JP7282700B2 - ROBOT, MOTOR DRIVE UNIT, ROBOT CONTROL METHOD - Google Patents

Description

The present technology relates to technology of a motor drive unit, an operation unit configured with one or a plurality of motor drive units, a presentation unit, and a control device that controls them.

The background art will be explained using a collaborative robot as an example. Collaborative robots are known in which each arm is connected via a motor drive unit (for example, a joint unit) containing a servomotor. Patent Literature 1 discloses a technique for identifying a failed joint unit based on motion information of the collaborative robot before the abnormality is detected when an abnormality in the motion of the collaborative robot is detected.
Further, Patent Document 2 discloses a technology of a robot device that facilitates replacement of (joint) units, does not require wiring in joint portions, and is excellent in reliability, maintainability, and assembling.

JP 2015-217468 A JP-A-8-19985

Each motor drive unit with a built-in servomotor in a collaborative robot reaches the end of its product life and breaks down after being used for a long period of time.
If the motor drive unit fails, the user will have to arrange for a new replacement motor drive unit or have the collaborative robot supplier replace the motor drive unit. A period of time (hereinafter, also referred to as downtime) during which the collaborative robot cannot work occurs from the time of replacement until the completion of the replacement.
In order to reduce such downtime, it is necessary to prepare for replacement of the motor drive units before each motor drive unit reaches the end of its life and breaks down.

Therefore, an object of the present technology is to reduce the downtime that occurs when replacing each motor drive unit by predicting the life of each motor drive unit that can be easily replaced.

A robot according to the present technology includes an operation unit (e.g., work unit) having one or more motor drive units (e.g., joint units), and drives a motor provided in the motor drive unit according to a control signal from a control unit. In the robot that operates by using the motor drive unit, the motor drive unit is detachable from the motion unit; and a calculation unit that calculates life prediction information of the motor drive unit based on machine learning, wherein the control unit is capable of communicating with the motor drive unit, and the life prediction received from the motor drive unit. a determination unit that determines whether or not it is the recommended replacement timing for the motor drive unit based on information, and if the determination unit determines that the recommended replacement timing is reached, determines that the recommended replacement timing for the motor drive unit a presentation control unit for presentation, wherein the control unit calculates based on the operation-related information of the operation unit including the motor drive unit when the determination unit determines that it is not the recommended replacement timing The optimal control trajectory of the motion unit is presented and controlled, and the motion unit can be controlled on the optimal control trajectory in response to a trajectory correction request operation from a user.
Here, the operation-related information refers to information used to predict the life of each motor drive unit. It is information such as the amount of backlash, the positional accuracy of the motor drive unit based on the amount of backlash, the temperature of the motor, and the like.
The service life prediction information is information indicating the point in time when the motor drive unit is expected to reach the end of its service life (predicted service life point). It is also written as
The recommended replacement timing is the timing at which the user prepares for replacement of the motor drive unit. For example, it is the timing obtained by going back from the predicted life of the motor drive unit to the period assumed for preparation for replacement of the motor drive unit.
According to the present technology, the life prediction information of the motor drive unit is corrected according to changes in the acquired operation-related information, and whether or not it is time to recommend replacement is determined based on the corrected life prediction information.

In the robot according to the present technology described above, it is conceivable that the control unit controls the operation of the motor drive unit so that the operation unit assumes a predetermined replacement posture when detecting a removal start operation of the motor drive unit. be done.
Here, the predetermined replacement posture is a posture of the robot that allows the user to easily replace the motor drive unit to be replaced, and may differ for each motor drive unit to be replaced.

In the robot according to the present technology described above, when the control unit detects a removal start operation of the motor drive unit, the control unit moves the operation unit to an optimum replacement posture, and then turns off the power supply on the operation unit side. It is conceivable to present and control the replacement procedure of the motor drive unit.
In this way, the power to the motor drive unit is turned off to ensure safety when replacing the motor drive unit, but the power to the control unit remains on. Presentation control becomes possible.

In the robot according to the present technology described above, the control unit calculates and presents an optimal trajectory for controlling the motor drive unit based on the motion-related information of the motor drive unit, and corrects it with the consent of the operator. , making it possible to control the motor drive unit with the modified control trajectory.
As a result, the control trajectory of the motor drive unit can be corrected to a control trajectory that reduces the load on the motor according to the current operation-related information.

In the robot according to the present technology described above, when detecting a removal start operation of the motor drive unit, the control unit transmits the operation-related information and the life prediction information immediately before turning off the power supply of the operation unit side to the motor. It is conceivable to obtain from the drive unit.
As a result, the operation-related information of the pre-replacement motor drive unit can be handed over to the post-replacement motor drive unit.

Further, a motor drive unit according to the present technology includes an operation unit having one or a plurality of motor drive units, and the robot operates by driving a motor provided in the motor drive unit according to a control signal from a control unit. a motor drive unit that is detachable from the operation unit and that acquires operation-related information of its own motor; and a calculation unit for calculating life expectancy information of the drive unit.
As a result, the life expectancy information of the motor drive unit is corrected according to changes in the acquired operation-related information.

