes a consumable object provided in a predetermined part associated with the tab tapped by the user. Life information is displayed. Specifically, information based on the lifetime information of the consumable object is displayed in the lifetime information display area RA1. In the example shown in FIG. 7, the user clicks on the tab associated with the joint J1. For this reason, information based on the lifetime information of the consumable object included in the joint J1 is displayed in the lifetime information display area RA1. In this example, the consumable objects included in the joint J1 are a speed reducer, a timing belt, a motor, and a battery. The consumable object may be configured to include another consumable object instead.

  More specifically, in the life information display area RA1 shown in FIG. 7, for each consumable object included in the joint J1, a radio button associated with the consumable object, information indicating the consumable object, The replacement date of the consumable object, the surplus of the consumable object, the life consumption rate of the consumable object, and the indicator of the life consumption rate are displayed as information based on the life information of the consumable object. ing. The information indicating a certain consumable object is, for example, the name of the consumable object. Note that the information indicating the consumable object may be other information such as a symbol or a figure instead. The replacement date of a certain consumable object is the date on which the consumable object is attached. Instead of this, the replacement date of the consumable object may be another date such as the date on which the consumable object is used. The indicator of the life consumption rate of a certain consumable object is a meter representing the ratio of the life consumption rate to the life when the life of the consumable object is 100%. The life information display area RA1 may be configured to include other information and GUI instead of the information and GUI.

  That is, in the life information display area RA1, for the speed reducer included in the joint J1, the radio button RB1 associated with the speed reducer, the name of the speed reducer, and the replacement date of the speed reducer “2015/12”. / 25 "," 10 ", which is the monthly addition of the reduction gear," 80% ", which is the life consumption rate of the reduction gear, and the corresponding life consumption indicator It is attached and displayed. The extra calculation may be performed in units of years, days, hours, etc. instead of months. In the example shown in FIG. 7, “10”, which is the remainder, means that the remainder of the reduction gear is 10 months.

  In the life information display area RA1, for the timing belt provided in the joint J1, the radio button RB2 associated with the timing belt, the name of the timing belt, and the replacement date of the timing belt “2015/12”. / 25 ”,“ 10 ”, which is the monthly addition of the timing belt,“ 500% ”, which is the lifetime consumption rate of the timing belt, and an indicator of the lifetime consumption rate It is attached and displayed. The extra calculation may be performed in units of years, days, hours, etc. instead of months. Further, in the example shown in FIG. 7, “10”, which is the remainder, means that the remainder of the timing belt is 10 months.

  In the life information display area RA1, for the motor included in the joint J1, the radio button RB3 associated with the motor, the name of the motor, and “2015/12/25” which is the replacement date of the motor are displayed. In addition, “10”, which is the monthly addition, and “150%”, which is the lifetime consumption rate of the motor, and an indicator of the lifetime consumption rate are displayed in association with each other. Yes. The extra calculation may be performed in units of years, days, hours, etc. instead of months. In the example shown in FIG. 7, “10”, which is the remainder, means that the remainder of the motor is 10 months.

  In the life information display area RA1, for the battery included in the joint J1, the radio button RB4 associated with the battery, the name of the battery, and “2015/12/25” which is the replacement date of the battery are displayed. In addition, “10”, which is the monthly addition, and the battery life consumption rate “80%”, and the life consumption rate indicator are displayed in association with each other. Yes. The extra calculation may be performed in units of years, days, hours, etc. instead of months. In the example shown in FIG. 7, “10”, which is the remainder, means that the remaining battery is 10 months.

  The life information display area RA1 includes a radio button associated with a ball screw that is a consumable object that the joint J1 does not have, a name of the ball screw, a replacement date of the ball screw, and a monthly unit. A field RA2 for displaying the remainder of the ball screw, the life consumption rate of the ball screw, and the indicator of the life consumption rate in association with each other is displayed. In the field RA2, the radio button and the name are displayed in a lighter color than other radio buttons and other names displayed on the life information screen. In the column RA2, the replacement date, the extra calculation, the lifetime consumption rate, and the indicator are blank. As described above, these are because the joint J1 does not include the ball screw. The life information display area RA1 includes a radio button associated with a consumable object that does not have a predetermined region associated with the tab tapped by the user, the name of the consumable object, and the consumable object. The replacement date of the item, the monthly addition of the consumption target, the lifetime consumption rate of the consumption target, and a part or all of the lifetime consumption rate indicator are not displayed. There may be.

  When the pull-down menu PL is clicked (tapped) by the user, the second display control unit 48 displays a device list screen that is a screen (not shown) and displays a list of a plurality of devices included in the robot system 1. When any one of a plurality of devices displayed on the device list screen is clicked by the user, the second display control unit 48 specifies the device clicked by the user as a device desired by the user. And the 2nd display control part 48 displays the information which shows the specified said apparatus on pull-down menu PL.

