JP6922634B2 - Diagnostic equipment, diagnostic methods, and diagnostic programs - Google Patents

Description

The present invention relates to diagnostic devices, diagnostic methods, and diagnostic programs.

Patent Document 1 proposes a method of predicting the life of a toothed belt according to a theoretical formula. Specifically, in the method proposed in Patent Document 1, first, parameters related to bending stress, compressive stress, and shear stress are calculated. Next, the number of equivalent life cycles is calculated using each of the calculated parameters. Then, the number of runnable cycles of the toothed belt is calculated by combining the calculated number of equivalent life cycles according to the minor rule. According to this method, the life of the toothed belt can be predicted even when the toothed belt reaches the end of its life due to the combined action of a plurality of types of stress.

In general, a maintenance method for replacing a component (for example, a toothed belt) of a work device that performs some work at a time when a failure is predicted by a method as in Patent Document 1 is TBM (Time Based Maintenance). ) Method is called. When regular maintenance is performed by this TBM method, the following problems may occur.

That is, at the site where the maintenance object is used, the object is not always worn according to theory due to changes in the environment, the occurrence of an unpredictable situation, or the like. Therefore, instead of replacing the object immediately before the life calculated by the theoretical formula, it is possible to replace the object earlier than the life calculated by the theoretical formula in consideration of the occurrence of such an unpredictable phenomenon. Will be done. Therefore, there is a problem that the maintenance cost increases because the object is excessively replaced as much as the room is secured.

In addition, if the life of the object is shortened beyond the reserved room and the object breaks down before maintenance, the work equipment including the object will be used between the time of failure and the time of replacement. , It will operate in a malfunctioning state. As a result, in the case where the working device is a device related to the production of a product, a large amount of defective products may be generated, which is uneconomical.

As a method of eliminating such a defect of the maintenance of the TBM method, there is a maintenance method of the CBM (Condition Based Maintenance) method in which the state of the working device is inspected and the components that have reached a predetermined standard are replaced. For example, in Patent Document 2, the first time series data and the second time series data are acquired, and the first data is extracted from the first time series data based on the acquired second time series data. , A method of diagnosing an abnormality of a robot based on the extracted first data has been proposed.

JP-A-2002-071521 Japanese Unexamined Patent Publication No. 2016-179527

According to the CBM type maintenance method, it is possible to diagnose whether or not a failure has occurred in the object at that time, so that excessive replacement of the object can be suppressed and the maintenance cost is reduced. be able to. Further, since the occurrence of a failure can be detected based on the state of the object, it is possible to reduce the time required for the work device to operate in the state of malfunction. However, the inventors of the present invention maintain a work device including a drive object that is driven by a drive source composed of, for example, a toothed belt and has a limited movable range by a CBM method. We have found that the following problems can occur when doing this.

That is, the measurement data obtained by measuring the operation of the drive source of the work device is used for the diagnosis of the drive source of the work device. For example, by analyzing the measurement data by a method such as frequency analysis, it is possible to diagnose whether or not a failure has occurred in the drive source. However, when the movable range of the driven object is limited, the driven object reaches the limit of the movable range before a sufficient amount of measurement data can be obtained for diagnosing the failure, and the drive source is turned on. It may not work anymore. As a result, a sufficient amount of measurement data cannot be obtained for failure diagnosis, the analysis of the measurement data becomes inappropriate, and there may be a problem that the estimation accuracy of the failure of the drive source is lowered. The inventors have found.

The present invention, on the one hand, has been made in view of such circumstances, and an object of the present invention is to provide a technique for improving the accuracy of failure diagnosis for a drive source of a working device.

The present invention employs the following configuration in order to solve the above-mentioned problems.

That is, the diagnostic device according to one aspect of the present invention has a driving object, a first driving source configured to move the driving object in the first direction, and a second driving source that cancels the movement in the first direction. A working device including a second drive source configured to move the drive object in a direction is instructed to move the drive object in the first direction by the first drive source. In the meantime, while the operation instruction unit instructing the second drive source to move the drive object in the second direction and the first drive source to move the drive object are being operated. In addition, a data collection unit that collects measurement data obtained by measuring the operation of the first drive source, and a diagnostic unit that diagnoses the state of the first drive source by using the collected measurement data. , Equipped with.

The working apparatus according to this configuration includes two drive sources. The first drive source is configured to move the object to be driven in the first direction. The second drive source is configured to move the drive object in the second direction, which is a direction that cancels the movement in the first direction. The diagnostic device according to the configuration is instructing such a working device to move the drive object in the first direction by the first drive source, while the second drive source moves the drive object in the second direction. Instruct to move the driving object. As a result, the movement of the drive object by the first drive source in the first direction is canceled by the amount that the drive object is moved in the second direction by the second drive source, and the operation time (drive amount) of the first drive source is canceled. ) Can be increased.

That is, for example, when the drive target is relatively moved by a certain amount of distance in the first direction, the drive target is driven by the second drive source as compared with the case where the drive target is moved by the first drive source alone. As the object is moved in the second direction, the amount of the object to be driven can be moved in the first direction, and the operating time (driving amount) of the first drive source can be increased. That is, it is possible to increase the amount of measurement data obtained by measuring the operation of the first drive source with respect to the amount of movement of the drive object in the first direction. Therefore, according to the configuration, it is possible to acquire a sufficient amount of measurement data for diagnosing the state of the drive source of the working device, so that the accuracy of failure diagnosis for the drive source can be improved. ..

The "working device" is particularly limited as long as it has each drive source configured to drive the driven object in each of the first direction and the second direction and is configured to perform some work. It does not have to be done. The working device may be, for example, a mounter, a SCARA robot, an articulated robot, or the like. The "driving object" is not particularly limited as long as it can be moved by the driving source, and may be, for example, a link member of a robot or the like. The "drive source" may not be particularly limited as long as it can drive the object to be driven. The drive source may be appropriately selected according to the type of the object to be driven, and may be, for example, a drive source including a toothed belt, a harmonic drive (registered trademark), or the like. The "measurement data" may be any data that can be used for diagnosing a failure of the drive source. This measurement data may be appropriately selected according to the type of drive source, and may be, for example, speed data, torque data, position data, angular velocity data, or the like.

Further, the first direction and the second direction may be composed of a linear direction, a rotation direction, or a combination of these directions, respectively. Here, the second direction does not have to be completely opposite to the first direction as long as it contains a component that moves the driving object in the direction opposite to the first direction. For example, when the positive direction of the linear axis is the first direction, the second direction is preferably the negative direction of the linear axis. However, the second direction does not have to be limited to the negative direction of the linear axis, and may be a direction deviating from the linear axis as long as it has a component in the negative direction of the linear axis. .. Further, when the first direction and the second direction are configured in the rotation direction, the rotation axis in the first direction and the rotation axis in the second direction may or may not be coaxial. Further, when the second direction is opposite to the first direction, the driven object apparently moves in the first direction when driven by both the first drive source and the second drive source. It may be configured to move in the second direction, or it may be configured to stop.

In the diagnostic apparatus according to the one aspect, the first drive source includes a motor, a pulley configured to be driven by the motor, and a toothed belt configured to be driven by the pulley. The driven object may be moved by the rotation of the toothed belt, and the diagnostic unit may diagnose whether or not an abnormality has occurred in the toothed belt of the first drive source. .. According to this configuration, the accuracy of abnormality diagnosis of the toothed belt can be improved. Since the amount of rotation of the toothed belt with respect to the amount of movement of the driving object is small, if the toothed belt of the driving source is used as the diagnosis target, it is possible that a sufficient amount of measurement data cannot be obtained for diagnosing the occurrence of an abnormality. Will be higher. Therefore, according to the present invention, increasing the amount of measurement data obtained with respect to the amount of movement of the driven object is particularly beneficial in the case of using such a toothed belt.