A robot control method according to the present technology is a robot that includes an operation unit having one or more motor drive units and that operates by driving a motor provided in the motor drive unit in accordance with a control signal from a control unit. a robot control method in which the motor drive unit detachable from the motion unit is capable of communicating with the control unit, an obtaining step of obtaining motion-related information of the motor drive unit; a calculating step of calculating life prediction information of the motor drive unit based on machine learning using the operation-related information obtained; and determining whether it is time to recommend replacement of the motor drive unit based on the life prediction information. and , if the determination step determines that it is the recommended replacement timing, performing a timing presentation step of causing the motor drive unit to present that the recommended replacement timing is reached, and performing the determination step. a trajectory presenting step of presenting an optimum control trajectory of the operation unit calculated based on the operation-related information of the operation unit including the motor drive unit when it is determined that it is not the recommended replacement timing; and a trajectory correction request from the user. and a control step of controlling the motion unit on the optimal control trajectory in response to an operation .

According to the present technology, it is possible to reduce the downtime that occurs when replacing the motor drive unit.

It is a figure showing composition of a robot in an embodiment of this art. 2 is a block diagram showing the functional configuration of the robot of the embodiment; FIG. It is a figure which shows an example of the replacement|exchange attitude|position of the work unit of embodiment. It is a figure which shows an example of the replacement|exchange attitude|position of the work unit of embodiment. It is a figure which shows an example of the replacement|exchange attitude|position of the work unit of embodiment. 4 is a flowchart showing processing of the joint controller of the embodiment; 4 is a flowchart showing processing of the main controller of the embodiment; 4 is a flowchart showing processing of the main controller of the embodiment; 4 is a flowchart showing processing of the main controller of the embodiment;

An example of an embodiment of the present technology will be described with reference to the drawings of a collaborative robot in which a plurality of motor drive units are combined. In the description of the drawings, the same reference numerals may be assigned to the configurations that have already been described, and the description thereof may be omitted. In addition, the drawings are schematic, and the relationship, ratio, etc. between the thickness of each structure and the planar dimensions shown in the drawings are merely examples. In order to explain the present technology, it is assumed that essential parts and their peripheral configurations are extracted and shown.
Note that the relationship, ratio, etc., between the thickness and planar dimension of each structure described in the drawings is merely an example, and various changes are possible according to the design, etc., as long as they do not depart from the technical idea of the present technology. .
In addition, the invention according to the present technology is not limited to the present embodiment, and includes modifications, improvements, and the like within the scope of achieving the object of the invention. For example, in the present embodiment, an articulated arm robot will be described as an example of the robot of the present invention. The present invention can be applied to various robots such as operation units that operate by combining one or more drive units, opening and closing devices, and the like.

Hereinafter, embodiments will be described in the following order.
<1. Configuration of robot>
<2. Configuration of each control unit>
<3. Flow of exchanging the joint unit>
<4. Processing example of joint controller>
<5. Example of main controller processing>
<6. Summary and Modifications>
A motor drive unit in the present embodiment is a device composed of a motor, a sensor, a control device, a speed reduction device as required, and a housing. In the present embodiment below, a joint unit in a robot arm will be used as an example of the motor drive unit.
Further, the robot in this embodiment is a device having an action unit configured by combining one or more motor drive units (for example, joint units). In the present embodiment below, as an example of an operation unit, a working unit configured by combining joint units for performing various works such as work assembling work and moving work will be described.

<1. Configuration of robot>
FIG. 1 is a diagram showing the configuration of a robot 100 as an embodiment of the present technology. The robot 100 is, for example, a collaborative robot that works in the same space as humans.
The robot 100 has a working unit 1 that performs work by moving and a control unit 2 that controls the movement of the working unit 1 .

The work unit 1 performs various works such as work assembly work and movement work, and is, for example, a robot arm. The work unit 1 includes a joint unit JT1, a joint unit JT2, a link part LK2, a joint unit JT3, a link LK4, and a link LK3 from a link LK1 fixed as a base end to an installation surface such as a floor of a factory toward the tip. , joint unit JT4, joint unit JT5, and joint unit JT6 are sequentially connected. A working member (end effector) such as an electric hand or an air hand is connected to the distal end portion TP of the joint unit JT6 in order to perform work according to the role of the working unit 1, such as assembly work and moving work.
The joint units JT1 to JT6 each have mechanical and electrical couplings, can be easily removed from the working unit 1 without special tools, and can be appropriately replaced by the user himself depending on factors such as the life of the product. be.
In the following description, when each link is generically referred to simply as link LK, each joint unit is simply referred to as joint unit JT.

Each joint unit JT of the work unit 1 is configured to be able to predict the life of its own unit, and transmits the life prediction result to the control unit 2 . Details of the process for predicting the life of each joint unit JT will be described later.

The control unit 2 can communicate with the working unit 1 by wired communication or wireless communication, and controls the motion of each joint unit JT attached to the working unit 1 . Various operations of the work unit 1 are realized by controlling the operation of each joint unit JT by the control unit 2 .
Note that the joint unit JT may also function as a link LK, such as the joint units JT1, JT2, JT4 to JT6. Also in the link LK, for example, the link LK1 may function as the joint unit JT.

Also, based on the life prediction result of each joint unit JT acquired from the work unit 1, the control unit 2 presents that the joint unit JT will soon reach the end of its life before the product life of each joint unit JT reaches its end. The details of the presentation control process according to the life expectancy prediction of each joint unit JT by the control unit 2 will be described later.

