JP4004222B2 - Maintenance support method and maintenance support device for work robot system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a maintenance support method and a maintenance support device for a working robot system, and more particularly to a maintenance support method and a maintenance support device capable of providing an optimal maintenance work procedure according to the skill of a maintenance manager.
[0002]
[Prior art]
With the automation of various manufacturing industries, work robot systems (industrial robots) have been actively introduced. As a working robot system, the use of multi-joint robots such as 6-axis is common, and when work is required accurately and quickly, or when work is dangerous, work is quickly performed on behalf of humans. can do. The working robot system is equipped with a desired working tool, for example, a spot welding gun, an arc welding torch, a sealer (adhesive applicator) gun, a material hand, etc., at the arm tip of an articulated robot. Therefore, it is possible to construct a form adapted to a desired application. In particular, in the automobile manufacturing industry and the like that frequently use assembling and welding large parts, a large amount of various working robots are arranged on the production line side, and predetermined operations are sequentially performed.
[0003]
As described above, since a large number of work robots are arranged on the production line, even if one of the work robots fails, the entire production line is stopped. Restoration work is essential. Usually, a maintenance manager is on standby in the production line, and a system is in place to quickly recover from a failure of a working robot.
[0004]
Generally, various types of work robots are arranged on the production line. However, it is inefficient and impractical to individually make a dedicated maintenance manager stand by. For this reason, one maintenance manager is in charge of maintaining a plurality of types of work robots. Therefore, the skill level (skill) regarding the maintenance work may be different for each work robot. In other words, a certain working robot has a high level of skill, but another working robot may not be very skilled. Some maintenance managers are skilled in all industrial robots, while others have little experience in maintenance management. Even in such a case, it is desirable to instruct the maintenance procedure so that the same maintenance work can be performed. For example, the operation panel of a production facility disclosed in Japanese Utility Model Laid-Open No. 4-102763 is configured to be able to display information and operation procedures related to handling on a display unit when performing a drive procedure, failure diagnosis, or the like. . By performing such display, even a maintenance manager with a low skill level can perform appropriate maintenance work.
[0005]
[Problems to be solved by the invention]
As described above, the skill level of the maintenance manager is different for each work robot to be repaired, and the skill level of the maintenance manager is also different. For example, there are persons who are skilled in maintenance such as symptom analysis and recovery response of mechanical system failure, but are not skilled in maintenance such as symptom analysis and recovery response of electrical circuit system failure. There are also those who are skilled in both and vice versa. In general, when the skill level is high, according to the symptom of the failure, the symptom is analyzed and the detailed part is checked to identify the failed part, and only the part is replaced to recover from the failure. On the other hand, when the skill level is low, complicated analysis and checking of the detailed portion conversely stagnate the work and increase the time until failure recovery. For this reason, a technique is adopted in which parts that may cause a failure are sequentially replaced to recover from the failure.
[0006]
However, like the technique disclosed in Japanese Utility Model Laid-Open No. 4-102763, when displaying a procedure considering a maintenance manager with a low level of skill, a detailed procedure guide is provided for a maintenance manager with a high level of skill. When it is felt troublesome and the work is performed according to the procedure, there is a possibility that replacement of unnecessary parts or unnecessary work may be guided before recovery, which may require a long time. Conversely, it may be possible to display a procedure that takes into consideration maintenance managers with high levels of skill, but for those with low levels of skill, the meaning and work method of the displayed display cannot be fully understood, and individual work is not possible. In some cases, the time becomes long, and unnecessary work is performed, or a long time is required until recovery. That is, there is a problem that optimum maintenance work cannot be performed.
[0007]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a maintenance support method and a maintenance support device capable of providing an optimal maintenance work procedure according to the skill level of a maintenance worker. .