In the diagnostic apparatus according to the one aspect, the measurement data may be composed of speed data indicating the speed of the motor and torque data indicating the torque of the motor. According to this configuration, the abnormality diagnosis of the toothed belt can be appropriately performed by using the speed data and the torque data.

In the diagnostic apparatus according to the one aspect, the first drive source and the second drive source may be configured to move the drive object in the vertical direction, and the operation instruction unit may be configured to move the first drive. When the source is instructed to move the drive target portion upward as the first direction, the second drive source is instructed to move the drive target downward as the second direction. When the first drive source instructs the drive target portion to move downward as the first direction, the second drive source instructs the drive target to move upward as the second direction. You may. According to this configuration, in a work device (for example, a mounter) including a drive object configured to be driven in the vertical direction, the accuracy of failure diagnosis for the drive source can be improved.

In the diagnostic device according to the one aspect, the driving object may be a first link member, and the working device includes a first shaft provided at an end portion of the first link member and a first end portion. And a second link member having a second end portion, the second link member connected to the first link member via the first axis at the first end portion, and the second link member. A second shaft provided at the second end may be further provided, and the first drive source is configured to rotate the first link member counterclockwise and clockwise around the first shaft. The second drive source may be configured to rotate the first link member counterclockwise and clockwise around the second axis via the second link member, and may be configured to rotate the first link member counterclockwise and clockwise. When the first drive source instructs the first link member to rotate the first link member in the counterclockwise direction as the first direction, the second drive source causes the first drive source to rotate the first link member in the clockwise direction as the second direction. When instructing the link member to rotate and instructing the first drive source to rotate the first link member in a clockwise direction as the first direction, the second drive source sets the second direction. You may instruct the first link member to rotate counterclockwise. According to this configuration, in a work device (for example, a robot device) composed of a plurality of link members, the accuracy of failure diagnosis for a drive source can be improved.

As another aspect of the diagnostic device according to each of the above modes, it may be an information processing method or a program that realizes each of the above configurations, or a computer or other device that records such a program. , A storage medium that can be read by a machine or the like. Here, the recording medium that can be read by a computer or the like is a medium that stores information such as a program by electrical, magnetic, optical, mechanical, or chemical action.

For example, in the diagnostic method according to one aspect of the present invention, a computer performs a drive object, a first drive source configured to move the drive object in a first direction, and movement in the first direction. A work device including a second drive source configured to move the drive object in a canceling second direction is instructed by the first drive source to move the drive object in the first direction. During this process, the second drive source is instructed to move the drive object in the second direction, and the first drive source is operated to move the drive object. In the meantime, a step of collecting measurement data obtained by measuring the operation of the first drive source and a step of diagnosing the state of the first drive source by using the collected measurement data are performed. It is an information processing method to be executed.

Further, for example, in the diagnostic program according to one aspect of the present invention, the drive object, the first drive source configured to move the drive object in the first direction, and the first direction are provided to the computer. For a work device including a second drive source configured to move the drive object in a second direction that cancels the movement, the first drive source moves the drive object in the first direction. Instructing the second drive source to move the drive object in the second direction, and operating the first drive source to move the drive object. During the period, a step of collecting measurement data obtained by measuring the operation of the first drive source and a step of diagnosing the state of the first drive source by using the collected measurement data. , Is a program for executing.

Further, the data collecting device according to one aspect of the present invention cancels the driving object, the first driving source configured to move the driving object in the first direction, and the movement in the first direction. A working device including a second drive source configured to move the drive object in two directions is instructed by the first drive source to move the drive object in the first direction. Meanwhile, the operation instruction unit instructing the second drive source to move the drive object in the second direction and the first drive source to move the drive object are operated. In between, a data collecting unit for collecting measurement data obtained by measuring the operation of the first drive source is provided.

According to the present invention, it is possible to provide a technique for improving the accuracy of failure diagnosis for a drive source of a working device.

FIG. 1 schematically illustrates an example of a situation in which the present invention is applied. FIG. 2A schematically illustrates an example of the acquired measurement data. FIG. 2B schematically illustrates an example of the acquired measurement data. FIG. 3 schematically illustrates an example of the hardware configuration of the controller according to the embodiment. FIG. 4 schematically illustrates an example of the hardware configuration of the working device according to the embodiment. FIG. 5 is a diagram for explaining the engagement between the toothed belt and the pulley. FIG. 6 schematically illustrates an example of the software configuration of the controller according to the embodiment. FIG. 7 illustrates an example of the processing procedure at the time of diagnosis of the controller according to the embodiment. FIG. 8 is a diagram for explaining an example of failure of the toothed belt. FIG. 9 schematically illustrates a modified example of motion control of a driven object. FIG. 10A schematically illustrates a modified example of the diagnosis target. FIG. 10B schematically illustrates a modified example of the diagnosis target. FIG. 11 schematically illustrates an example of the software configuration of the controller according to the modified example.

Hereinafter, embodiments according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings. However, the embodiments described below are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. That is, in carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted. Although the data appearing in the present embodiment is described in natural language, more specifically, it is specified in a pseudo language, a command, a parameter, a machine language, etc. that can be recognized by a computer.

§1 Application example First, an example of a situation in which the present invention is applied will be described with reference to FIG. FIG. 1 schematically illustrates an example of an application scene of the present invention. As illustrated in FIG. 1, the present embodiment shows an example in which the present invention is applied to a controller 1 configured to control the operation of a working device. That is, the controller 1 according to the present embodiment is an example of the "diagnostic device" of the present invention.

Specifically, the work device to be controlled by the controller 1 according to the present embodiment is configured to include a drive object, a first drive source, and a second drive source. The first drive source is configured to move the drive object in the first direction, and the second drive source is configured to move the drive object in the second direction, which cancels the movement in the first direction. ..

The controller 1 according to the present embodiment is instructing such a working device to move the drive object in the first direction by the first drive source, while the second drive source is in the second direction. Instruct to move the driving object. Then, the controller 1 collects the measurement data obtained by measuring the operation of the first drive source while operating the first drive source to move the drive object, and the collected measurement data. Is used to diagnose the condition of the first drive source.

The work device has each drive source configured to drive the drive object in each of the first direction and the second direction, and is not particularly limited as long as it is configured to perform some work. good. The working device may be, for example, a mounter, a SCARA robot, an articulated robot, or the like. Further, the driving object may be not particularly limited as long as it can be moved by the driving source, and may be, for example, a link member of a robot or the like.

In this embodiment, an example in which the SCARA robot 2 is adopted as an example of the working device will be described. As shown in FIG. 1, the SCARA robot 2 according to the present embodiment includes a work unit 20 as a drive object. The work unit 20 includes a shaft 201 and an end effector 204 attached to the tip of the shaft 201, and the SCARA robot 2 uses such a work unit 20 in the vertical direction as a first drive source and a second drive source. It further includes two drive sources for moving (a first elevating drive unit 26 and a second elevating drive unit 27, which will be described later).

Therefore, when the controller 1 instructs the SCARA robot 2 to move the work unit 20 upward as the first direction by the first drive source, the controller 1 works downward as the second direction by the second drive source. Instruct the unit 20 to move. On the contrary, when the controller 1 instructs the SCARA robot 2 to move the work unit 20 downward as the first direction by the first drive source, the controller 1 sets the second direction by the second drive source. Instruct the work unit 20 to move upward.