FIG. 2 is a block diagram showing the functional configuration of the robot 100 according to this embodiment.
First, the functional configuration of the joint units JT1 to JT6 of the work unit 1 will be described. Here, the joint unit JT1 will be described.
For convenience of explanation, only the joint units JT1, JT2, and JT6 are shown in FIG. 2, but the configuration of the joint unit JT1, which will be explained below, is assumed to be the same for the other joint units JT3 to JT5. Each joint unit JT has individual identification information, and by sharing the individual identification information with the control unit 2, joint units JT of the same type can be continuously connected.

The joint unit JT1 has a servomotor 10, a reduction gear 20, a sensor section 30, and a joint controller 40. As shown in FIG.
The servomotor 10 is driven according to the motion control signal from the control unit 2 . The operation of the joint unit JT1 is controlled by driving the servomotor 10 . A reduction gear 20 reduces rotation of the servomotor 10 . The servomotor 10 and the speed reducer 20 are geared motors in which the rotation shaft and the output shaft of the motor are aligned.

The sensor unit 30 includes a position sensor that detects the position of the servomotor 10 (the rotational angular position of the rotor relative to the reference rotational angular position), a current sensor that detects the value of current flowing through the servomotor 10, and a temperature sensor that detects the temperature of the servomotor 10. It has various sensors such as a temperature sensor that
The sensor unit 30 transmits position information detected by the position sensor, current value information detected by the current sensor, temperature information detected by the temperature sensor, and the like to the joint controller 40 .

The joint controller 40 is configured by a microcomputer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and has a drive control unit 41, an acquisition unit 42, and a calculation unit 43. .

The drive control section 41 controls the servo motor 10 and the reduction gear 20 according to control signals from the control unit 2 . The drive control section 41 of each of the joint units JT1 to JT6 executes motion control according to the control signal from the control unit 2, thereby realizing motion of the work unit 1 along a predetermined target trajectory.

The acquisition unit 42 acquires motion-related information about the servomotor 10 of the joint unit JT1 from the information acquired from the sensor unit 30 . Motion-related information refers to information used to predict the life of each joint unit. For example, the operating current to the motor, the energy conversion efficiency in inputting and outputting current, the torque coefficient of the motor, and the amount of backlash in the parts of the motor. and the positional accuracy of the joint unit based on the backlash amount, the temperature of the motor, and the like.

The calculation unit 43 calculates life prediction information of the joint unit JT1 based on machine learning using the motion-related information acquired by the acquisition unit 42 .
Here, the life prediction information is information indicating the point in time when the joint unit JT1 is predicted to reach the end of its life (life prediction point), for example, the predicted life period from the detection of the motion-related information to the life prediction point.

The calculation unit 43 learns, as machine learning, the correlation between the motion-related information obtained at each time point until the joint unit JT attached as the joint unit JT1 is replaced and the life of the joint unit JT. Then, the calculation unit 43 calculates the predicted life span at the time when the motion-related information is detected based on the correlation between the learned action-related information and the predicted life span from the movement-related information of the joint unit JT acquired by the acquisition unit 42. .
The calculator 43 transmits the calculated predicted life span to the control unit 2 .

Next, the functional configuration of the control unit 2 will be described. The control unit 2 has a recording section 60 and a main controller 70 .

The recording unit 60 is composed of, for example, a non-volatile memory, and records motion-related information acquired from each joint unit JT, life prediction information, and other parameter information of the servo motor 10 .
The main controller 70 is composed of, for example, a microcomputer having a CPU, a ROM, a RAM, etc., and has a servo control section 50 , an operation control section 71 , a determination section 72 and a presentation control section 73 .

The servo control section 50 transmits motion control signals to the joint units JT1 to JT6. The motion of the joint units JT1 to JT6 of the working unit 1 is controlled based on the motion control signal.
The motion control section 71 performs motion control to cause each joint unit JT of the joint units JT1 to JT6 to follow along a predetermined target trajectory. The motion control unit 71 transmits a motion control signal to each joint unit JT via the servo control unit 50, and the joint controller 40 of each joint unit JT controls the motion of its own unit, thereby realizing the motion of the work unit 1. be done.

The determination unit 72 acquires the motion-related information of its own unit, life prediction information, and other parameter information of the servomotor 10 (hereinafter also referred to as various parameters) from each joint unit JT.
The determination unit 72 determines whether or not it is time to recommend replacement of each joint unit JT based on life prediction information acquired from each joint unit JT. The determination unit 72 determines, for example, whether or not the predicted service life period is equal to or less than a predetermined threshold value th, and determines that it is time to recommend replacement when the predicted service life period is equal to or less than the predetermined threshold value th.
Here, the predetermined threshold value th is set, for example, to an assumed length of time from the arrangement for the replacement of the joint unit JT to the completion of the replacement. By setting the point at which the predicted life span becomes equal to or less than a predetermined threshold value th as the recommended replacement timing, if preparations for replacement of the joint unit JT are started from the recommended replacement timing, the joint unit JT can be replaced before the joint unit JT reaches the end of its life. exchange can be completed.
The determination unit 72 records the acquired various parameter information in the recording unit 60 .

When the determination unit 72 determines that it is the recommended replacement timing for any one of the joint units JT1 to JT6, the presentation control unit 73 causes the presentation unit 80 to present the replacement recommended timing for the joint unit JT. . The presentation unit 80 is, for example, a GUI (Graphical User Interface). In this embodiment, as an example, the presentation unit 80 will be described as a GUI.
Further, upon detecting the replacement start operation of the joint unit JT, the presentation control section 73 causes the presentation section 80 to present the replacement procedure of the joint unit JT to be replaced.
An embodiment of the present technology is realized based on the above functional configuration.