[0008]
[Means for Solving the Problems]
  In order to achieve the above-described object, the present invention is a maintenance support method for a working robot system that sequentially performs a predetermined work. When a failure of the working robot system is detected, an operation on a screen is performed. A maintenance support screen that automatically changes the display content accordingly is displayed.Display step toOn the maintenance support screen, a selection of a work mode mainly composed of parts replacement and a work mode mainly composed of an investigation is accepted.Select step andWhen a work mode mainly for parts replacement is selected, a maintenance manager with a low level of skill is required to replace parts that may cause a failure on the maintenance support screen in order to recover from the failure. If the work mode is guided mainly by investigation and the investigation is selected as the main work, the work to replace the parts after conducting the investigation to identify the faulty part on the maintenance support screen , With display content that considers highly skilled maintenance managersA guidance step, wherein the guidance step displays items that may cause a failure as a procedure item in descending order of the probability of causing the failure according to the selected work mode, accepts selection of the procedure item, and selects A step of displaying work contents for failure recovery according to the performed procedure item, and a step of updating the display order of the procedure item based on at least a past failure history.It is characterized by that.
[0009]
  In order to achieve the above object, the present invention is a maintenance support device for a working robot system that sequentially performs a predetermined work, and when a failure of the working robot system is detected, the operation on the screen is performed. A screen for maintenance support that automatically changes the display contents accordingly is displayed.ConcernedOn the screen, it accepts the selection of work mode mainly for parts replacement and work mode mainly for investigation.And a form selectorWhen a work mode mainly for parts replacement is selected, a maintenance manager with a low level of skill is required to replace parts that may cause a failure on the maintenance support screen in order to recover from the failure. If the work mode is guided mainly by investigation and the investigation is selected as the main work, the work to replace the parts after conducting the investigation to identify the faulty part on the maintenance support screen , With display content that considers highly skilled maintenance managersWith control,The control unit displays items that can cause a failure as a procedure item in descending order of the probability of causing the failure according to the selected work mode, accepts selection of the procedure item, and selects the selected procedure item. Display the work contents for failure recovery according to the, and update the display order of the procedure items based on at least the past failure historyIt is characterized by that.
[0010]
According to this configuration, it is possible to arbitrarily select a work mode mainly for parts replacement and a survey mode for performing a part replacement after performing a survey for identifying a faulty part. It is possible to obtain work support according to the skill level of the robot, and it is possible to quickly recover from the failure of the work robot system.
[0012]
  In order to achieve the above object, the present invention provides the above-described configuration,The guiding step includesThe processing time required for processing according to the procedure item is displayed in association with the procedure item.Including stepsIt is characterized by that.Further, the present invention is characterized in that, in the above configuration, the control unit displays a processing time required for processing according to the procedure item in association with the procedure item.
[0013]
Here, the processing time required for processing according to the procedure items indicates the time required for replacing each part in the case of work mainly for parts replacement, and the time required for each inspection in the case of work mainly for the investigation. Indicated. As this processing time, for example, a standard time calculated based on a past repair history or the like is employed.
[0014]
According to this configuration, it is possible to easily recognize the time required for recovery work from a failure. It is also possible to select the work mode based on the time required for the recovery work from the failure.
[0017]
  In order to achieve the above object, the present invention provides the above-described configuration,The guiding step includesAt least based on past repair historyWritingUpdate your businessIncluding steps. Further, according to the present invention, in the above configuration, the control unit updates the work content based on at least a past repair history.It is characterized by that.
[0019]
According to this configuration, it is possible to always perform quick maintenance work with an optimal procedure.
[0020]
In order to achieve the above object, the present invention is characterized in that the maintenance support device for a working robot system having the above-described configuration is mounted on a teaching operation device for teaching operation of the working robot system. .
[0021]
Here, the teaching operation device may be portable or stationary. According to this configuration, recovery work from a failure can be easily performed in the vicinity of the working robot system.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention (hereinafter referred to as embodiments) will be described with reference to the drawings.