As a result, the movement of the work unit 20 in the first direction by the first drive source is canceled by the amount that the work unit 20 is moved in the second direction by the second drive source, and the operation time (drive amount) of the first drive source is canceled. ) Can be increased. That is, for example, when the work unit 20 is relatively moved by a certain amount of distance in the first direction, the work unit is moved by the second drive source as compared with the case where the work unit 20 is moved by the first drive source alone. By the amount that 20 is moved in the second direction, the amount of work unit 20 that can be moved in the first direction increases, and the amount of drive of the first drive source can be increased. That is, the amount of measurement data obtained by measuring the operation of the first drive source can be increased with respect to the amount of movement of the work unit 20 in the first direction.

Here, the point that the amount of this measurement data can be increased will be described in detail with reference to FIGS. 2A and 2B. FIG. 2A shows an example of measurement data obtained in the case (1) in which the work unit 20 is moved by the first drive source alone. FIG. 2B shows an example of the measurement data obtained in the case (2) in which the first drive source and the second drive source are operated as described above.

In the present embodiment, in order to diagnose the state of the first drive source, speed data and torque data of the first drive source (motor 261 described later) are collected as measurement data. When a failure occurs in the first drive source, the behavior related to the failure may appear periodically in the measurement data. In the present embodiment, the behavior related to the failure can appear periodically in the torque data when operating at a constant speed. Therefore, the state of the first drive source can be diagnosed by analyzing whether or not such behavior exists in the measurement data by using a technique such as frequency analysis.

However, the movable range of the work unit 20 in the vertical direction is limited by the length of the shaft 201, the method of driving the shaft 201 by each drive source, and the like. Therefore, when the work unit 20 is moved in the first direction by the first drive source alone, the work unit 20 reaches the limit of the movable range before a sufficient amount of measurement data can be obtained for diagnosis of failure. There is a possibility that it will end up.

In this case, as illustrated in FIG. 2A, the time during which the first drive source can be operated at a constant speed is shortened, and the amount of torque data obtained while operating the first drive source at a constant speed is shortened. Will be reduced. As a result, it becomes impossible to properly analyze whether or not the behavior related to the failure appears periodically in the torque data. In the example of FIG. 2A, it becomes impossible to appropriately determine whether the behavior D1 appearing in the torque data is related to a failure or other (for example, noise). Therefore, in the case (1) in which such a sufficient amount of torque data cannot be obtained, the accuracy of estimating the failure of the first drive source is lowered.

On the other hand, in the present embodiment, while the work unit 20 is being driven in the first direction by the first drive source, the movement in the first direction is canceled by further operating the second drive source. The work unit 20 is driven in the second direction. As a result, as compared with the above case (1) in which the work unit 20 is driven by the first drive source alone, the work unit is moved by the first drive source by the amount that the work unit 20 is moved in the second direction by the second drive source. The amount that 20 can be moved in the first direction can be increased. That is, when the work unit 20 is moved in the first direction by the same distance in the above case (1) and the present case (2), the present case (2) is compared with the above case (1). , The operating time of the first drive source can be lengthened by the amount that the second drive source operates.

Therefore, in the present embodiment, as illustrated in FIG. 2B, the time during which the first drive source can be operated at a constant speed can be lengthened, whereby the first drive source can be operated at a constant speed. However, the amount of torque data obtained can be increased. For example, in the example of FIG. 2B, the amount of torque data obtained while operating the first drive source at a constant speed can be increased to such that the behavior D2 related to the failure appears in the torque data periodically three times. Therefore, according to the present embodiment, it is possible to acquire a sufficient amount of measurement data for diagnosing the state of the drive source of the SCARA robot 2, and thus it is possible to improve the accuracy of failure diagnosis for the drive source. Can be done.

§2 Configuration example [Hardware configuration]
<Controller>
Next, an example of the hardware configuration of the controller 1 according to the present embodiment will be described with reference to FIG. FIG. 3 schematically illustrates an example of the hardware configuration of the controller 1 according to the present embodiment.

As shown in FIG. 3, the controller 1 according to the present embodiment is a computer to which the control unit 11, the storage unit 12, and the external interface 13 are electrically connected. In FIG. 3, the external interface is described as "external I / F".

The control unit 11 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, which are hardware processors, and controls each component according to information processing. The storage unit 12 is composed of, for example, a RAM, a ROM, or the like, and holds various information used by the control unit 11. The storage unit 12 is an example of a “memory”.

In the present embodiment, the diagnostic program 121 is stored in the storage unit 12. The diagnostic program 121 is a program for causing the controller 1 to execute information processing (FIG. 7) described later for diagnosing the state of the drive source of the SCARA robot 2. Details will be described later.

The external interface 13 is an interface for connecting to an external device, and is appropriately configured according to the external device to be connected. In the present embodiment, the controller 1 is connected to the SCARA robot 2 via the external interface 13.

Regarding the specific hardware configuration of the controller 1, components can be omitted, replaced, or added as appropriate according to the embodiment. For example, the control unit 11 may include a plurality of hardware processors. The hardware processor may be composed of a microprocessor, an FPGA (field-programmable gate array), or the like. The storage unit 12 may be composed of an auxiliary storage device such as a hard disk drive or a solid state drive. The controller 1 may further include a communication module for performing data communication with other devices via the network. The controller 1 may be composed of a plurality of information processing devices. Further, the controller 1 may be a general-purpose desktop PC (Personal Computer), a tablet PC, or the like, in addition to an information processing device designed exclusively for the provided service.

Further, the controller 1 may be connected to a drive device or the like for reading the data stored in the storage medium. In this case, the diagnostic program 121 may be provided via a storage medium. Further, when the drive device is connected to the controller 1, the diagnostic program 121 may be stored in the storage medium. The storage medium stores the information of the program or the like by electrical, magnetic, optical, mechanical or chemical action so that the information of the program or the like recorded by the computer or other device or machine can be read. It is a medium. The storage medium is, for example, a CD (Compact Disk), a DVD (Digital Versatile Disk), a flash memory, or the like.

<SCARA robot>
Next, an example of the hardware configuration of the SCARA robot 2 according to the present embodiment will be described with reference to FIG. FIG. 4 schematically illustrates an example of the hardware configuration of the SCARA robot 2 according to the present embodiment.

The SCARA robot 2 according to the present embodiment is a so-called horizontal articulated type, and has a work unit 20, a base 21, a first arm portion 22, a second arm portion 23, a first rotation drive unit 24, and a second rotation drive unit. 25, a first elevating drive unit 26, and a second elevating drive unit 27 are provided. As shown in FIG. 4, in the present embodiment, the work unit 20 is attached to the second arm portion 23, the second arm portion 23 is connected to the first arm portion 22, and the first arm portion 22 is connected to the first arm portion 22. It is connected to the base 21. Hereinafter, for convenience of explanation, the side to which the work unit 20 is attached is referred to as the front end side, and the base 21 side opposite to the front end side is referred to as the rear end side.

The first arm portion 22 extends from the rear end side to the front end side, and has a front end portion 221 and a rear end portion 222 facing each other. Similarly, the second arm portion 23 extends from the rear end side to the tip end side and has a tip end portion 231 and a rear end portion 232 facing each other. The first arm portion 22 is connected to the base 21 at the rear end portion 222, and is connected to the second arm portion 23 at the tip portion 221.