  After the user selects a device desired by the user from the pull-down menu PL, the second display control unit 48 displays a tab corresponding to the device selected from the pull-down menu PL in the tab area TB. In the example illustrated in FIG. 7, since the apparatus is the robot 20, the second display control unit 48 displays the above-described eight tabs as tabs corresponding to the robot 20 in the tab area TB.

  After one or more tabs are displayed in the tab area TB, the second display control unit 48 displays in the life information display area RA1 the life information of the consumable object provided in the predetermined part associated with the tab clicked by the user. To do. Note that the second display control unit 48 displays the life information of the consumable object included in the predetermined part associated with the predetermined tab (default tab) until the user clicks the tab. It may be configured to display in the area RA1. In this case, the predetermined tab may be input to the second display control unit 48 in advance, or may be input to the second display control unit 48 later by the user.

  When displaying the life information in the life information display area RA1, the second display control unit 48 associates with the tab clicked by the user in the life information stored in the storage unit 32 in step S140 shown in FIG. An image to be displayed in the life information display area RA1 based on the latest life information of the consumable object and the replacement date information indicating the replacement date of the consumable object previously stored in the storage unit 32 Is generated. The second display control unit 48 displays the generated image in the life information display area RA1.

  Further, the second display control unit 48 displays the display mode of each of the one or more tabs displayed in the tab area TB and the life information based on the life information stored in the storage unit 32 in step S140 illustrated in FIG. The display mode of one or more indicators displayed in the display area RA1 is changed. In this example, the display mode is at least one of color, pattern, shape, size, and the like. Below, the case where a display mode is a color is demonstrated as an example. The display mode is an example of a mode.

  Specifically, the second display control unit 48 determines that the lifetime consumption rate of all the consumable objects included in a predetermined part associated with a certain tab among the tabs displayed in the tab area TB is less than the first threshold value. If there is, the second display control unit 48 changes the color of the tab to white. Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than white. In addition, when the lifetime consumption rate of at least one of the consumable objects included in the predetermined part associated with the tab is greater than or equal to the first threshold value and less than the second threshold value, the second display control unit 48 Make the color yellow. Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than yellow. Further, when the lifetime consumption rate of at least one of the consumable objects provided in the predetermined part associated with the tab is equal to or greater than the second threshold, the second display control unit 48 changes the color of the tab to red. To do. Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than red.

  Here, the first threshold value is 100% in this example. The first threshold value may be another value as long as it is smaller than the second threshold value instead of 100%. In this example, the second threshold is 500%. Note that the second threshold value may be another value as long as it is larger than the first threshold value instead of 500%.

  Note that the second display control unit 48 may be configured to hold the color of the tab clicked by the user in a predetermined color. The example shown in FIG. 7 is an example when the color of the tab clicked by the user is maintained as a predetermined color. The predetermined color is, for example, white. This is because the user can check the lifetime consumption rate of the consumable object on the lifetime information screen displayed in the lifetime information display area RA1. The predetermined color may be a color other than white. In the example shown in FIG. 7, the difference in tab color is represented by the difference in tab hatching.

  Moreover, the 2nd display control part 48 makes the color of the said indicator green when the lifetime consumption rate which an indicator represents is less than a 1st threshold value for every indicator displayed on the lifetime information display area RA1. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than green. In addition, for each indicator displayed in the life information display area RA1, the second display control unit 48 changes the color of the indicator to yellow when the life consumption rate represented by the indicator is equal to or greater than the first threshold value and less than the second threshold value. To do. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than yellow. Moreover, the 2nd display control part 48 makes the color of the said indicator red when the lifetime consumption rate which an indicator shows is more than a 2nd threshold value for every indicator displayed on the lifetime information display area RA1. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than red.

  That is, the second display control unit 48 causes the second display unit 36 to display the life information in at least two different display modes. Thereby, the robot control device 30 can make the user easily distinguish the life information corresponding to the alarm AR displayed on the first display unit 35 and the life information not corresponding to the alarm AR.

  The second display control unit 48 may be configured to change either or both of the tab display mode and the indicator display mode based on the surplus information included in the life information. . In this case, the second display control unit 48 has a case where the remainder of all the consumable objects included in a predetermined part associated with a certain tab among the tabs displayed in the tab area TB is equal to or greater than the third threshold value. The second display control unit 48 changes the color of the tab to white. Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than white. When at least one of the consumable objects included in the predetermined part associated with the tab is less than the third threshold and greater than or equal to the fourth threshold, the second display control unit 48 determines the color of the tab. Turn yellow. Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than yellow. In addition, when at least one of the consumable objects included in the predetermined part associated with the tab is less than the fourth threshold, the second display control unit 48 changes the color of the tab to red. . Alternatively, the second display control unit 48 may be configured to change the color of the tab to a color other than red.