[0023]
In FIG. 1, the work articulated robot system 10 (hereinafter simply referred to as system 10) and the robot controller (hereinafter simply referred to as controller) 12 of the system 10 according to the present embodiment are detachable from the unit storage unit 14. The conceptual configuration of the operating device 18 that performs the operation of the system 10 and the operation teaching of the articulated robot 16 is shown. The multi-joint robot 16 shown in FIG. 1 has a six-axis configuration, and is configured by a combination of joint drive mechanisms a, b, c, d, e, f and arms A, B, C, D, E, and the like. Yes. The joint drive mechanisms a, d, and f are joints that perform turning operations of the arms B and E, and the joint drive mechanisms b, c, and e are joints that perform vertical operations of the arms C, D, and E, and the like. By the combined operation of these joints, the work tool 20 attached to the tip of the arm E can be brought close to a desired position at a desired angle, and a desired work can be executed.
[0024]
The control device 12 includes a drive unit such as a motor for operating each joint drive mechanism a, b, c, d, e, f, a power supply device, and a joint drive mechanism a, b, c, d, e, f. An arithmetic processing unit or the like that is operated by a program is stored and arranged.
[0025]
On the other hand, the operating device 18 can be used in a state of being attached to the control device 12 or in a separated state as shown in FIG. In a state where the operation device 18 is separated, the maintenance manager of the system 10 supports the operation device 18 with one hand and is displayed on the switch 18a or the display unit 22 arranged on the surface with the other hand. The touch switch or the like is operated to operate the system 10 and teach the articulated robot 16. Of course, when the operation device 18 is mounted in the unit storage portion 14 of the control device 12, the maintenance manager stands in front of the control device 12 and operates the operation device 18 there.
[0026]
In the present embodiment, the operation device 18 also functions as a maintenance support device used when performing maintenance work of the system 10. Note that when the system 10 normally functions normally, the operation device 18 functions as an operation device or a teaching device of the system 10. When an abnormality occurs in the system 10, that is, when a mechanical failure or an electrical failure occurs in the articulated robot 16 or the control device 12, the control device 18 immediately functions as a maintenance support device. become.
[0027]
FIG. 2 shows an example of display contents displayed on the display unit 22 on the operation device 18 when a failure is detected by a detection unit that detects a failure of the system 10 built in the system 10. . In the present embodiment, the failure of the system 10 means that the operation of the system 10 is partially or completely stopped, or is deviated from a predetermined allowable operating state. A case where the motor speed decreases or the turning position of the arm deviates from a predetermined position is also regarded as a failure and is subject to maintenance execution.
[0028]
As shown in FIG. 2, when a failure occurs, the display content of the display unit 22 automatically shifts to the maintenance support / start screen. On the maintenance support / start screen, for example, a rough symptom of the failure of the system 10 is displayed in the upper right part of the display unit 22 in, for example, an error display area 24 indicated by a red background. In the case of FIG. 2, the general symptom of the failure of the system 10 is “abnormality that the robot cannot move or is heavy. “E0038 Servo error overload” is displayed. This indicates that an overload has occurred in the servo motor constituting the joint drive mechanism for some reason, and this warns that the motor is damaged, the drive circuit is damaged, and the like.
[0029]
In such a case, the articulated robot 16 and the control device 12 are displayed in the main display area 26 of the display unit 22, and the cause of the above-described overload, that is, a part that may cause a failure, for example, blinks red. Along with the mark 28, items that can cause the failure are displayed. In the case of FIG. 2, items that can cause failure include interference with other equipment at the arm tip of the articulated robot 16, a defective drive unit in the control device 12, an abnormal brake power supply, a base side of the articulated robot 16. Motor failure, in-machine wiring failure (including disconnection), bearing / reduction gear failure, etc. The items that can cause these failures are the past failure history of the system 10 that is the maintenance target, items that are structurally considered to be the cause of failure, and the self-diagnosis function of the system 10 (for example, the internal function of the control device 12). The items determined as the cause of failure are prepared in advance and displayed. Specifically, items that may cause a failure are displayed in correspondence with a plurality of prepared error codes, in the case of FIG. 2, “error code E0038”. In addition, in the main display area 26, a more specific error content display 30a is, for example, “An error exceeding the set value is detected by the electronic thermal operation. ] And the simplest error canceling method display 30b, that is, guidance on the use of “error reset SW” and the like. Further, on the left side of the error display area 24, the program and step in which an error code has been generated to indicate in which state the system 10 is stopped in the operation program (in the case of FIG. 2, stop at step 1 of the program 30). Is shown). Further, immediately after the error display area 24, as will be described later, a display allocation code 24a used when performing classification management of the screen shown in the main display area 26 and acquiring detailed information by an external computer or the like is shown. . Normally, when an error code is output, a malfunction of the sensor may be considered. Therefore, if the error reset SW is used and the error display continues, the error code appears on the main display area 26. The touch switch 30c of “Next” is touched, and the display unit 22 of the operation device 18 is shifted to the next screen to display a specific maintenance support stage.