A first rotation drive unit 24 is provided on the rear end portion 222 side of the first arm portion 22. The first rotation drive unit 24 includes a motor 241 and a speed reducer 243 connected to each other via a rotation shaft 242 extending in the vertical direction. The speed reducer 243 is, for example, a harmonic drive (registered trademark). In the present embodiment, the motor 241 is housed in the base 21, and the speed reducer 243 is housed in the rear end 222 side of the first arm 22. The rear end portion 222 of the first arm portion 22 is arranged above the base 21, and the rear end portion 222 of the first arm portion 22 and the base 21 are connected via a rotation shaft 242. The rotation shaft 242 of the motor 241 is attached to the input shaft of the speed reducer 243, and the rotation of the speed reducer 243 is transmitted to the first arm portion 22. As a result, the first rotation drive unit 24 is configured to be able to drive the first arm unit 22 around the rotation shaft 242. That is, the first rotation drive unit 24 is configured to rotate the second arm unit 23 counterclockwise and clockwise around the rotation shaft 242 via the first arm unit 22.

Further, a second rotation drive unit 25 is provided on the rear end portion 232 side of the second arm portion 23. Like the first rotation drive unit 24, the second rotation drive unit 25 includes a motor 251 and a speed reducer 253 connected to each other via a rotation shaft 252. The speed reducer 253 is, for example, a harmonic drive (registered trademark). In the present embodiment, the motor 251 is housed on the tip end portion 221 side of the first arm portion 22, and the speed reducer 253 is housed on the rear end portion 232 side of the second arm portion 23. The rear end portion 232 of the second arm portion 23 is arranged above the tip portion 221 of the first arm portion 22, and the rear end portion 232 of the second arm portion 23 and the tip portion 221 of the first arm portion 22 are rotating shafts. It is connected via 252. The rotation shaft 252 of the motor 251 is attached to the input shaft of the speed reducer 253, and the rotation of the speed reducer 253 is configured to be transmitted to the second arm portion 23. As a result, the second rotation drive unit 25 is configured to be able to drive the second arm unit 23 around the rotation shaft 252. That is, the second rotation drive unit 25 is configured to rotate the second arm unit 23 counterclockwise and clockwise around the rotation shaft 252.

The work unit 20 is attached to the tip end portion 231 side of the second arm portion 23. The working unit 20 includes a shaft 201 extending in the vertical direction and an end effector 204 attached to the lower end of the shaft 201. The type of end effector 204 may be appropriately selected according to the work content of the SCARA robot 2. A ball screw groove is provided on the outer peripheral surface of the shaft 201 on the upper end side, and a ball screw nut 202 is attached to the region where the ball screw groove is provided. Further, a ball spline groove is provided on the outer peripheral surface of the shaft 201 on the lower end side, and a ball spline nut 203 is attached to the region where the ball spline groove is provided. For the shaft 201, for example, a miniature ball screw spline (BSSP) manufactured by KSS Co., Ltd. can be used. The second arm portion 23 further accommodates a first elevating drive unit 26 and a second elevating drive unit 27 for driving such a work unit 20 via nuts (202, 203).

The first elevating drive unit 26 includes a motor 261 having a rotating shaft 262, a pulley 263 configured to be driven by the motor 261 and a toothed belt 264 configured to be driven by the pulley 263. .. As a result, the first elevating drive unit 26 is configured to move the shaft 201 of the work unit 20 in the vertical direction by the rotation of the toothed belt 264.

Specifically, the pulley 263 is arranged above the motor 261 and is connected to the rotating shaft 262 of the motor 261. Further, the pulley 263 is arranged in parallel with the ball screw nut 202 attached to the shaft 201 in the horizontal direction, and a toothed belt 264 is bridged to the pulley 263 and the ball screw nut 202.

With such a configuration, the rotation of the motor 261 is transmitted to the pulley 263 via the rotation shaft 262, so that the pulley 263 rotates about the rotation shaft 262. Further, the rotation of the pulley 263 is transmitted to the toothed belt 264, so that the toothed belt 264 rotates between the rotation shaft 262 and the shaft 201. Then, the rotation of the toothed belt 264 is transmitted to the ball screw nut 202, so that the ball screw nut 202 rotates around the axis of the shaft 201, whereby the shaft 201 moves in the vertical direction. That is, the first elevating drive unit 26 according to the present embodiment is configured so that the shaft 201 of the work unit 20 can be elevated and lowered by the rotation of the motor 261.

Here, the meshing of the toothed belt 264 and the pulley 263 will be described with reference to FIG. FIG. 5 schematically illustrates an example of the meshed state of the toothed belt 264 and the pulley 263. As shown in FIG. 5, a plurality of teeth 2641 are provided on the inner peripheral surface of the toothed belt 264 at a constant pitch, and correspondingly, a plurality of teeth 2631 are constant on the outer peripheral surface of the pulley 263. It is provided on the pitch. The rotation of the pulley 263 can be transmitted to the toothed belt 264 by engaging the teeth 2631 of the pulley 263 and the teeth 2641 of the toothed belt 264. Similarly, a plurality of teeth are provided on the outer peripheral surface of the ball screw nut 202, and the teeth of the ball screw nut 202 and the teeth 2641 of the toothed belt 264 are engaged with each other to rotate the toothed belt 264. It can be transmitted to the ball screw nut 202.

In this embodiment, the ball spline nut 203 is used as a detent around the shaft. That is, when only the first elevating drive unit 26 is driven, the rotational force around the axis transmitted from the ball screw nut 202 to the shaft 201 is canceled by the ball spline nut 203. As a result, the first elevating drive unit 26 is configured to move the shaft 201 of the work unit 20 in the vertical direction without rotating it around the axis.

Like the first elevating drive unit 26, the second elevating drive unit 27 is also configured to move the shaft 201 of the work unit 20 in the vertical direction by using a motor, a pulley, and a toothed belt. Specifically, the second elevating drive unit 27 includes a motor 271, a first rotating shaft 272, a first pulley 273, a first toothed belt 274, a second pulley 275, a second rotating shaft 276, and a third pulley 277. And a second toothed belt 278. The first pulley 273 is arranged above the motor 271 and is connected to the first rotating shaft 272 of the motor 271. The first pulley 273 is arranged in parallel with the second pulley 275 in the horizontal direction, and the first toothed belt 274 is bridged to the first pulley 273 and the second pulley 275. A third pulley 277 is arranged below the second pulley 275, and the second pulley 275 and the third pulley 277 are connected by a second rotating shaft 276. The third pulley 277 is arranged in parallel with the ball spline nut 203 in the horizontal direction, and a second toothed belt 278 is bridged to the third pulley 277 and the ball spline nut 203. Each toothed belt (274, 278), each pulley (273, 275, 277) and the ball spline nut 203 are meshed in the same manner as the meshing of the toothed belt 264 and the pulley 263.

With such a configuration, the rotation of the motor 271 is transmitted to the first pulley 273 via the first rotation shaft 272, so that the first pulley 273 rotates about the first rotation shaft 272. By transmitting the rotation of the first pulley 273 to the first toothed belt 274, the first toothed belt 274 rotates between the first rotation shaft 272 and the second rotation shaft 276. By transmitting the rotation of the first toothed belt 274 to the second pulley 275, the second pulley 275 rotates about the second rotation shaft 276. The rotation of the second pulley 275 is transmitted to the second toothed belt 278, so that the second toothed belt 278 rotates between the second rotating shaft 276 and the shaft 201. Then, the rotation of the second toothed belt 278 is transmitted to the ball spline nut 203, so that the ball spline nut 203 rotates around the axis of the shaft 201, whereby the shaft 201 rotates about the axis while rotating. Move up and down. That is, the second elevating drive unit 27 according to the present embodiment is configured so that the working unit 20 can be moved up and down while rotating around the axis by the rotation of the motor 271.