<3. Flow of exchanging the joint unit>
A flow of replacement of the joint unit JT in the embodiment of the present technology will be described.
For exchanging the joint unit JT, for example, the following five procedures are executed.
(1) Calculation of predicted service life (2) Presentation of recommended replacement timing based on predicted service life (3) Backup of various parameters of joint unit JT to be replaced (4) Work according to operation to start removal of joint unit JT Operation of unit 1 (5) Presentation of replacement procedure for joint unit JT (6) Handover of various parameters to joint unit JT after replacement Each procedure described above will be described below.

(1) Calculation of Predicted Service Life First, the main power of the robot 100 is turned on by the user, and the work unit 1 starts normal operation such as work assembly work and movement work in accordance with the user's operation start operation.
During operation of the work unit 1, each joint unit JT of the joint units JT1 to JT6 uses the motion-related information acquired from the own unit to calculate the predicted life span of the own unit based on machine learning. Each joint unit JT transmits the calculated predicted life span of its own unit to the control unit 2 .
Each joint unit JT continuously acquires motion-related information until the motion of the work unit 1 ends, and transmits the calculated predicted life span and the like to the control unit 2 .

(2) Presentation of Recommended Replacement Timing Based on Predicted Lifespan The control unit 2 determines whether or not the recommended replacement timing for each joint unit JT is reached from the acquired predicted lifespan of each joint unit JT, and determines the recommended replacement timing. If there is a joint unit JT, the GUI is presented with that effect. For example, a sentence such as "The life of the joint unit JT is approaching. Do you want to replace it now?" is presented on the GUI.
Since there is a certain amount of time between the recommended replacement timing and the life of the joint unit JT, the user who confirms the recommended replacement timing prepares for replacement, such as arranging the joint unit JT to be replaced. . As a result, it is possible to secure a period until the joint unit JT is replaced, so that a replacement joint unit JT can be prepared before the joint unit JT reaches the end of its life.
Note that once the recommended replacement timing is presented on the GUI, the recommended replacement timing is presented on the GUI at predetermined intervals until replacement of the joint unit JT is started.

(3) Backup of various parameters of the joint unit JT to be replaced When the replacement joint unit JT is ready, the user performs an operation to start removing the joint unit JT, for example, by operating the GUI.
When the control unit 2 detects the removal start operation, the control unit 2 acquires the most recent motion-related information, life prediction information, and other parameter information of the servo motor 10 from the joint unit JT to be replaced, and records it in the recording unit 60 . By backing up the various parameter information of the joint unit JT before replacement in this way, the new joint unit JT that has been replaced can take over the various parameter information of the joint unit JT before replacement.

(4) Operation of Working Unit 1 in Response to Operation to Start Removal of Joint Unit JT After that, the control unit 2 controls the movement of each joint unit JT so that the working unit 1 assumes a predetermined replacement posture. Here, the predetermined replacement posture refers to a posture of the work unit 1 that allows the user to easily replace the joint unit JT to be replaced.
The control unit 2 controls the movement of each joint unit JT along the target trajectory of each joint unit JT that is set to bring the work unit 1 into a predetermined replacement posture. The work unit 1 is controlled so as to take a posture that facilitates replacement.
When the working unit 1 assumes a predetermined replacement posture, the power supply on the working unit 1 side is turned off.

Here, an example of a predetermined replacement posture of the working unit 1 in the form of the collaborative robot as the present embodiment will be described with reference to FIGS. 3 to 5. FIG. Here, the motion control when replacing the joint unit JT3 of the working unit 1 will be described.
In this example, a mounting table 3 is provided near the working unit 1, and by mounting the working unit 1 on the mounting table 3, the joint unit JT3 to be replaced can be easily replaced.

In FIG. 3 , the replacement posture is realized by placing the members following the link LK4 connected to the tip end side of the joint unit JT3 on the placement table 3 . In this way, by placing the member on the tip side of the joint unit JT3 to be replaced on the mounting table 3, the joint unit JT3 can be safely removed without dropping members such as the link LK4 during the replacement work. can.

In the embodiment, an example of using the mounting table 3 for a predetermined exchange posture when exchanging the joint unit JT3 has been described as an example, but this can be similarly applied to other joint units JT. For example, when replacing the joint unit JT4, the user can safely remove the joint unit JT4 from the work unit 1 by placing the joint unit JT5 and subsequent members on the mounting table 3 .

In addition, various other examples of the predetermined exchange posture are conceivable. For example, if there is a predetermined replacement position, the joint unit JT to be replaced may be moved to the replacement position (replacement area). Alternatively, the posture may be such that the position of the user who replaces the joint unit JT is detected, and the joint unit JT to be replaced is moved to the position of the user. Alternatively, the posture may be such that the joint unit JT to be replaced is moved to the side of the worker's passageway in the work space of a factory or the like. Furthermore, in cases other than collaborative robots, the corresponding working unit 1 can be set to an appropriate replacement posture for each joint unit JT to be replaced.