  Here, the third threshold is 0 months in this example. The 0 month indicates that there is no extra calculation, that is, the lifetime consumption rate has reached 100%. The third threshold value may be another value as long as it is larger than the fourth threshold value instead of 0 months. In this example, the fourth threshold is −1 month. The -1 month indicates that the product has been used for more than 1 month. The fourth threshold may be another value as long as it is smaller than the third threshold instead of −1 month.

  In addition, for each indicator displayed in the life information display area RA1, the second display control unit 48 sets the indicator color to green when the remainder corresponding to the indicator is equal to or greater than the third threshold value. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than green. In addition, for each indicator displayed in the life information display area RA1, the second display control unit 48 changes the color of the indicator to yellow when the remainder corresponding to the indicator is less than the third threshold and greater than or equal to the fourth threshold. To do. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than yellow. In addition, for each indicator displayed in the life information display area RA1, the second display control unit 48 changes the color of the indicator to red when the remainder corresponding to the indicator is less than the fourth threshold value. Alternatively, the second display control unit 48 may be configured to change the color of the indicator to a color other than red.

  Here, the user can select the consumable object associated with the clicked radio button as the consumable object desired by the user by clicking the radio button displayed in the life information display area RA1. When the yellow or red indicator is displayed in the life information display area RA1, the first display control unit 47 displays the alarm AR on the first display unit 35 by the process of the flowchart shown in FIG. . By clicking the radio button, the user selects a consumable object corresponding to the alarm AR displayed on the first display unit 35, and clicks the button BT1 for the alarm AR corresponding to the selected consumable object. It can be canceled by doing.

  When the user clicks the radio button RB1, the first display control unit 47 and the second display control unit 48 identify the reduction gear that is the consumable object associated with the radio button RB1 as the consumable object desired by the user. To do. When the user clicks the radio button RB2, the first display control unit 47 and the second display control unit 48 use the consumable object that the user desires a timing belt, which is the consumable object associated with the radio button RB2. As specified. When the user clicks the radio button RB3, the first display control unit 47 and the second display control unit 48 set the motor that is the consumable object associated with the radio button RB3 as the consumable object desired by the user. Identify. When the user clicks the radio button RB4, the first display control unit 47 and the second display control unit 48 set the battery, which is the consumable object associated with the radio button RB4, as the consumable object desired by the user. Identify.

  In the example shown in FIG. 7, the lifetime consumption rates of the two consumable objects of the timing belt and the motor included in the joint J1 satisfy the above-described alarm condition. Here, for convenience of explanation, a case will be described as an example in which the lifetime consumption rate of a consumable object other than the consumable object included in the joint J1 does not satisfy the alarm condition. In this case, the first display control unit 47 superimposes both the alarm AR corresponding to the timing belt and the alarm AR corresponding to the motor on the first display unit 35 by the processing of the flowchart shown in FIG. it's shown. In this state, the user cannot distinguish whether the alarm AR displayed on the first display unit 35 is the alarm AR corresponding to the timing belt or the alarm AR corresponding to the motor. Therefore, for example, when the user clicks the radio button RB3 to select the motor and then clicks the button BT1, the first display control unit 47 sets the alarm AR of the alarm AR displayed on the first display unit 35. Release the alarm AR corresponding to the motor. Thereby, the user can specify that the alarm AR displayed on the first display unit 35 is the alarm AR corresponding to the timing belt. Thus, the button BT1 is a button that causes the first display control unit 47 to release the alarm AR displayed on the first display unit 35.

  When the first display control unit 47 determines that the lifetime consumption rate of the consumable object corresponding to the alarm AR once canceled satisfies the alarm condition again, the first display control unit 47 sets the alarm AR corresponding to the consumable object to the first alarm AR. The display may be re-displayed on the display unit 35, or the alarm AR may not be displayed again on the first display unit 35.

  Further, the user clicks a radio button displayed in the life information display area RA1 to select a consumable object desired by the user, and clicks a button BT2 for a replacement date of the selected consumable object. Can be edited (changed). For example, as illustrated in FIG. 7, when the user clicks the radio button RB1 and then clicks the button BT2, the second display control unit 48 determines the speed reducer included in the joint J1 based on the operation received from the user. Change the replacement date according to the operation. And the 2nd display control part 48 is the replacement date information which shows the replacement date of the said reduction gear, Comprising: The replacement date information memorize | stored in the memory | storage part 32 is updated to the replacement date information which shows the replacement date according to the said operation To do.

Thus, the robot control device 30 can cancel the alarm AR related to the robot 20 displayed on the first display unit 35. Thereby, the robot control device 30 can display the alarm AR desired by the user on the first display unit 35. As a result, the user can distinguish whether the alarm AR displayed on the first display unit 35 is the alarm AR desired by the user or another alarm AR.
In addition, the robot control device 30 displays the life information on the second display unit 36. Thereby, the robot control apparatus 30 can visually provide the user with life information corresponding to the alarm AR displayed on the first display unit 35.