[0030]
A characteristic matter of the present embodiment is that, at this stage, the display content of the maintenance support is changed according to the skill level (skill) of the maintenance manager.
[0031]
FIG. 3 (a) is a screen on which a maintenance manager having a low skill level mainly shows a work mode mainly for parts replacement in order to recover from a failure. FIG. 3 (b) is a screen mainly showing a skill level. It is a screen on which a work form of a research subject that causes a high maintenance manager to perform a part replacement after conducting a research to identify a faulty part. Note that the screen of FIG. 2 may be shifted to the screen of FIG. 3A, or the screen of FIG. 2 may be shifted to the screen of FIG. 3B. When the touch switch 30c shifts from the screen of FIG. 2 to the screen of FIG. 3 (a), by touching the changeover touch switch 32a for requesting the “inspection method” screen of the component appearing in the right corner of the main display area 26. 3B, when the screen shown in FIG. 2 is changed to the screen shown in FIG. 3B, the switch for requesting the “replacement method” screen for the component appearing in the right corner of the main display area 26. By touching the touch switch 32b, the screen shown in FIG. That is, a desired screen can be alternately displayed by the switching touch switches 32a and 32b (form selection unit) (form selection step).
[0032]
First, a case will be described in which the screen shown in FIG. 3A on which a work mode mainly for component replacement is selected is selected. In the case of failure recovery work mainly for parts replacement, items that can cause an error shown in the error display area 24 are shown as procedure items in descending order of their occurrence probabilities. In the case of Fig. 3 (a), the error display area 24 indicates “A robot cannot move or is abnormal. The procedure item indicated as the cause of “E0038 servo error overload” is set in advance based on the failure history, the structural reason, the result of the self-diagnosis of the system 10, and the like. The display order of the procedure items is preferably updated based on the past failure history or the like (order update step). By performing this order update, an efficient replacement procedure can be provided. For example, the first cause is “interference with other equipment” with a probability of 70%, the second is “drive unit failure” with a 20% probability, and the third is “brake power supply”. “Abnormal” is displayed 5%, “Motor failure” is 2%, and “In-machine wiring failure” is likely to be the cause with a probability of 2% (Item display step). Therefore, by performing the replacement of parts according to this procedure item, the recovery operation can be performed most efficiently in the failure recovery mainly by the replacement of parts. In addition, each procedure item is indicated by a numerical value (3 minutes, 10 minutes, etc.) indicating the processing time required for parts replacement work and a bar graph indicating the numerical value, making it easy to recognize the time required for failure recovery. It can be done. This processing time is preferably, for example, a standard standard time that is calculated and set based on a past part replacement history (repair history) or the like. In addition, it is possible to easily visually identify the display of the work mode mainly composed of component replacement shown in FIG. 3A and the display of the work mode mainly composed of the investigation shown in FIG. 3B described later. For example, it is preferable to display the bar graph of FIG. 3A in yellow and the bar graph of FIG. 3B in any other color such as blue. In the case of FIG. 3A, five items are displayed in the main display area 26, and the procedure items are scrolled by the scroll keys 34a and 34b. The next item such as can be displayed.