Each motor (241, 251, 261, 271) is provided with an encoder (not shown) or the like so that the rotation speed can be measured. The magnitude of the torque acting on each motor (241, 251, 261, 271) is determined by the command current value supplied to each motor (241, 251, 261, 271). Therefore, the torque of each motor (241, 251, 261, 271) can be measured by monitoring the command current value supplied to each motor (241, 251, 261, 271).

As described above, the SCARA robot 2 can rotate each arm portion (22, 23) around each rotation axis (242, 252), and can move the shaft 201 of the work unit 20 in the vertical direction in the second arm portion 23. It is composed of. The configuration of the SCARA robot 2 does not have to be limited to such an example, and the components may be omitted, replaced, or added as appropriate according to the embodiment.

[Software configuration]
Next, an example of the software configuration of the controller 1 according to the present embodiment will be described with reference to FIG. FIG. 6 schematically illustrates an example of the software configuration of the controller 1 according to the present embodiment.

The control unit 11 of the controller 1 expands the diagnostic program 121 stored in the storage unit 12 into the RAM. Then, the control unit 11 interprets and executes the diagnostic program 121 expanded in the RAM by the CPU to control each component. As a result, as shown in FIG. 6, the controller 1 according to the present embodiment is configured to include an operation instruction unit 111, a data collection unit 112, and a diagnosis unit 113 as software modules.

While the operation instruction unit 111 instructs the SCARA robot 2 to move the drive object in the first direction by the first drive source, the operation instruction unit 111 moves the drive object in the second direction by the second drive source. Instruct to move. The data collection unit 112 measures the operation of the first drive source while operating the first drive source to move the drive object, and collects the measurement data 122 obtained thereby. Then, the diagnosis unit 113 diagnoses the state of the first drive source by using the collected measurement data 122.

In this embodiment, an example is shown in which the work unit 20 is handled as a drive object, the first elevating drive unit 26 is handled as the first drive source, and the second elevating drive unit 27 is handled as the second drive source. That is, when the operation instruction unit 111 is instructed by the first elevating drive unit 26 to move the work unit 20 upward as the first direction, the second elevating drive unit 27 causes the work unit to move downward as the second direction. Instruct 20 to move. Further, when the operation instruction unit 111 instructs the first elevating drive unit 26 to move the work unit 20 downward as the first direction, the second elevating drive unit 27 causes the work unit to move upward as the second direction. Instruct 20 to move.

The data collection unit 112 monitors the operation of the motor 261 while the work unit 20 is being driven by the first elevating drive unit 26, and the speed data 1221 indicating the speed of the motor 261 and the torque data 1222 indicating the torque of the motor 261. Is collected as measurement data 122. The diagnosis unit 113 diagnoses whether or not an abnormality has occurred in the toothed belt 264 of the first elevating drive unit 26 by using the measurement data 122 composed of the speed data 1221 and the torque data 1222.

Each software module of the controller 1 will be described in detail in an operation example described later. In this embodiment, an example in which each software module of the controller 1 is realized by a general-purpose CPU is described. However, some or all of the above software modules may be implemented by one or more dedicated processors. Further, with respect to the software configuration of the controller 1, software modules may be omitted, replaced, or added as appropriate according to the embodiment.

§3 Operation example Next, an operation example of the controller 1 will be described with reference to FIG. 7. FIG. 7 illustrates an example of the processing procedure of the controller 1 when diagnosing the state of the SCARA robot 2. The diagnostic processing procedure described below is an example of the "diagnostic method" of the present invention. However, the processing procedure described below is only an example, and each processing may be changed as much as possible. Further, with respect to the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the embodiment.

(Step S101)
First, in step S101, the control unit 11 operates as the operation instruction unit 111, and instructs the SCARA robot 2 to move the drive object in the first direction by the first drive source. Further, while the control unit 11 instructs the SCARA robot 2 to move the drive object in the first direction by the first drive source, the control unit 11 moves the drive object in the second direction by the second drive source. Instruct to move.

Specifically, in the present embodiment, the control unit 11 instructs the SCARA robot 2 to move the shaft 201 of the work unit 20 upward or downward by the first elevating drive unit 26. When the first elevating drive unit 26 instructs the shaft 201 to move upward, the control unit 11 causes the SCARA robot 2 to move the shaft 201 downward by the second elevating drive unit 27. Further instructions. On the other hand, when the first elevating drive unit 26 instructs the shaft 201 to move downward, the control unit 11 causes the SCARA robot 2 to move the shaft 201 upward by the second elevating drive unit 27. Further instruct.

At this time, the operating time of the second elevating drive unit 27 is appropriately set so as to overlap with the operating time of the first elevating drive unit 26 at least in part. The operating time of the second elevating drive unit 27 may or may not match the operating time of the first elevating drive unit 26. That is, the second elevating drive unit so as to move the shaft 201 in the second direction during at least a part of the period during which the first elevating drive unit 26 is operated so as to move the shaft 201 in the first direction. The control unit 11 may output an instruction to operate the 27 to the SCARA robot 2.

Further, the driving amount per unit time of each of the first elevating drive unit 26 and the second elevating drive unit 27 may be appropriately set according to the embodiment. The drive amount of the second elevating drive unit 27 may be set to be smaller than the drive amount of the first elevating drive unit 26, or may be set to match the drive amount of the first elevating drive unit 26. Alternatively, it may be set to be larger than the drive amount of the first elevating drive unit 26. In the present embodiment, the control unit 11 controls the SCARA robot 2 so as to operate the motor 261 at a constant speed while operating the first elevating drive unit 26.

During the period in which both the elevating drive units (26, 27) are operating together, the shaft 201 of the work unit 20 is driven from both the elevating drive units (26, 27) in directions opposite to each other. Therefore, the moving direction of the shaft 201 is controlled according to the driving amount of both the elevating driving units (26, 27). For example, when the drive amount of the second elevating drive unit 27 is set to be smaller than the drive amount of the first elevating drive unit 26, the shaft 201 is driven only by the first elevating drive unit 26. Is also controlled to move in the first direction, which is the driving direction of the first elevating drive unit 26, at a slow speed. When the drive amount of the second elevating drive unit 27 is set to match the drive amount of the first elevating drive unit 26, the shaft 201 is controlled to stop on the spot. Further, when the drive amount of the second elevating drive unit 27 is set to be larger than the drive amount of the first elevating drive unit 26, the shaft 201 is the second driving direction of the second elevating drive unit 27. It is controlled to move in the direction.

The arrangement of the shaft 201 when starting the step S101 may be appropriately set so as to secure a range in which the shaft 201 moves according to such movement control of the shaft 201. For example, when the upward direction is the first direction, the downward direction is the second direction, and the drive amount of the second elevating drive unit 27 is set to be smaller than the drive amount of the first elevating drive unit 26, this In step S101, the shaft 201 is controlled to move upward. Therefore, before operating the first elevating drive unit 26, the control unit 11 may instruct the SCARA robot 2 to arrange the shaft 201 at the lower end of the movable range.

(Step S102)
In the next step S102, the control unit 11 operates as the data collection unit 112, and measures the operation of the first drive source while operating the first drive source to move the drive object. The obtained measurement data 122 is collected.