<Process that robot controller backs up life information>
Hereinafter, with reference to FIG. 8, a process in which the robot control apparatus 30 backs up the life information will be described. When the storage unit 32 is an external storage device, or when another external storage device different from the storage unit 32 is provided, the robot control device 30 replaces at least one of these storage devices with another The robot controller 30 can be backed up, and at least a part of the life information stored in the connected storage device can be backed up to the other robot controller 30 (recoverably saved). Below, the case where the robot control apparatus 30 is provided with the other external storage device BK different from the memory | storage part 32 with the memory | storage part 32 as an example is demonstrated.

  FIG. 8 is a diagram for explaining processing in which the robot control device 30 backs up life information. FIG. 8 shows two robot control devices 30, a robot control device 30-1 and a robot control device 30-2, and the robot 20. In FIG. 8, the robot control device 30-1 is connected to the robot 20. That is, the robot control device 30-1 controls the robot 20. And the robot control apparatus 30-1 has memorize | stored the lifetime information in the memory | storage part 32 with which the robot control apparatus 30-1 is provided by the process of the flowchart shown in FIG. The user can store at least part of the life information stored in the storage unit 32 in the storage device BK. When the storage device BK is connected to the robot control device 30-1, the storage control unit 45 included in the robot control device 30-1 is based on the operation received from the user and is included in the robot control device 30-1. At least a part of the life information stored in the memory 32 is stored in the storage device BK.

  After the life information is stored in the storage device BK by the robot control device 30-1, the user can cause the robot control device 30-2 to store the life information stored in the storage device BK. That is, the user can restore the lifetime information to the robot control device 30-2. In the following, as an example, after the life information is stored in the storage device BK by the robot control device 30-1, the user removes the storage device BK from the robot control device 30-1 and connects it to the robot control device 30-2. The case will be described. After the storage device BK is connected to the robot control device 30-2, the storage control unit 45 included in the robot control device 30-2 receives at least the life information stored in the storage device BK based on the operation received from the user. A part is stored in the storage unit 32 provided in the robot control device 30-2.

  The arrows shown in FIG. 8 represent how life information is transferred from the robot control device 30-1 to the storage device BK and from the storage device BK to the robot control device 30-2. In this example, after the life information is stored in the storage device BK by the robot control device 30-1, the storage device BK is connected to the robot control device 30-2. It may be configured to be connected to another device different from the robot control device 30. In this case, the device stores at least a part of the life information stored in the storage device BK in the storage unit of the device.

  That is, the robot control device 30 stores at least a part of the life information in the storage device BK. Thereby, the robot control apparatus 30 can output at least a part of the life information to another apparatus. The storage device BK is an example of a storage unit.

<Modification of Embodiment>
Hereinafter, a modification of the embodiment will be described with reference to FIGS. In addition, in the modification of embodiment, the same code | symbol is attached | subjected with respect to the component similar to embodiment described above, and description is abbreviate | omitted. FIG. 9 is a diagram illustrating an example of a configuration of a robot system 1a according to a modification of the embodiment. In the modification of the embodiment, the robot system 1a includes a robot 20, a robot control device 30a, and a teaching device 50.

  The robot control device 30a has the same function as that of the robot control device 30 described above. Further, the robot control device 30 a acquires information indicating the operation of the robot 20 from the teaching device 50. The robot control device 30a stores the acquired information. In response to a request from the teaching device 50, the robot control device 30a outputs the life information stored by the processing of the flowchart shown in FIG. 4 to the teaching device 50. In addition, the robot control device 30 a acquires replacement date information indicating the replacement date of the consumable object from the teaching device 50. The robot control device 30a updates the exchange date information stored in advance based on the acquired exchange date information.

  In this example, the teaching device 50 is a teaching pendant. The teaching device 50 outputs information indicating the operation of the robot 20 to the robot control device 30a based on the operation received from the user, and stores the information in the robot control device 30a. Further, the teaching device 50 outputs a request for obtaining life information to the robot control device 30a. The teaching device 50 acquires life information from the robot control device 30a as a response to the output request. The teaching device 50 displays the acquired life information. Further, based on the operation received from the user, the teaching device 50 outputs replacement date information indicating a replacement date of the consumable object to the robot control device 30a, and causes the robot control device 30a to update the replacement date information.

<Hardware configuration of robot controller>
The hardware configuration of the robot control device 30 a is the same as the hardware configuration of the robot control device 30. Therefore, description of the hardware configuration of the robot control device 30a is omitted.