[0033]
Subsequently, when the maintenance manager touches a procedure item displayed in the main display area 26 of FIG. 3A, a specific part replacement procedure is shown (content display step). In FIG. 3 (a), when a procedure item “interference with other equipment” is touched, a part that may cause an interference to be visually confirmed prior to the replacement work is displayed. Here, in order to show a work procedure mainly for parts replacement to a person unfamiliar with the maintenance of the corresponding system 10, it is desirable that the position to be visually confirmed and the content of confirmation are kept simple and minimal.
[0034]
When it is confirmed that there is no interference with other equipment, the maintenance manager next touches the “Defective drive unit” procedure item, and as shown in FIG. 4, the screen shifts to a screen showing the drive unit replacement procedure. In the example of FIG. 4, the selected procedure item “defective drive unit” is displayed in the display area 36 a at the top of the main display area 26, and the location of the drive unit in the control device 12 is graphically displayed in the location display area 36 b at the bottom left of the selected procedure item. Indicated by In the display area 36a, a processing time (for example, 10 minutes) required for replacing the drive unit is displayed. In the case of FIG. 4, the processing time (5 minutes) required for the investigation when an investigation relating to the drive unit described later is performed is also displayed for reference. Further, on the right side of the main display area 26, specific work content 36c is shown. In other words, the “product name”, “model / part number”, “remarks (number of parts storage shelf)” of the drive unit to be replaced are displayed on the upper stage of the work contents 36c, and “tools” necessary for parts replacement are displayed on the middle stage. For example, “M5 screw / plus screwdriver (200 mm or more)” or the like is displayed. Turn off the control device. Work after 5 minutes have passed since the power was turned off. "," 2. Disconnect all cables connected to the drive unit. "," 3. Remove the 6 mounting screws and pull out the drive unit. Weight: about 170N. "," 4. Fit the new drive unit. , Etc. are shown in order. If there is further work content, a scroll key is displayed, and subsequent work content can be displayed. At this time, an explanation screen 36 d for performing parts replacement more smoothly is displayed at the lower left of the main display area 26. For example, an external view of the drive unit to be replaced is displayed on the comment screen 36d, or a comment screen corresponding to the above-described actual part replacement work content, for example, the position of a cable to be removed or the position of a mounting screw. Displayed sequentially. Of course, you may display a series of procedures with a moving image. Further, the position of the storage shelf may be indicated by touching the “Remarks” field shown in the work content 36c, or the actual tool shape and storage location may be indicated on the comment screen 36d by touching the tool field. . The work contents shown here are preferably updated based on past repair history, changes in parts used, etc. (content update step). By performing this content update, an efficient replacement procedure can be provided.
[0035]
The screen displayed in FIG. 4 is prepared in correspondence with a code indicated by the display assignment code 24a, for example, “exchange 003801”. In the case of FIG. 4, since “exchange 003801” is displayed, the background color of that portion is reversed (for example, green display). Further, when the display assignment code 24a is input to an external maintenance support computer or the like, a more detailed screen and detailed information can be obtained.
[0036]
When the maintenance manager completes the drive unit replacement, touching the “return” key 38 displayed on the right side of the main display area 26 in FIG. 4 returns to the screen in FIG. Then, when the “brake power supply abnormality” in the third stage of the parts replacement work is touched, the screen shifts to a screen for supporting the brake power supply having the same configuration as the screen of FIG. 4 and the replacement work can be performed. Similarly, by touching the work items such as “defective motor” and “defective in-machine wiring”, the motor can be replaced or the wiring can be replaced.
[0037]
In this way, when a failure occurs in the system 10, the procedure items that can cause the failure are displayed in order of the probability, and a special skill of component replacement (for example, detailed structural knowledge or detailed electrical circuit knowledge). Failure recovery work can be carried out by work that can be handled without the need for As a result, even when the system 10 that is a maintenance target is unfamiliar, the restoration work can be performed quickly and efficiently.