(5) Presentation of exchange procedure for joint unit JT The joint unit JT can be exchanged when the work unit 1 assumes a predetermined exchange posture and the power supply on the work unit 1 side is turned off. At this time, the power of the work unit 1 is turned off in order to safely replace the joint unit JT, but the power of the control unit 2 is kept on.
At this time, the replacement procedure of each joint unit JT is presented on the GUI by presentation control of the control unit 2 . This allows the user to confirm the procedure for replacing the joint unit JT even when the work unit 1 is powered off to replace the joint unit JT.
3, the user removes the link LK4 from the joint unit JT3 as shown in FIG. Remove joint unit JT3 from This allows the user to easily remove the joint unit JT3 from the work unit 1. FIG.

(6) Handover of various parameters to the joint unit JT after replacement The user replaces the joint unit JT while confirming the replacement procedure displayed on the GUI, and when the replacement is completed, performs operation to resume work via the GUI. .
The control unit 2 turns on the power supply of the work unit 1 side when it detects a work restart operation from the user, and transfers various parameters of the joint unit JT before replacement recorded in the recording unit 60 to the work unit 1 side. to run.
After that, the control unit 2 confirms whether the newly attached joint unit JT is appropriate for replacement, and when the appropriateness for replacement of the joint unit JT is confirmed, a job selection screen is presented on the GUI.
By operating the work selection screen presented on the GUI, the user can resume the interrupted work or cause the work unit 1 to start a new work.

According to the present technology described above, it is possible to reduce downtime that may occur when replacing the joint unit JT from the work unit 1 .

<4. Processing example of joint controller>
An example of processing executed by the joint controller 40 (joint unit JT) for realizing this embodiment will be described with reference to FIG.

First, in step S<b>101 , the joint controller 40 acquires motion-related information used for predicting the life of the own unit from the sensor section 30 . The joint controller 40 provides motion-related information such as trajectory information based on the position information of the servomotor 10, backlash amount of the members of the servomotor 10, information on the difference between the control position of the joint unit JT and the actual motion position, and information on the current. Various parameters such as input/output energy conversion efficiency information, temperature information of the servomotor 10, and parameters of the servomotor 10 are acquired.

Next, in step S102, the joint controller 40 calculates the predicted life span of its own unit based on machine learning using the motion-related information. As machine learning, the joint controller 40 learns, for example, the correlation between the motion-related information at each point in time when the joint unit JT1 attached to the location is a normal product and the life of the joint unit JT1.
Then, the joint controller 40 calculates the predicted life span at the time when the motion-related information is detected from the difference between the currently acquired motion-related information of the joint unit JT1 and the learned motion-related information of the normal product.

The joint controller 40 transmits the acquired motion-related information and the calculated predicted life span information to the main controller 70 of the control unit 2 in step S103.
After that, the joint controller 40 returns the process to step S101, and executes the processes of steps S101 to S103 until an end operation of the operation of the work unit 1 by the user is detected.
When detecting the end operation of the operation of the work unit 1, the joint controller 40 advances the processing to step S103, transmits the operation-related information at that time and the predicted life span information to the main controller 70, and then terminates the processing of FIG.
The processing in FIG. 6 is executed by each joint controller 40 provided in the joint units JT1 to JT6. Each joint controller 40 executes the processing shown in FIG. 6, for example, while the work unit 1 is operating. Note that each joint controller 40 may periodically perform the processing shown in FIG. 6, for example, every 10 minutes, every hour, or every day.
As described above, the processing of the joint controller 40 in the present embodiment is realized.

<5. Example of main controller processing>
An example of processing executed by the main controller 70 (control unit 2) for realizing this embodiment will be described with reference to FIGS. 7 to 9. FIG.

First, the main controller 70 waits until the main power of the robot 100 is turned on in step S201.
When the main power supply of the robot 100 is turned on, the main controller 70 starts motion control of the work unit 1 by the user's input operation to the GUI in step S202. The motion control here is, for example, motion control (work motion control) for the work unit 1 to perform work according to the user's input operation to the GUI.
For example, the main controller 70 controls the motion of the servo motor 10 that drives the joint units JT1 to JT6 so that the position of the tip TP of the working unit 1 follows a predetermined target trajectory.

Next, in step S203, the main controller 70 determines whether various parameter information has been obtained from any of the joint units JT1 to JT6. The main controller 70 waits until it acquires operation-related information, predicted service life information, and other parameter information (various parameter information) of the servo motor 10 in step S203.

After acquiring various parameter information in step S203, the main controller 70 advances the process to step S204, and determines whether or not the acquired estimated life span of the joint unit JT is equal to or less than the threshold value th.
The threshold th is set as a period length for determining the recommended replacement timing of the joint unit JT. When the predicted lifetime is equal to or less than the threshold value th, it is determined that the new joint unit JT needs to be replaced because the joint unit JT is nearing the end of its life.
Note that the threshold th may be set to a common value for each joint unit JT of the joint units JT1 to JT6, or may be set to a different value according to each property of each joint unit JT.

First, the processing of the main controller 70 when the predicted life span is equal to or less than the threshold th will be described.
When it is determined in step S204 that the predicted service life is equal to or less than the threshold th, the main controller 70 controls the presentation of the replacement recommended timing on the GUI in step S205. At this time, the user can input an operation to start removing the joint unit JT to the GUI.
Note that if the presentation control indicating that it is the replacement recommended timing has been performed once in step S205, the main controller 70 does not perform presentation control indicating that the replacement timing is recommended in step S205 for a predetermined period after the presentation. , and when a predetermined period of time has elapsed, presentation control is again performed to indicate that it is time to recommend replacement.