<Hardware configuration of teaching device>
Hereinafter, the hardware configuration of the teaching apparatus 50 will be described with reference to FIG. FIG. 10 is a diagram illustrating an example of a hardware configuration of the teaching device 50. The teaching device 50 includes, for example, a CPU 51, a storage unit 52, an input reception unit 53, a communication unit 54, and a second display unit 56. The teaching device 50 communicates with the robot control device 30 a via the communication unit 54. These components are connected to each other via a bus Bus so that they can communicate with each other.

The CPU 51 executes various programs stored in the storage unit 52.
The storage unit 52 includes, for example, an HDD, an SSD, an EEPROM, a ROM, a RAM, and the like. Note that the storage unit 52 may be an external storage device connected by a digital input / output port such as a CF or a USB instead of the one built in the teaching device 50. The storage unit 52 stores various information, images, programs, life information, and the like that are processed by the teaching device 50.

The input receiving unit 53 is, for example, a touch panel configured integrally with the second display unit 56. The input receiving unit 53 may be another input device such as a keyboard, a mouse, or a touch pad.
The communication unit 54 includes, for example, a digital input / output port such as USB, an Ethernet (registered trademark) port, and the like.
The second display unit 56 is, for example, a liquid crystal display panel or an organic EL display panel.

<Functional configuration of robot control device and teaching device>
Hereinafter, the functional configuration of the robot control device 30a and the teaching device 50 will be described with reference to FIG. FIG. 11 is a diagram illustrating an example of functional configurations of the robot control device 30 a and the teaching device 50.

  The robot control device 30 includes a storage unit 32, an input receiving unit 33, a first display unit 35, a second display unit 36, a robot control unit 37, and a processing device 40a.

  The processing device 40a includes a load calculation unit 41, a transmission / reception control unit 42, a life information generation unit 43, a storage control unit 45a, a first display control unit 47, a second display control unit 48, and a time counting unit 49. Prepare. These functional units included in the processing device 40a are realized, for example, when the CPU 51 executes various programs stored in the storage unit 52. Also, some or all of the functional units may be hardware functional units such as LSI and ASIC. The processing device 40a may be separate from the teaching device 50. In this case, the processing device 40a includes a storage unit different from the storage unit 52, and is connected to be communicable with the robot control device 30a by wire or wirelessly.

The transmission / reception control unit 42 acquires a request for acquiring life information from the teaching device 50. Further, the transmission / reception control unit 42 outputs life information to the teaching device 50. In addition, the transmission / reception control unit 42 acquires replacement date information indicating the replacement date of the consumable object from the teaching device 50.
The storage control unit 45 a has the same function as that of the storage control unit 45. In addition, the storage control unit 45 a updates the replacement date information stored in the storage unit 52 based on the replacement date information acquired by the transmission / reception control unit 42.

  The teaching device 50 includes a storage unit 52, an input receiving unit 53, a second display unit 56, a teaching control unit 57, and a processing device 40b.

  The teaching control unit 57 controls the entire teaching device 50. Further, based on the operation received from the user, the teaching control unit 57 outputs information indicating the operation of the robot 20 to the robot control device 30a, and causes the robot control device 30a to store the information in the storage unit 32.

The processing device 40b includes a life information acquisition unit 44, a storage control unit 45, a first display control unit 47b, a second display control unit 48b, and a time measuring unit 49.
The life information acquisition unit 44 outputs a request for acquiring life information to the robot control device 30a based on the operation received from the user. The lifetime information acquisition unit 44 acquires lifetime information from the robot control device 30a as a response to the request.
The first display control unit 47b has the same function as the function of the first display control unit 47. Further, the first display control unit 47b causes the first display control unit 47 included in the robot control device 30a to release the alarm AR displayed on the first display unit 35 based on an operation received from the user.

  The second display control unit 48b generates various screens based on the operation received from the user. The second display control unit 48 b displays the generated screen on the second display unit 56. The second display control unit 48b generates a life information display screen that is a screen for displaying the life information acquired from the robot control device 30a. The second display control unit 48 causes the second display unit 56 to display the generated life information display screen.

<Processing in which teaching device obtains life information from robot controller>
Hereinafter, with reference to FIG. 12, a process in which the teaching device 50 acquires the life information from the robot control device 30a will be described. FIG. 12 is a flowchart illustrating an example of a flow of processing in which the teaching device 50 acquires life information from the robot control device 30a.

  Based on the operation received from the user, the life information acquisition unit 44 sends a request for acquiring the latest life information, which is life information of all the consumables and stored in the storage unit 32 included in the robot control device 30a. The data is output to the control device 30a (step S310). Instead of this, the life information acquisition unit 44 performs a robot control on a request for acquiring the latest life information that is life information of a part of the consumable object and is stored in the storage unit 32 provided in the robot control device 30a. The structure which outputs to the apparatus 30a may be sufficient.