[0038]
Next, a case will be described in which a screen on which a work form mainly based on the investigation in FIG. 3B is selected is selected. Also in the case of failure recovery work mainly based on investigation, items that can cause an error shown in the error display area 24 are shown as procedure items in descending order of their occurrence probabilities. In the case of FIG. 3 (b) as well, the error display area 24 indicates “A robot cannot move or is abnormal. The procedure item indicated as the cause of “E0038 servo error overload” is set in advance based on the failure history, the structural reason, the result of the self-diagnosis of the system 10, and the like. For example, the first cause is “interference with other equipment” with a probability of 70%, the second is “drive unit failure” with a 20% probability, and the third is “brake power supply”. “Abnormal” is displayed 5%, “Motor failure” is 2%, and “In-machine wiring failure” is likely to be the cause with a probability of 2% (Item display step). Therefore, according to this procedure item, it is good to investigate each item, for example, whether a predetermined voltage is applied to a predetermined terminal, whether the sensor is operating normally, etc. In the failure recovery, which mainly involves the investigation of identifying parts and then replacing parts, the most efficient restoration work can be performed. That is, it is possible to perform an efficient investigation, efficiently replace only the failed parts, and restore the system 10.
[0039]
Also in FIG. 3 (b), as in FIG. 3 (a), each procedure item includes a processing time required for the part investigation work (3 minutes, 5 minutes, etc.) and a bar graph (FIG. In order to facilitate the identification of the state 3 (a), it is shown in blue, for example, so that the processing time until the faulty part is identified can be easily recognized. In the case of FIG. 3B, five items are displayed in the main display area 26, and the procedure items are scrolled by the scroll keys 34a and 34b. The next item such as can be displayed. In the case of FIG. 3B, the case where the procedure item to be investigated is the same as that in FIG. 3A is displayed. However, for the same error code, the component replacement shown in FIG. 3A is mainly performed. 3 and the screen mainly used for the investigation in FIG. 3B are not necessarily the same. For example, when investigating a drive unit failure, in order to detect a failure of the drive unit, a “drive unit connection failure” ", Or a procedure item such as" IC failure of the drive unit "may be displayed.
[0040]
Subsequently, when the maintenance manager touches the procedure item displayed in the main display area 26 of FIG. 3B, a specific investigation procedure is shown (content display step). In FIG. 3 (b), when touching the procedure item “Interference with other equipment”, a part that may be interfered with that should be confirmed visually or using various tools as necessary is displayed. The Here, in order to show the work procedure mainly for investigating the defective part (failure cause part) to the maintenance manager skilled in the maintenance of the corresponding system 10, a guidance for performing a confirmation work requiring a predetermined skill is presented. Is done.
[0041]
If it is confirmed that there is no interference with other equipment, the next touch of the “Defective drive unit” procedure item will move to a screen showing the procedure for investigating the drive unit failure, as shown in FIG. . In the example of FIG. 5, the selected procedure item “defective drive unit” is displayed in the display area 36 a at the top of the main display area 26, and at the same time, the processing time (5 minutes) required for the investigation and the failure as a result of the investigation If it is found and the drive unit needs to be replaced, the necessary processing time (10 minutes) is also displayed. Note that these processing times are preferably standard times determined in advance based on past investigation histories (including repair histories) as described above. Further, specific investigation contents are shown in the investigation procedure display area 36e below. In the case of FIG. 5, the survey content is “1. Can the brake be released manually? "," 2. There is only one defective axis. "," 3. Even when the brake is released, the voltage between BA2 and PB remains 0V. ] Etc. A maintenance manager who is familiar with the maintenance-relevant system 10 and has detailed structural knowledge, detailed electrical circuit knowledge, and the like, uses various tools, testers, and the like to conduct a survey in accordance with the above-described survey contents.
[0042]
If it is determined as a result of this investigation that the drive unit has failed, touching the “Replacement Method” key 32b appearing on the left side of the main display area 26 will cause the screen to shift to the screen of FIG. It is possible to obtain information on replacement work. As a result of the investigation, if it is confirmed that the drive unit is normal, touching the “return” key 38 returns to the screen shown in FIG. 3B, and the “brake power supply abnormality” in the third stage of the investigation work. And the screen shifts to a screen for supporting the investigation relating to the brake power supply having the same configuration as that of the screen of FIG. 5, and the next investigation work can be performed. In the same manner as described above, work items such as “motor failure” and “in-machine wiring failure” can be selected and investigations regarding the motor and wiring can be performed until the failure part can be identified.