In the present embodiment, the control unit 11 measures the operation of the motor 261 of the first elevating drive unit 26 while operating the first elevating drive unit 26 in step S101. As a result, the control unit 11 collects the speed data 1221 and the torque data 1222 of the motor 261 as the measurement data 122. The speed data 1221 can be collected, for example, from an encoder provided in the motor 261. Further, the torque data 1222 can be collected based on, for example, a command current value given to the motor 261. The control unit 11 stores the collected measurement data 122 in the RAM or the storage unit 12.

(Step S103)
In the next step S103, the control unit 11 extracts a portion to be used for the diagnostic process in step S104, which will be described later, from the collected measurement data 122. In step S104, which will be described later, a failure of the toothed belt 264 of the first elevating drive unit 26 is diagnosed. Therefore, in this step S103, the control unit 11 extracts the portion used for the diagnosis of the toothed belt 264 from the measurement data 122.

Here, the failure of the toothed belt 264 will be described with reference to FIG. FIG. 8 illustrates a scene in which the tooth 2641 is missing in the region 2642 within the range of meshing with the pulley 263 as an example of the failure of the toothed belt 264.

As described in FIG. 5, the rotation of the pulley 263 is transmitted to the toothed belt 264 by engaging the teeth 2641 of the toothed belt 264 and the teeth 2631 of the pulley 263. Similarly, the rotation of the toothed belt 264 is transmitted to the ball screw nut 202 by meshing the teeth of the toothed belt 264 with the teeth of the ball screw nut 202.

When the toothed belt 264 does not have a chipped tooth 2641, the meshing relationship between the toothed belt 264 and the pulley 263 and the meshing relationship between the toothed belt 264 and the ball screw nut 202 are fixed. Therefore, in a normal state, the amount of vertical movement of the shaft 201 is constant with respect to a constant rotation of the motor 261. Therefore, the vertical position of the shaft 201 is accurately controlled based on the amount of rotation of the motor 261. can do.

On the other hand, for example, as illustrated in FIG. 8, when the tooth 2641 is chipped in the range where it meshes with the pulley 263, the toothed belt 264 and the pulley 263 are formed in the chipped region 2642 of the tooth 2641. There is no meshing. When such a situation occurs, the amount of movement of the shaft 201 in the vertical direction changes. Therefore, if the toothed belt 264 is chipped, it becomes difficult to accurately position the shaft 201 at the specified position based on the control of the motor 261. As a result, the end effector 204 Will cause problems in the work performed by. Therefore, the chipping of the teeth 2641 of the toothed belt 264 is one of the failures to be detected by the SCARA robot 2.

The behavior of the toothed belt 264 with respect to the chipping of the teeth 2641 may appear as vibrations having a relatively large amplitude in the torque data 1222 as illustrated in FIG. 2B. That is, when the motor 261 is operated at a constant speed, the region 2642 in which the tooth 2641 is chipped reaches the range where it meshes with the pulley 263 at a constant timing. When this region 2642 passes through the range of meshing with the pulley 263, if an abnormal meshing such as a misalignment or poor contact between the teeth (2641 and 2631) occurs as described above, the torque corresponding to the abnormal meshing occurs. Fluctuations occur in the motor 261. This torque fluctuation appears in the torque data 1222 as a vibration having a relatively large amplitude. That is, when the toothed belt 264 is chipped with the teeth 2641, the torque data 1222 has a relatively large amplitude as shown in the behavior D2 of FIG. 2B while the motor 261 is being operated at a constant speed. Vibration appears periodically.

Therefore, in this step S103, the control unit 11 determines whether or not vibration as shown in the behavior D2 of FIG. 2B exists in the torque data 1222 obtained when the motor 261 is operating at a constant speed. In addition, for example, data extraction is performed by the following method. That is, the control unit 11 first refers to the speed data 1221 to specify the time during which the motor 261 has been operating at a constant speed. Next, the control unit 11 reads the torque data 1222 and extracts the portion corresponding to the specified time from the torque data 1222. As a result, in the present embodiment, the control unit 11 describes the portion of the time zone in which the motor 261 is operating at a constant speed (hereinafter, also referred to as “extracted data”” as the portion used for the diagnostic processing in this step S103. ) Is extracted from the torque data 1222.

(Step S104)
In the next step S104, the control unit 11 operates as the diagnosis unit 113 and diagnoses the state of the first drive source using the measurement data 122. Specifically, in the present embodiment, the control unit 11 analyzes the extracted data extracted from the torque data 1222, so that the toothed belt 264 of the first elevating drive unit 26 has an abnormality such as a chipped tooth 2641. Diagnose whether or not is occurring.

A known data analysis method may be used for this diagnostic process. For example, the control unit 11 may determine whether or not the above-mentioned periodic behavior D2 exists in the extracted data by performing a known frequency analysis on the extracted data.

In this case, the storage unit 12 may store the result of frequency analysis of the torque data obtained when the toothed belt 264 is normal. The control unit 11 describes the above in the extracted data depending on whether or not the difference between the frequency analysis result for the extracted data obtained in step S103 and the normal frequency analysis result stored in the storage unit 12 exceeds the threshold value. It is possible to determine whether or not such a periodic behavior D2 exists.

When it is determined that the periodic behavior D2 is present in the extracted data, the control unit 11 diagnoses that the toothed belt 264 has an abnormality. On the other hand, when it is determined that the periodic behavior D2 does not exist in the extracted data, the control unit 11 diagnoses that no abnormality has occurred in the toothed belt 264. However, the method of diagnostic processing does not have to be limited to such an example, and may be appropriately selected depending on the embodiment.

As a result, the control unit 11 ends the diagnostic process of the SCARA robot 2 according to this operation example. The control unit 11 may notify the result of the diagnostic process in step S104 by a predetermined method. For example, when it is diagnosed that an abnormality has occurred in the toothed belt 264 in step S104, the control unit 11 uses a notification method such as a screen output by a display, a voice output by a speaker, or an e-mail transmission to obtain the diagnosis result. May be notified.

[Action / Effect]
As described above, in step S101, the controller 1 according to the present embodiment instructs the SCARA robot 2 to move the shaft 201 of the work unit 20 in the first direction by the first elevating drive unit 26. In the meantime, the second elevating drive unit 27 instructs the shaft 201 to move in the second direction, which is the direction that cancels the movement in the first direction.

Specifically, when the controller 1 is instructed by the first elevating drive unit 26 to move the shaft 201 upward, the second elevating drive unit 27 will move the shaft 201 downward. Instruct. On the other hand, when the controller 1 is instructed by the first elevating drive unit 26 to move the shaft 201 downward, the controller 1 is instructed by the second elevating drive unit 27 to move the shaft 201 upward. do.

As a result, in step S101, the first elevating drive unit 26 moves the shaft 201 in the second direction by the second elevating drive unit 27, as compared with the case where the shaft 201 is moved only by the first elevating drive unit 26. The amount of drive can be increased. That is, the time during which the motor 261 of the first elevating drive unit 26 can be operated at a constant speed can be lengthened.

Therefore, in step S102, the amount of measurement data 122 (speed data 1221 and torque data 1222) obtained by measuring the operation of the motor 261 can be increased. More specifically, as shown in FIG. 2B, the portion (extracted data) of the torque data 1222 in the time zone in which the motor 261 is operating at a constant speed can be increased. Therefore, according to the present embodiment, it is possible to acquire a sufficient amount of measurement data 122 for the diagnostic process performed in step S104, so that the accuracy of the abnormality diagnosis of the toothed belt 264 can be improved.