  Next, the lifetime information acquisition unit 44 waits until the lifetime information of all the consumable objects is acquired from the robot control device 30a as a response to the request for acquiring the lifetime information output to the robot control device 30a in step S310 ( Step S320). When the lifetime information acquisition unit 44 determines that the lifetime information of all the consumable objects has been acquired from the robot control device 30a (step S320-YES), the storage control unit 45 acquires the lifetime information acquired from the robot control device 30a. Is stored in the storage unit 52 (step S330), and the process is terminated. In the following, as an example, the life information acquired from the robot control device 30a in step S320 is the replacement date information stored in advance in the storage unit 32 included in the robot control device 30a, and the consumable object corresponding to the life information. A case where exchange date information is associated will be described. The life information acquisition unit 44 may be configured to output the replacement date information acquisition request to the robot control device 30a. In this case, the lifetime information acquisition unit 44 acquires replacement date information from the robot control device 30a as a response to the request.

<Process in which the robot controller outputs life information to the teaching device>
Hereinafter, a process in which the robot control device 30a outputs life information to the teaching device 50 will be described with reference to FIG. FIG. 13 is a flowchart illustrating an example of a flow of processing in which the robot control device 30a outputs life information to the teaching device 50.

  The transmission / reception control unit 42 waits until a request for acquiring life information of all the consumable objects is acquired from the teaching device 50 (step S410). When it is determined that the request has been acquired from the teaching device 50 (step S410—YES), the life information of all the consumable objects is output to the teaching device 50 (step S420). At this time, for each life information output to the teaching device 50, the transmission / reception control unit 42 replaces the replacement date information stored in advance in the storage unit 32 with the replacement date information of the consumable object corresponding to the life information. The lifetime information is output to the teaching device 50 after being associated with. And the transmission / reception control part 42 complete | finishes a process.

<Processing performed by the teaching device regarding the life information display screen>
The teaching device 50 performs the same process as the process shown in the flowchart of FIG. 6, thereby based on the life information stored in the storage unit 52 by the storage control unit 45 and associated with the replacement date information. The life information display screen is displayed on the second display unit 56. For this reason, description about the process which the teaching apparatus 50 performs regarding the lifetime information display screen P1 is abbreviate | omitted. Below, the case where the teaching apparatus 50 displays the lifetime information display screen P1 shown in FIG. 7 on the 2nd display part 36 as an example is demonstrated. In this case, the teaching device 50 executes a process corresponding to the user operation received from the life information display screen P1 in step S230.

<Processing of teaching device according to user's operation received from the life information display screen>
The teaching device 50 has received from the life information display screen P1 displayed on the second display unit 56 the same processing as the processing performed by the robot control device 30 based on the operation received from the life information display screen P1 shown in FIG. Based on the operation. However, the teaching device 50 performs processing different from the processing performed by the robot control device 30 in the processing related to each of the buttons BT1 and BT2. For this reason, below, description is abbreviate | omitted about the process which the same process as the process which the robot control apparatus 30 performs based on operation received from the lifetime information display screen P1 shown in FIG. 7, and the teaching apparatus 50 performs. In the following, with reference to FIG. 7 again, the processing performed by the teaching device 50 that is different from the processing performed by the robot control device 30 will be described.

  In the example shown in FIG. 7, the lifetime consumption rates of the two consumable objects of the timing belt and the motor included in the joint J1 satisfy the above-described alarm condition. Here, for convenience of explanation, a case will be described as an example in which the lifetime consumption rate of a consumable object other than the consumable object included in the joint J1 does not satisfy the alarm condition. In this case, the robot control device 30a displays both the alarm AR corresponding to the timing belt and the alarm AR corresponding to the motor superimposed on the first display unit 35. In this state, the user cannot distinguish whether the alarm AR displayed on the first display unit 35 is the alarm AR corresponding to the timing belt or the alarm AR corresponding to the motor. Therefore, when the user clicks the radio button RB3 to select the motor and then clicks the button BT1, the first display control unit 47b displays the alarm AR displayed on the first display unit 35 provided in the robot control device 30a. The first display control unit 47 releases the alarm AR corresponding to the motor. Thereby, the teaching device 50 can display an alarm desired by the user on the first display unit 35 provided in the robot control device 30a. As a result, the user can specify that the alarm AR displayed on the first display unit 35 is the alarm AR corresponding to the timing belt.

  Further, the user clicks a radio button displayed in the life information display area RA1 to select a consumable object desired by the user, and clicks a button BT2 for a replacement date of the selected consumable object. Can be edited (changed). For example, as illustrated in FIG. 7, when the user clicks the radio button RB1 and then clicks the button BT2, the second display control unit 48b determines the speed reducer included in the joint J1 based on the operation received from the user. Change the replacement date according to the operation. And the 2nd display control part 48b is exchange date information which shows the exchange date of the said reduction gear, Comprising: The exchange date information matched with the lifetime information memorize | stored in the memory | storage part 52 is replaced with the exchange date according to the said operation. Update to exchange date information indicating. The second display control unit 48b outputs the replacement date information to the robot control device 30a, and the storage control unit 45 provided in the robot control device 30a stores the replacement date stored in the storage unit 32 provided in the robot control device 30a. Information, and replacement date information indicating the replacement date of the reduction gear is updated.