[0043]
In the case of FIG. 5, the survey procedures are displayed in an enumerated form, but for example, the survey procedures may be shown in a flowchart format. In this case, it is easy to understand the overall flow of the survey, and a smoother survey can be performed.
[0044]
The screen displayed in FIG. 5 is prepared in correspondence with a code indicated by the display assignment code 24a, for example, “Survey 003820”. In the case of FIG. 5, since “exchange 003820” is displayed, the background color of that portion is reversed (for example, green display). In this case as well, when the display assignment code 24a is input to an external maintenance support computer or the like, a more detailed screen and detailed information can be obtained.
[0045]
In this way, when a failure occurs in the system 10, items that can cause the failure are displayed in descending order of probability, and a special skill (for example, detailed structural knowledge or detailed electrical circuit knowledge) is required. It can be implemented by the work. In this case, since the malfunctioning part is efficiently identified, the maintenance manager who is familiar with the system 10 that is the object of maintenance can quickly identify the parts that need to be replaced with a minimum amount of work. In addition, it is possible to perform the restoration work of the system 10 quickly.
[0046]
2 to 5, there is a key 40 "list" at the lower right of the main display area 26. In the present embodiment, a list of error codes is displayed by operating this key 40. By selecting a desired error code from the displayed error codes, the detailed contents of the air code can be acquired.
[0047]
As described above, in the present embodiment, the system 10 to be maintained is made to perform the part replacement after performing the investigation for identifying the operation mode mainly based on the part replacement or the failure part for the failure recovery. It is possible to select the work form of the survey subject. As a result, according to the level of skill of the maintenance manager for the system 10 to be maintained, it is possible to appropriately provide a work procedure for quickly and smoothly recovering from the failure of the system 10 and to perform efficient maintenance work. it can.
[0048]
Note that the display screen shown in this embodiment is an example, and in order to recover from a failure, an investigation entity that performs a part replacement after performing an investigation to identify a work mode or a faulty part that mainly replaces a part. As long as the work procedure is selected and the work procedure is displayed respectively, it is optional, and the screen can be customized manually or automatically by the maintenance manager, and the same effects as in this embodiment can be obtained. Can do. Similarly, it goes without saying that the display contents and display order of each screen are also updated based on the failure history of the system 10 or changes in parts used.
[0049]
3 (a) and 3 (b) show the processing time in each work mode. Compare the processing time of work mainly for parts replacement with the processing time mainly for investigation. It is also possible to select a work mode that can quickly restore the system 10, and the degree of freedom in selecting the work can be improved.
[0050]
In the case of this embodiment, the operating device 18 is connected to the control device 12 of the system 10, and the actual power supply, the control unit of the display unit 22 (item display control, content display control, etc.) is performed on the control device 12 side. Although the example to perform is shown, you may make it have a power supply, a control part, etc. in the operating device 18 side. Further, since the display unit 22 of the portable operation device 18 is restricted by the display area, the display may be performed using an external computer or the like. That is, in the present embodiment, an example in which the maintenance support device is mounted on the operation device 18 is shown, but an external computer or the maintenance support device may be configured alone. Of course, the above-described customization of the display contents may be performed by this external computer.
[0051]
【The invention's effect】
According to the present invention, it is possible to arbitrarily select a work mode mainly for component replacement and a work mode for a survey subject that performs component replacement after performing a survey for identifying a faulty part. Therefore, according to the level of proficiency of the maintenance manager, it is possible to provide a procedure for quickly recovering from a failure of the work robot system and provide good maintenance support that minimizes the stoppage of the production line and the production cyclone. .