Further, in the controller 1 according to the present embodiment, the toothed belt 264 of the first elevating drive unit 26 is the target of the diagnosis in step S104. The amount of rotation of the toothed belt is smaller than the amount of rotation of the motor and the amount of movement of the shaft. In the present embodiment, the longer the distance between the pulley 263 and the ball screw nut 202, the smaller the amount of rotation of the toothed belt 264 when the motor 261 is rotated once. Therefore, when a toothed belt is used as a diagnosis target, there is a high possibility that a sufficient amount of measurement data cannot be collected for diagnosing the occurrence of an abnormality. On the other hand, in the present embodiment, the amount of rotation of the motor 261 and the amount of movement of the shaft 201 can be increased by the amount of operating the second elevating drive unit 27, so that the amount of rotation of the toothed belt 264 is increased. Can be done. Therefore, according to the present embodiment, even if the toothed belt 264 is used, in step S102, a sufficient amount of measurement data 122 can be collected for the abnormality diagnosis of the toothed belt 264.

§4 Modifications Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. For example, the following changes can be made. In the following, the same reference numerals will be used for the same components as those in the above embodiment, and the same points as in the above embodiment will be omitted as appropriate. The following modifications can be combined as appropriate.

<4.1>
For example, the controller 1 may further include a sensor such as a camera for monitoring the movable range of the work unit 20 of the SCARA robot 2. As a result, in step S101, the control unit 11 may determine the moving range of the shaft 201 based on the monitoring result of the sensor. Then, the control unit 11 may determine the drive amount of the first elevating drive unit 26 and the second elevating drive unit 27 based on the determined movement range of the shaft 201.

FIG. 9 schematically illustrates an example of this modification. The controller 1A illustrated in FIG. 9 is configured in the same manner as the controller 1 according to the above embodiment, except that it is connected to a camera 5 for monitoring the movable range of the shaft 201 of the work unit 20. In this case, the control unit 11 of the controller 1A acquires a photographed image from the camera 5 before the step S101, and specifies the state of the movable range of the shaft 201 based on the acquired photographed image. Then, the control unit 11 determines the range in which the shaft 201 is moved in step S101 based on the state of the specified movable range.

In the example of FIG. 9, the obstacle 3 is arranged so as to obstruct the movable range R1 of the shaft 201. The obstacle 3 is, for example, a conveyor for transporting an object (work) to be worked on by the work unit 20. In this case, the control unit 11 may set the movement range of the shaft 201 within the range R2 between the shaft 201 and the obstacle 3. Further, when the amount of movement of the shaft 201 is insufficient in the range R2, the control unit 11 drives at least one of the first rotation drive unit 24 and the second rotation drive unit 25 to interfere with the obstacle 3. The movement range of the shaft 201 may be set after arranging the work unit 20 at a position where the work unit 20 is not used.

After setting the moving range of the shaft 201, the control unit 11 diagnoses the toothed belt 264 by executing the processes of steps S101 to S104. As a result, according to this modification, even the SCARA robot 2 used in the environment where the obstacle 3 exists can drive the work unit 20 without interfering with the obstacle 3. , The abnormality diagnosis of the toothed belt 264 can be performed accurately.

<4.2>
In the above embodiment, the work unit 20 is a drive object, and the first elevating drive unit 26 and the second elevating drive unit 27 are the first drive source and the second drive source, respectively. However, the driving object and the driving source do not have to be limited to such an example, and may be appropriately selected according to the embodiment. The drive source may not be particularly limited as long as it can drive the object to be driven.

Further, in the above embodiment, the toothed belt 264 of the first elevating drive unit 26 is the target of the diagnostic process in step S104. However, the target of the diagnostic process in step S104 is not limited to the toothed belt 264, and may be appropriately selected according to the embodiment.

Further, in the above embodiment, when the upward direction is the first direction, the second direction is the downward direction, and when the downward direction is the first direction, the second direction is the upward direction. However, the first direction and the second direction do not have to be limited to such an example, and may be appropriately selected depending on the embodiment. The first direction and the second direction may be composed of a linear direction, a rotation direction, or a combination of these directions, respectively.

Further, in the above embodiment, since each of the first direction and the second direction is one of the vertical directions, the second direction is completely opposite to the first direction. However, the second direction does not have to be limited to such an example, and if it contains a component that moves the driving object in the direction opposite to the first direction, it is perfect with respect to the first direction. It does not have to be in the opposite direction.

For example, in the above embodiment, the SCARA robot 2 includes a first rotary drive unit 24 and a second rotary drive unit 25 in addition to the first lift drive unit 26 and the second lift drive unit 27. Therefore, the second rotation drive unit 25 may be treated as the first drive source, and the first rotation drive unit 24 may be treated as the second drive source. In this case, the second arm portion 23 is treated as a driving object. That is, the second arm portion 23 is an example of the "first link member" of the present invention, and the first arm portion 22 is an example of the "second link member" of the present invention. The tip end portion 221 of the first arm portion 22 is an example of the "first end portion" of the present invention, and the rear end portion 222 is an example of the "second end portion" of the present invention. Further, the rotation shaft 252 of the second rotation drive unit 25 is an example of the "first axis" of the present invention, and the rotation shaft 242 of the first rotation drive unit 24 is an example of the "second axis" of the present invention.

In this case, in step S101, when the second rotation drive unit 25 instructs the second rotation drive unit 25 to rotate the second arm unit 23 in the counterclockwise direction around the rotation shaft 252, the first rotation drive unit 24 Instructs the second arm portion 23 to rotate clockwise around the rotation shaft 242. Alternatively, when the control unit 11 is instructed by the second rotation drive unit 25 to rotate the second arm unit 23 in the clockwise direction about the rotation shaft 252, the first rotation drive unit 24 centers the rotation shaft 242. Is instructed to rotate the second arm portion 23 in the counterclockwise direction. That is, each rotation drive unit (24, 25) rotates the second arm unit 23 in the clockwise (clockwise) direction and the counterclockwise (counterclockwise) direction around each rotation axis (242, 252). Therefore, when the counterclockwise direction is adopted as the first direction, the clockwise direction can be adopted as the second direction. Further, when the clockwise direction is adopted as the second direction, the counterclockwise direction can be adopted as the second direction.

FIG. 10A schematically illustrates an example of a scene in which the second arm unit 23 is driven in the counterclockwise direction only by the second rotation drive unit 25. In FIG. 10B, the second rotation drive unit 25 drives the second arm unit 23 in the counterclockwise direction, and the first rotation drive unit 24 drives the second arm unit 23 (and the first arm unit 22) in the clockwise direction. An example of a driven scene is schematically illustrated. It is assumed that the drive amount of the second rotation drive unit 25, that is, the rotation angle of the second arm unit 23 is the same in each of the cases of FIGS. 10A and 10B.

In this case, the movement range B of the second arm portion 23 in the case of FIG. 10B is the second in the case of FIG. 10A because the second arm portion 23 is driven in the clockwise direction by the first rotation drive unit 24. It is smaller than the movement range A of the arm portion 23. Therefore, as compared with the case where the second arm portion 23 is moved by the second rotation drive unit 25 alone, the second arm portion 23 is moved in the second direction by the first rotation drive unit 24, so that the second arm portion 23 is moved in the same space. The distance at which the two arm portions 23 can be moved can be extended.