Thus, the teaching device 50 can cancel the alarm AR related to the robot 20 displayed on the first display unit 35 provided in the robot control device 30a. Thereby, the teaching device 50 can display an alarm desired by the user on the first display unit 35 provided in the robot control device 30a. As a result, the user can distinguish whether the alarm AR displayed on the first display unit 35 included in the robot control device 30a is the alarm AR desired by the user or another alarm AR.
In addition, the teaching device 50 displays life information on the second display unit 56. Thereby, the teaching device 50 can visually provide the user with life information corresponding to the alarm AR displayed on the first display unit 35 provided in the robot control device 30a.

<Process for teaching device to back up life information>
Hereinafter, a process in which the teaching device 50 backs up the life information will be described. When the storage unit 52 is an external storage device, or when the storage device 52 includes another external storage device different from the storage unit 52, the teaching device 50 uses at least one of these storage devices as the other storage device. Connecting to the teaching device 50 or the robot control device 30a and backing up (retracting in a recoverable manner) at least a part of the life information stored in the connected storage device to the other teaching device 50 or the robot control device 30. it can. Hereinafter, as an example, a case where the teaching device 50 includes the storage unit 52 and another external storage device BK2 different from the storage unit 52 will be described.

  The teaching device 50 stores the life information for each consumable object in the storage unit 52 by the processing of the flowchart shown in FIG. The user can store at least a part of the life information stored in the storage unit 52 in the storage device BK2. When the storage device BK2 is connected to the teaching device 50, the storage control unit 45 included in the teaching device 50 stores at least a part of the life information stored in the storage unit 52 based on an operation received from the user. Store in BK2.

  After the life information is stored in the storage device BK2 by the teaching device 50, the user can store the life information stored in the storage device BK2 in the other teaching device 50 or the robot control device 30a. That is, the user can restore the lifetime information to another teaching device 50 or the robot control device 30a. In the following, as an example, after the life information is stored in the storage device BK2 by the teaching device 50, the user removes the storage device BK2 from the teaching device 50 and connects it to the teaching device 50X, which is another teaching device 50 explain. After the storage device BK2 is connected to the teaching device 50X, the storage control unit 45 included in the teaching device 50X receives at least a part of the life information stored in the storage device BK2 based on the operation received from the user. The data is stored in the storage unit 52 included in 50X.

  That is, the teaching device 50 stores at least a part of the life information in the storage device BK2. Thereby, the teaching device 50 can output at least a part of the life information to another device.

  The robot system 1a according to the modification of the embodiment may be configured to include a processing device 40b separate from the teaching device 50, instead of the teaching device 50. In this case, the processing device 40b does not include the teaching control unit 57 but includes each of the hardware configurations included in the teaching device 50. Accordingly, the processing device 40b separate from the teaching device 50 can perform the same processing as the processing performed by the teaching device 50 described above. However, since the processing device 40b does not include the teaching control unit 57, information indicating the operation of the robot 20 is not output to the robot control device 30a. Further, the processing device 40b may be configured to include a first display unit 55 having the same function as the function of the first display unit 35. In this case, the first display control unit 47 provided in the robot control device 30a displays the alarm AR on the first display unit 55 provided in the processing device 40b. In addition, the first display control unit 47 provided in the robot control device 30a and the first display control unit 47b provided in the processing device 40b are respectively provided in one or both of the first display unit 35 and the first display unit 55. Release the displayed alarm AR.

  As described above, each of the robot control device 30, the processing device 40 separate from the robot control device 30, the robot control device 30a, the teaching device 50, and the processing device 40b separate from the teaching device 50 in the embodiment is It is possible to cancel an alarm (in this example, an alarm AR) related to the robot (in this example, the robot 20) displayed on one display unit (in this example, the first display unit 35 or the first display unit 55). is there. As a result, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30 a, the teaching device 50, and the teaching device 50 and the separate processing device 40 b receive the alarm desired by the user. It can be displayed on one display unit.

  In addition, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b respectively include the robot control device 30 and the robot control device. It is possible to cancel the alarm relating to the robot displayed on the first display unit provided in each of the processor 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b. is there. Thereby, each of the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b each outputs an alarm desired by the user. The robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30 a, the teaching device 50, and the teaching device 50 and the separate processing device 40 b can be displayed on the first display unit. .

  The robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. It is possible to cancel an alarm based on the life information of an object related to the robot (in this example, a consumable object). As a result, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b each have life information on the object related to the robot. An alarm desired by the user among the alarms based on the alarm can be displayed on the first display unit.