[Brief description of the drawings]
FIG. 1 is a conceptual diagram of a configuration in which a working robot system for explaining a maintenance support apparatus according to an embodiment of the present invention is shown.
FIG. 2 is an explanatory diagram for explaining a maintenance support start screen when a failure occurs in the work robot system in the maintenance support apparatus according to the embodiment of the present invention.
FIG. 3 is an explanatory diagram for explaining a screen showing a work procedure mainly for parts replacement and a screen showing a work procedure mainly for an investigation in the maintenance support device according to the embodiment of the present invention.
FIG. 4 is an explanatory diagram for explaining a screen showing the contents of each work item of a work procedure mainly composed of parts replacement in the maintenance support device according to the embodiment of the present invention.
FIG. 5 is an explanatory diagram for explaining a screen showing the contents of each work item of a work procedure mainly for investigation in the maintenance support device according to the embodiment of the present invention.
[Explanation of symbols]
10 work articulated robot system, 12 robot control device, 14 unit storage unit, 16 articulated robot, 18 operation device, 20 work tool, 22 display unit, 24 error display area, 26 main display area, 32a, 32b switching Touch switch, 34a, 34b Scroll key.

Claims (7)

A maintenance support method for a working robot system that sequentially performs a predetermined work,
When a failure of the working robot system is detected, a display step for automatically displaying a maintenance support screen whose display content changes according to the operation on the screen;
On the screen for the maintenance support, a selecting step of accepting an selection of the working mode mainly research and work form mainly composed of component replacement,
When a work mode mainly consisting of parts replacement is selected, a maintenance manager with a low level of skill is required to replace parts that may cause a failure on the maintenance support screen in order to recover from the failure. In the case where a work form that is guided by the display contents considered and selected as the main investigation is selected, the work for exchanging the parts after conducting the investigation for identifying the faulty part on the maintenance support screen is performed. , Guidance steps to guide the display content in consideration of highly skilled maintenance managers,
Including
The guiding step includes
Depending on the selected work mode, items that can cause a failure are displayed as procedure items in order of the probability of causing the failure, and the selection of procedure items is accepted, and the failure recovery for the selected procedure item is performed. A step to display the work content;
Updating the display order of the procedure items based on at least a past failure history;
including,
A maintenance support method for a working robot system. In claim 1 Symbol mounting method,
The maintenance support method for a working robot system, wherein the guiding step includes a step of updating the work content based on at least a past repair history . The method according to claim 1 or claim 2, wherein
The guidance step includes a step of displaying a processing time required for processing according to the procedure item in association with the procedure item, and a maintenance support method for a working robot system. A maintenance support device for a work robot system that sequentially performs a predetermined work,
When a failure of the working robot system is detected, a working embodiment automatically displays the screen for maintenance support the display content is changed in response to an operation on the screen, that on the screen, mainly the parts replacement and a mode selection unit for accepting an selection of the work form mainly investigation,
When a work mode mainly consisting of parts replacement is selected, a maintenance manager with a low level of skill is required to replace parts that may cause a failure on the maintenance support screen in order to recover from the failure. In the case where a work form that is guided by the display contents considered and selected as the main investigation is selected, the work for exchanging the parts after conducting the investigation for identifying the faulty part on the maintenance support screen is performed. , A control unit that guides with display contents considering highly skilled maintenance managers,
Including
The controller is
Depending on the selected work mode, items that can cause a failure are displayed as procedure items in order of the probability of causing the failure, and the selection of procedure items is accepted, and the failure recovery for the selected procedure item is performed. View your work,
Updating the display order of the procedure items based on at least a past failure history;
A maintenance support device for a working robot system. The apparatus according to claim 4 .
The maintenance support device for a working robot system, wherein the control unit updates the work content based on at least a past repair history . The device according to claim 4 or claim 5 ,
The control unit displays a processing time required for processing according to the procedure item in association with the procedure item, and a maintenance support device for a working robot system. The maintenance support device for a working robot system, wherein the device according to any one of claims 4 to 6 is mounted on a teaching operation device for teaching operation of the working robot system.

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