Therefore, similarly to the above embodiment, in this modification as well, the amount of measurement data obtained by measuring the operation of the second rotation drive unit 25 can be increased, and the failure diagnosis of the second rotation drive unit 25 can be performed. The accuracy of In this modification, the control unit 11 may collect the speed data and the torque data of the motor 251 as measurement data in step S102. Then, the control unit 11 may diagnose whether or not the speed reducer 253 has a failure based on the collected measurement data in step S104.

Further, for example, in the above embodiment, the first elevating drive unit 26 may be treated as the second drive source, and the second elevating drive unit 27 may be treated as the first drive source. In this case, the control unit 11 may collect the speed data and the torque data of the motor 271 as the measurement data by measuring the operation of the motor 271 in step S102. Then, in step S104, the control unit 11 may determine whether or not an abnormality has occurred in each toothed belt (274, 278) based on the acquired measurement data.

<4.3>
Further, for example, in the above embodiment, the control unit 11 collects the speed data 1221 and the torque data 1222 of the motor 261 as the measurement data 122 in the step S102. However, the type of measurement data does not have to be limited to such an example, and may be appropriately selected according to the object and content of diagnosis. The measurement data may be any data that can be used for diagnosing a failure of the drive source, and may be, for example, position data, angular velocity data, or the like.

<4.4>
Further, for example, in the above embodiment, the control unit 11 extracts a portion to be used in the diagnostic process of step S104 from the measurement data collected in step S102 by the process of step S103. However, when such data extraction is unnecessary, the control unit 11 may omit the process of this step S103.

<4.5>
Further, for example, as shown in FIG. 11, the diagnosis unit 113 may be omitted from the controller 1 and the controller 1 may be operated as a data collection device. FIG. 11 schematically illustrates an example of the software configuration of the controller 1A that can operate as a data collection device. The controller 1A may be configured in the same manner as the controller 1 except that the diagnostic unit 113 is not provided. Further, the controller 1A may have the same hardware configuration as the controller 1.

In this modification, the controller 1A can collect the measurement data 122 by executing each of the processes of steps S101 and S102. Then, the controller 1A may transmit the measurement data 122 collected to the other information processing device in order to cause the other information processing device to execute the processes of steps S103 and S104.

1 ... controller,
11 ... Control unit, 12 ... Storage unit, 13 ... External interface,
111 ... Operation instruction unit, 112 ... Data collection unit, 113 ... Diagnosis unit,
121 ... Diagnostic program,
122 ... Measurement data,
1221 ... Velocity data, 1222 ... Torque data,
2 ... SCARA robot,
20 ... Working unit,
201 ... shaft, 202 ... ball screw nut,
203 ... ball spline nut, 204 ... end effector,
21 ... Base,
22 ... 1st arm,
221 ... Tip, 222 ... Rear,
23 ... 2nd arm,
231 ... front end, 232 ... rear end,
24 ... 1st rotation drive unit,
241 ... Motor, 242 ... Rotating shaft,
243 ... Reducer,
25 ... Second rotation drive unit,
251 ... motor, 252 ... rotating shaft,
253 ... Reducer,
26 ... 1st elevating drive unit,
261 ... motor, 262 ... rotating shaft,
263 ... pulley, 2631 ... teeth,
264 ... toothed belt, 2641 ... teeth,
27 ... Second elevating drive unit,
271 ... motor, 272 ... first rotary shaft, 273 ... first pulley,
274 ... 1st toothed belt,
275 ... 2nd pulley, 276 ... 2nd rotating shaft,
277 ... 3rd pulley, 278 ... 2nd toothed belt,
3 ... Obstacles, 5 ... Camera

Claims (8)

The drive object, the first drive source configured to move the drive object in the first direction, and the drive object to move in the second direction to cancel the movement in the first direction. While instructing the working apparatus including the second drive source to move the drive object in the first direction by the first drive source, the second drive source causes the second direction. An operation instruction unit that instructs the driver to move the driving object,
While the attempt to move the first driving source to operate the Rutotomoni and the driven object is operated the second driving source tries to move in the second direction and the driven object in the first direction In addition, a data collection unit that collects measurement data obtained by measuring the operation of the first drive source, and
Using the collected measurement data, a diagnostic unit that diagnoses the state of the first drive source, and
To prepare
Diagnostic device. The first drive source includes a motor, a pulley configured to be driven by the motor, and a toothed belt configured to be driven by the pulley, and is driven by rotation of the toothed belt. Configured to move an object,
The diagnostic unit diagnoses whether or not an abnormality has occurred in the toothed belt of the first drive source.
The diagnostic device according to claim 1. The measurement data is composed of speed data indicating the speed of the motor and torque data indicating the torque of the motor.
The diagnostic device according to claim 2. The first drive source and the second drive source are configured to move the drive object in the vertical direction.
The operation instruction unit is
When the first drive source instructs the drive target portion to move upward as the first direction, the second drive source causes the drive target to move downward as the second direction. Instruct and
When the first drive source instructs the drive target portion to move downward as the first direction, the second drive source causes the drive target to move upward as the second direction. Instruct,
The diagnostic device according to any one of claims 1 to 3. The driving object is a first link member.
The working device is a second link member having a first shaft provided at an end portion of the first link member, a first end portion, and a second end portion, and the first end portion is the first. A second link member connected to the first link member via a shaft and a second shaft provided at the second end of the second link member are further provided.
The first drive source is configured to rotate the first link member counterclockwise and clockwise around the first axis.
The second drive source is configured to rotate the first link member counterclockwise and clockwise around the second axis via the second link member.
The operation instruction unit is
When the first drive source instructs the first link member to rotate counterclockwise as the first direction, the second drive source causes the first link member to rotate clockwise as the second direction. Instruct to rotate,
When the first drive source instructs the first link member to rotate clockwise as the first direction, the second drive source causes the first link member to rotate counterclockwise as the second direction. Instruct to rotate,
The diagnostic device according to any one of claims 1 to 3. The computer
The drive object, the first drive source configured to move the drive object in the first direction, and the drive object to move in the second direction to cancel the movement in the first direction. While instructing the working apparatus including the second drive source to move the drive object in the first direction by the first drive source, the second drive source causes the second direction. Instructing the driver to move the driving object, and
While the attempt to move the first driving source to operate the Rutotomoni and the driven object is operated the second driving source tries to move in the second direction and the driven object in the first direction In addition, a step of collecting measurement data obtained by measuring the operation of the first drive source, and
Using the collected measurement data, the step of diagnosing the state of the first drive source and
To execute,
Diagnostic method. On the computer
The drive object, the first drive source configured to move the drive object in the first direction, and the drive object to move in the second direction to cancel the movement in the first direction. While instructing the working apparatus including the second drive source to move the drive object in the first direction by the first drive source, the second drive source causes the second direction. Instructing the driver to move the driving object, and
While the attempt to move the first driving source to operate the Rutotomoni and the driven object is operated the second driving source tries to move in the second direction and the driven object in the first direction In addition, a step of collecting measurement data obtained by measuring the operation of the first drive source, and
Using the collected measurement data, the step of diagnosing the state of the first drive source and
To execute,
Diagnostic program. The drive object, the first drive source configured to move the drive object in the first direction, and the drive object to move in the second direction to cancel the movement in the first direction. While instructing the working apparatus including the second drive source to move the drive object in the first direction by the first drive source, the second drive source causes the second direction. An operation instruction unit that instructs the driver to move the driving object,
While the attempt to move the first driving source to operate the Rutotomoni and the driven object is operated the second driving source tries to move in the second direction and the driven object in the first direction In addition, a data collection unit that collects measurement data obtained by measuring the operation of the first drive source, and
To prepare
Data collection device.

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