  Each of the robot control device 30, the processing device 40 separate from the robot control device 30, the robot control device 30a, the teaching device 50, and the processing device 40b separate from the teaching device 50 displays the life information on the second display unit ( In this example, the image is displayed on the second display unit 36 or the second display unit 56). Accordingly, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. The life information corresponding to the alarm can be visually provided to the user.

  Each of the robot control device 30, the processing device 40 separate from the robot control device 30, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b includes at least two different modes (an example of this). The life information is displayed on the second display unit according to the display mode. Accordingly, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. The user can easily distinguish the life information corresponding to the alarm and the life information not corresponding to the alarm.

  In addition, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b each have a lifetime consumption rate based on the life information. The life information is displayed in the second manner by at least two different modes, i.e., a mode indicating that the current consumption is greater than or equal to the first threshold and less than the second threshold and a mode indicating that the lifetime consumption rate based on the lifetime information is greater than or equal to the second threshold Display on the screen. Accordingly, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. The life information corresponding to the alarm and the life information not corresponding to the alarm can be easily distinguished by the user based on the life consumption rate based on the life information.

  The robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b each have an extra calculation based on the life information. The second display unit displays the life information by at least two different modes: a mode indicating that it is less than the third threshold value and a fourth threshold value or more, and a mode indicating that the remainder based on the lifetime information is less than the fourth threshold value. To display. Accordingly, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. The life information corresponding to the alarm and the life information not corresponding to the alarm can be easily distinguished by the user based on the remainder based on the life information.

  Each of the robot control device 30, the processing device 40 separate from the robot control device 30, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b stores at least a part of the life information. Store in the department. Thus, each of the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b receives at least part of the life information. Can be output to other devices.

  The robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. It is possible to cancel an alarm related to a robot based on at least one life information of a speed reducer, a motor, a timing belt, a ball screw, and a battery. Thereby, the robot control device 30, the robot control device 30 and the separate processing device 40, the robot control device 30a, the teaching device 50, and the teaching device 50 and the separate processing device 40b are displayed on the first display unit. Among the alarms based on the life information of at least one of the speed reducer, the motor, the timing belt, the ball screw, and the battery, an alarm desired by the user can be displayed on the first display unit.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, and the like are possible without departing from the gist of the present invention. May be.

  Further, in the devices described above (for example, the robot control device 30, the processing device 40 separate from the robot control device 30, the robot control device 30a, the teaching device 50, and the teaching device 50 and a separate processing device 40b). A program for realizing the function of an arbitrary component may be recorded on a computer-readable recording medium, and the program may be read into a computer system and executed. Here, the “computer system” includes hardware such as an OS (Operating System) and peripheral devices. The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD (Compact Disk) -ROM, or a storage device such as a hard disk built in the computer system. . Furthermore, “computer-readable recording medium” means a volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

In addition, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1, 1a ... Robot system, 20 ... Robot, 30, 30a ... Robot control apparatus, 31, 51 ... CPU, 32, 52 ... Memory | storage part, 33, 53 ... Input reception part, 34, 54 ... Communication part, 35, 55 ... 1st display part, 36, 56 ... 2nd display part, 37 ... Robot control part, 40 ... Processing apparatus, 41 ... Load calculation part, 42 ... Transmission / reception control part, 43 ... Life information generation part, 44 ... Life information acquisition 45, storage control unit, 47, 47b ... first display control unit, 48, 48b ... second display control unit, 49 ... timing unit, 57 ... teaching control unit

Claims (11)

It is possible to cancel the alarm regarding the robot displayed on the first display unit.
Processing equipment. Comprising the first display unit;
The processing apparatus according to claim 1. The alarm is an alarm based on life information of an object related to the robot.
The processing apparatus according to claim 1 or 2. Displaying the lifetime information on the second display unit;
The processing apparatus according to claim 3. Displaying the lifetime information on the second display unit in at least two different modes;
The processing apparatus according to claim 4. The two different modes are a mode indicating that the lifetime consumption rate based on the lifetime information is not less than a first threshold and less than a second threshold, and a lifetime consumption rate based on the lifetime information is not less than the second threshold. It is an embodiment showing that
The processing apparatus according to claim 5. The two different aspects include an aspect indicating that the extra calculation based on the lifetime information is less than a third threshold and a fourth threshold or more, and an extra calculation based on the lifetime information is less than the fourth threshold. It is an embodiment shown
The processing apparatus according to claim 5 or 6. Storing at least a part of the lifetime information in a storage unit;
The processing apparatus according to any one of claims 3 to 7. The object is at least one of a speed reducer, a motor, a timing belt, a ball screw, and a battery.
The processing apparatus according to any one of claims 3 to 8. The processing apparatus according to any one of claims 1 to 9, comprising:
Robot control device. The processing apparatus according to any one of claims 1 to 9, comprising:
Teaching device.

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