After that, in step S206, the main controller 70 determines whether or not a removal start operation by the user has been detected.
If the removal start operation is not detected in step S206, the main controller 70 returns the process to step S203 and waits until various parameter information is acquired from any of the joint units JT1 to JT6.

When the removal start motion is detected in step S206, the main controller 70 advances the process to step S207 and executes the process of recording various parameter information acquired from the joint unit JT in the recording unit 60. FIG. As a result, various parameter information immediately before the joint unit JT is replaced from the work unit 1 can be recorded in the recording unit 60 .

Subsequently, in step S208, the main controller 70 controls the motion of each joint unit JT so that the working unit 1 assumes a predetermined replacement posture. The main controller 70 controls the operation of each joint unit JT along the target trajectory of each joint unit JT, thereby controlling the work unit 1 so that the joint unit JT to be replaced takes a posture that facilitates replacement.
The main controller 70 controls the operation of the work unit 1 so that the distal end member connected to the joint unit JT to be replaced is placed on the table 3 as shown in FIG.

When the working unit 1 assumes the predetermined replacement posture, the main controller 70 advances the process to step S209 and turns off the power of the working unit 1 . By turning off the working unit 1, the user can safely replace the working unit 1 with the joint unit JT.
At this time, the power of the work unit 1 is turned off, but the power of the control unit 2 remains on.

After the work unit 1 is powered off, in step S210, the main controller 70 presents and controls the replacement procedure of the joint unit JT to be replaced on the GUI.
This allows the user to replace the joint unit JT while confirming the replacement procedure presented on the presentation unit 80 .

After performing the replacement procedure presentation control in step S210 of FIG. 7, the main controller 70 advances the process to step S211 of FIG. 8 and waits until the replacement completion operation of the joint unit JT is detected.
When the replacement completion operation of the joint unit JT is detected by the user's input operation or the like via the GUI, the main controller 70 advances the process from step S211 to step S212 to turn on the power of the work unit 1 .

Then, the main controller 70 stores the motion-related information of the joint unit JT before replacement recorded in the recording unit 60, the predicted service life information, and other parameter information (various parameter information) of the servomotor 10 into the new joint unit JT after replacement. Execute the process to take over to .

In step S214, the main controller 70 determines whether or not handover of various parameter information to the newly attached joint unit JT has been completed.
If the takeover has not been properly completed, the main controller 70 causes the GUI to present an exchange error in step S215, proceeds to step S209 in FIG. 7, and powers off the work unit 1. FIG. As a result, the user has to put the joint unit JT on again. The main controller 70 executes the same processing after step S209.

If the takeover is properly completed in step S214, the main controller 70 advances the process to step S216 and checks the motion program before replacing the joint unit JT.
After that, in step S217, the main controller 70 determines whether or not the confirmation of the operating program has been properly completed.
If the confirmation of the operation program is not properly completed, the main controller 70 causes the GUI to present a replacement error in step S215, and powers off the work unit 1 in step S209 of FIG. After that, the main controller 70 executes the same processing after step S209.

If the confirmation of the operation program is properly completed in step S217, the main controller 70 advances the process to step S218 and waits until the user's job selection operation via the GUI is detected. The work selection operation may restart the work that the work unit 1 was doing before the replacement, or may start a new work.
When the main controller 70 detects the work selection operation, the process advances to step S219, and the operation control of the work unit 1 is executed according to the user's operation.

Subsequently, in step S220, the main controller 70 determines whether or not the user's operation to stop the robot 100 via the GUI has been detected.
If no stop operation is detected, the main controller 70 advances the process to step S203 in FIG. 7, waits until various parameters are acquired from any of the joint units JT, and thereafter executes similar processes.

On the other hand, when the stop operation is detected in step S220, the main controller 70 advances the process to step S221 to move the work unit 1 to the operation end position, and turns off the main power of the robot 100 in step S222.
As a result, the processing of FIG. 8 by the main controller 70 ends.

Next, in step S204 of FIG. 7, the processing of the main controller 70 when the predicted life span is not equal to or less than the threshold value th will be described.
If it is determined in step S204 that the predicted service life is not equal to or less than the threshold th, the main controller 70 advances the process to step S223 in FIG. (Various parameter information) is recorded in the recording unit 60 .

Subsequently, in step S224, the main controller 70 calculates the optimum control trajectory by modifying the work trajectory by machine learning based on various parameter information of each joint unit JT recorded in the recording unit 60. FIG.
At this time, as machine learning, the main controller 70 learns, for example, the correlation between the motion-related information acquired at each time point of each joint unit JT and the life of the joint unit JT. Then, the main controller 70 calculates an optimum control trajectory that reduces the load on the joint unit JT from the currently acquired movement-related information of the joint unit JT, based on the correlation between the learned movement-related information and the predicted life span. .
Then, in step S225, the main controller 70 presents and controls the optimum control trajectory on the GUI. After confirming the optimum trajectory, the user can select by operating the GUI whether or not to correct the trajectory of the motion of each joint unit JT.

When the main controller 70 detects an operation requesting trajectory correction (trajectory correction request operation) in step S226, it performs trajectory correction processing in step S227, and executes motion control of the work unit 1 according to the corrected trajectory in step S228.
After that, the main controller 70 advances the process to step S203 in FIG. 7, waits until various parameter information is acquired from any of the joint units JT, and thereafter executes the same process.

On the other hand, if no trajectory correction request operation is detected in step S226, the main controller 70 continues to control the operation of the work unit 1 without performing trajectory correction processing.
Thereafter, the main controller 70 advances the process to step S203 in FIG. 7, waits until various parameter information is acquired from each joint unit JT, and thereafter executes the same process.
As described above, the processing of the main controller 70 in the present embodiment is realized.

<6. Summary and Modifications>
The robot 100 of the above embodiment includes a work unit 1 (motion unit) having one or more joint units JT (motor drive units), and the servo motors 10 provided in the joint units JT are driven from the control unit 2. The joint unit 2 is detachable from the work unit 1, and has an acquisition unit 42 that acquires operation-related information of its own servomotor 10, and the operation acquired by the acquisition unit 42. and a calculation unit 43 for calculating life prediction information of the joint unit JT based on machine learning using related information. A judging section 72 for judging whether or not it is recommended replacement timing for the joint unit JT based on prediction information, and if the judging section 72 judges that it is the recommended replacement timing, it is presented that the joint unit JT is recommended replacement timing. and a presentation control unit 73 (see FIGS. 2 and 6 to 9).
As a result, the life prediction information of the joint unit JT is corrected in accordance with the change in the acquired motion-related information, and it is determined whether or not it is time to recommend replacement based on the corrected life prediction information.
Therefore, since the life of the joint unit JT can be predicted in real time according to the current motion-related information, the presentation unit 80 can accurately present the recommended replacement timing. Therefore, it is possible to sufficiently secure a period for preparing a replacement joint unit JT before the life of the joint unit JT expires, and compared to the case of arranging a replacement joint unit JT after the joint unit JT has reached the end of its life. , downtime can be greatly reduced.
In addition, the processing load on the control unit 2 can be reduced by each of the plurality of joint units JT predicting the life of its own unit.

In the robot 100, when the control unit 2 detects the operation to start removing the joint unit JT, it controls the motion of the joint unit JT so as to assume a specific replacement posture (see S208 in FIGS. 3 to 5 and FIG. 7).
Since the joint unit JT can be smoothly replaced from the work unit 1, the replacement time of the joint unit JT can be shortened, and as a result, the downtime can be shortened.
Also, by avoiding dropping the link LK etc. on the tip side that was connected when replacing the joint unit JT, and avoiding contact of the removed joint unit JT with other connected joint units JT, It is possible to prevent failures of other members.

In the robot 100, when the control unit 2 detects the operation to start removing the joint unit JT, the control unit 2 presents and controls the replacement procedure for the joint unit JT to be replaced while turning off the power supply of the joint unit JT side (work unit 1 side). (See S206, S209, and S210 in FIG. 7).
In this way, the work unit 1 is powered off to ensure safety when replacing the joint unit JT, but the power of the control unit 2 is kept on. can be presented and controlled.
Therefore, the user can efficiently replace the joint unit JT by referring to the presented replacement procedure, and as a result, the downtime can be reduced.
Also, the user can check the replacement procedure after ensuring safety when replacing the joint unit JT by turning off the power supply on the side of the work unit 1 .

In the robot 100, the control unit 2 presents and controls the optimum control trajectory of the work unit 1 calculated based on the motion-related information of the work unit 1 including the joint unit JT, and performs the optimum control in response to the trajectory correction request operation from the user. It is possible to control the working unit 1 on the track (see S224 to S228 in FIG. 9).
As a result, the control trajectory of the joint unit JT can be corrected to a control trajectory that reduces the load on the servomotor 10 according to the current motion-related information.
By reducing the load on the servomotor 10 of the joint unit JT, the life of the joint unit JT can be extended.

In the robot 100, when the control unit 2 detects the operation to start removing the joint unit JT, it acquires the motion-related information from the joint unit JT immediately before turning off the power of the joint unit JT (see S213 in FIG. 8).
As a result, it is possible to take over the motion-related information of the joint unit JT before replacement to the joint unit JT after replacement.
Therefore, by taking over the motion-related information of the joint unit JT before replacement to the joint unit JT after replacement, it is possible to quickly return to the interrupted work. This can reduce downtime.

Further, the joint unit JT of the embodiment includes a work unit 1 having one or more joint units JT, and operates by driving a servomotor 10 provided in the joint unit JT with a control signal from the control unit 2. An acquisition unit 42 which is a joint unit JT in the robot 100 and is detachable from the work unit 1 and acquires motion-related information of its own servomotor 10, and machine learning using the motion-related information acquired by the acquisition unit 42. (see FIG. 6).
As a result, the life prediction information of the joint unit JT is corrected according to changes in the acquired motion-related information.
Therefore, since the life of the joint unit JT can be predicted in real time according to the current motion-related information, the replacement recommendation timing by the control unit 2 can be accurately determined. Therefore, it is possible to sufficiently secure a period for preparing a replacement joint unit JT before the joint unit JT reaches the end of its life, thereby significantly reducing downtime.

In the robot 100 of the present embodiment, the predicted life span is calculated based on the motion-related information of its own unit (joint unit JT) acquired by the joint controller 40 (see FIG. 6). In addition to the information, the motion-related information of other joint units JT may be used to calculate the predicted life span of the own unit.
In this case, the joint controller 40 not only acquires the motion-related information of its own unit in step S101, but also acquires the motion-related information of the other joint units JT from the control unit 2. FIG. Then, in step S102, the joint controller 40 calculates the predicted life span of the own unit based on machine learning using the motion-related information of the own unit and the other joint units JT.

In the robot 100 of the present embodiment, in step S225 of FIG. 9, when the main controller 70 controls the presentation of the optimum control trajectory on the GUI, the consumption status of each joint unit JT may be presented. The main controller 70 determines the degree of wear of each joint unit JT based on the motion-related information, predicted service life information, and other parameter information (various parameter information) of the servo motor 10 obtained from each joint unit JT.

In the robot 100 of the present embodiment, the processing of FIG. 6 by the joint controller 40 and the processing of FIGS. is not limited to the operation of the work unit 1. For example, the process may be executed during a warm-up period such as warm-up when the main power of the robot 100 is turned on.

In the robot 100 of the present embodiment, an example has been described in which the joint unit JT attached to the work unit 1 calculates life prediction information of the joint unit JT based on machine learning using motion-related information. The control unit 2 may calculate the JT life prediction information.
In this case, the control unit 2 acquires motion-related information from the joint unit JT, and calculates life prediction information of the joint unit JT based on machine learning using the acquired motion-related information.

In the robot 100 of the present embodiment, a GUI was used as an example of the presentation unit 80 for presenting the replacement recommended timing for the joint unit JT and the procedure for replacing the joint unit JT. may be a part.
In this case, an audio signal read and converted by the main controller 70 is output from the presentation unit 80, thereby presenting the recommended replacement timing and the procedure for replacing the joint unit JT by voice.
Note that the presentation unit 60 may have both a GUI and an audio output unit, and when the recommended replacement timing is displayed on the GUI, it may also be notified by audio.

Although the collaborative robot has been described as an example of the robot 100 in the present embodiment, the robot 100 can be applied not only to collaborative robots but also to various robots that realize actions by driving joint units JT. For example, the robot 100 may be a service robot, a home robot, or the like, and more specifically, a mobile robot, a boarding robot, a transport robot, an operation unit that operates by combining one or more motor drive units, an opening/closing device, or the like. .

It should be noted that the effects described in the present disclosure are merely examples and are not limited, and other effects may be obtained, or a part of the effects described in the present disclosure may be obtained. may
The embodiments described in the present disclosure are merely examples, and the present technology is not limited to the above-described embodiments. Therefore, it goes without saying that various modifications other than the above-described embodiments can be made according to the design and the like, as long as they do not deviate from the technical idea of the present technology. Further, not all combinations of configurations described in the embodiments are essential for solving the problem.

2 control unit 42 acquisition unit 43 calculation unit 72 determination unit 73 presentation control unit 100 robot JT joint unit LK link

Claims (5)

A robot that includes an operation unit having one or more motor drive units and that operates by driving the motor provided in the motor drive unit in accordance with a control signal from a control unit,
The motor drive unit is detachable from the operation unit, and an acquisition unit that acquires operation-related information of the motor drive unit of itself; a calculation unit that calculates life expectancy information of the motor drive unit,
the control unit is capable of communicating with the motor drive unit, and determines whether or not it is time to recommend replacement of the motor drive unit based on the life prediction information received from the motor drive unit; a presentation control unit that presents that the motor drive unit is the recommended replacement timing when the determination unit determines that the recommended replacement timing has come,
The control unit presents and controls an optimum control trajectory of the operation unit calculated based on the operation-related information of the operation unit including the motor drive unit when the determination unit determines that it is not the recommended replacement timing. and control the motion unit on the optimum control trajectory in response to a trajectory correction request operation from a user. 2. The robot according to claim 1, wherein the control unit controls the operation of the motor drive unit so that the operation unit assumes a specific replacement posture when detecting a removal start operation of the motor drive unit. 2. When the control unit detects an operation to start removing the motor drive unit, the control unit presents and controls a replacement procedure for the motor drive unit while turning off power to the operation unit including the motor drive unit. The robot according to claim 2. 2. When the control unit detects an operation to start removing the motor drive unit, the control unit acquires from the motor drive unit the operation-related information and the life prediction information immediately before turning off the power of the motor drive unit. 4. The robot according to any one of claims 3 to 4. A robot comprising an operation unit having one or more motor drive units, wherein the robot operates by driving a motor provided in the motor drive unit according to a control signal from a control unit, the robot being removable from the operation unit. In a robot control method in which a motor drive unit is capable of communicating with the control unit,
an acquisition step of acquiring operation-related information of the motor drive unit;
a calculation step of calculating life prediction information of the motor drive unit based on machine learning using the operation-related information acquired in the acquisition step;
a determination step of determining whether it is time to recommend replacement of the motor drive unit based on the life prediction information;
executing a timing presentation step of causing the motor drive unit to present that the recommended replacement timing is reached when the determination step determines that the recommended replacement timing has come;
If it is determined in the determination step that it is not the recommended replacement timing,
a trajectory presenting step of presenting an optimal control trajectory of the motion unit calculated based on the motion-related information of the motion unit including the motor drive unit;
and a control step of controlling the motion unit on the optimum control trajectory in response to a trajectory correction request operation from a user.

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