JPH058678U - Fault Diagnostic Device for Industrial Robots - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] Needs an observation means for observing whether each part of the industrial robot has a failure and / or an observation means for observing a failure sign of each part. A failure diagnosis device for an industrial robot is provided. [Structure] CPU unit 1, time measuring unit 5, data storage unit 8, check unit display unit 9, and abnormality presence / absence input unit 7
And a replacement information input section 6, and the data storage section has a unit list 11 in which the constituent parts of the robot are set as a unit, its useful life list 12, a replacement date list 13, and a useful life progress. It has an information list 15 and a check list 14. The CPU unit has an elapsed time calculation algorithm 2, a useful life discrimination algorithm 3, and a check order changing algorithm 4 that prioritizes units having a durable life in order of checking each unit.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a failure diagnosis function technology for an industrial robot, and more particularly to a failure diagnosis device for an industrial robot.

[0002]

[Prior Art]

 The industrial robot generally has a function of judging its own abnormality. The function of assisting in investigating the cause of an abnormality found is called a failure diagnosis function. This failure diagnosis function is a function that helps find the failure location by checking the parts that seem to be abnormal in order. In the prior art, for example, Japanese Patent Application Laid-Open No. 2-252042 discloses an invention called a computer failure preventive diagnosis apparatus. However, the used element, which is a memory, requires a region for error detection, and there is a problem that the number of parts that do not contribute to the operation increases and this causes a cost increase. Further, Japanese Patent Application Laid-Open No. 61-18011 discloses an invention called a device failure diagnosis method, but in this example also, means for observing a failure sign is required, which causes a cost increase. Further, since the failure occurrence probability changes with the usage time of the part, the usage time must be taken into consideration, but such prior art has not taken such consideration into consideration.

[0003]

[Problems to be solved by the device]

 In industrial robots, the unit is often replaced as a countermeasure when a failure occurs. A unit is an aggregate composed of multiple parts.If a means for observing whether or not there is a failure is attached to each of the parts that make up the unit, it may be possible to detect the failure, but the unit is expensive. There was a problem that became a thing. There was also the problem that there could be a failure in the observation means for observing the failure sign. Further, these conventional techniques have a problem that the change in failure rate depending on the time used is not taken into consideration. An object of the present invention is to diagnose a failure of an industrial robot that does not require an observation means for observing whether each part of the industrial robot has a failure and / or an observation means for observing a failure symptom of each part. To provide a device.

[0004]

[Means for Solving the Problems]

 Therefore, the present invention has solved the above-mentioned problems by providing a fault diagnosis device for an industrial robot as claimed in the utility model registration claim.

[0005]

【Example】

 Hereinafter, the present invention will be described in detail with reference to FIGS. FIG. 1 is a block diagram showing the configuration of a failure diagnosing device for an industrial robot according to an embodiment of the present invention. The failure diagnosis device for an industrial robot according to the present invention includes a CPU unit 1, a time measuring unit 5 that measures the current date and time, a data storage unit 8, a check unit display unit 9, and an abnormality presence / absence input unit. 7 and an exchange information input unit 6.

The data storage unit 8 divides the constituent parts of the industrial robot into replaceable units into a unit composed of one or a plurality of parts, and inputs the unit list 11 and each unit in advance. Is the period until the failure exceeds the specified value. The useful life list 12 in which the useful life has been entered in advance, the replacement date list 13 in which the replacement time of each unit has been entered, and the useful life of each unit have expired. Information indicating whether or not the unit has expired, that is, information indicating whether or not the unit has reached the end of its useful life, and the useful life history information list 15 and the type of error when an error occurs The unit to be checked is entered in advance, that is, the unit that needs to be checked is stored in response to the phenomenon that caused the diagnosis during failure diagnosis. In addition, the check list 14 is included.

Then, the CPU unit 1 calculates the current time measured by the time measuring unit 5 and the time elapsed from the replacement date time of each unit in the replacement date list 13 at fixed time intervals, respectively. The calculation algorithm 2 is compared with each elapsed time of each unit and each useful life of the useful life list 12 to determine whether or not each unit has a useful life. The order of the units includes a check order change algorithm 4 in which the unit with the long life is prioritized.

The unit to be checked which is determined and output by each algorithm of the CPU unit 1 is displayed on the check unit display unit 9. As a result of checking the unit displayed on the check unit display section 9 by a device (not shown), whether the unit is normal or abnormal is input to the abnormality presence / absence input section 7. When the unit displayed in the abnormality presence / absence input section 7 as abnormal is replaced by a device (not shown), the replacement is input to the replacement information input section 6.

2 and 3 are block diagrams showing a flowchart of life judgment and failure diagnosis performed by the failure diagnosis apparatus for industrial robots according to the embodiment of the present invention shown in FIG. The CPU unit 1 executes the life determination process shown in FIG. 2 at regular time intervals. First, in block 16, the current date and time measured by the time measuring unit 5 are read at regular time intervals. Next, in block 17, the number of units in the unit list 11 stored in the data storage unit 8 is set to N. Next, when N = 0 in block 18, in block 19, the time elapsed from the exchange date time of the Nth unit of the exchange date list 13 is subtracted from the current time, and the elapsed time of the Nth unit is subtracted. Ask for.

Next, in block 20, the elapsed time of the Nth unit is compared with the useful life stored in the useful life list 12 of the Nth unit in the useful life discrimination algorithm 3 to obtain the N number of units. If the elapsed time of the eye unit exceeds its useful life, a code indicating that the Nth unit has expired is written in the useful life elapsed information list 15. This is repeated for N parts until N = 0 in block 18.

Next, when some abnormality occurs in the robot and the failure diagnosis is performed, the failure diagnosis corresponding to this abnormality is performed as shown in FIG. First, in block 24, the number of units in the unit list 11 stored in the data storage unit 8 corresponding to this abnormality is set to L. If L = 0 in block 25, then in block 26, select the number of units whose service life is exhausted from among the L units and set the number to M, and then in block 27, substitute the number L of units into M. Subtract M from L.

If M = 0 in block 28, in block 29, the check order change algorithm 4 is used to perform the check from the unit with the highest priority among the M unit groups. It is displayed on the unit display section 9. As a result of checking the unit displayed in the check unit display section 9 by a device (not shown) in block 30, the presence / absence of an abnormality in the check result is input to the abnormality presence / absence input section 7, and the abnormality presence / absence is input. The unit displayed in the section 7 is displayed in the check unit display section 9 as a display prompting the unit replacement in block 31. Next, in block 32, after the unit is replaced by a device (not shown), the information that the unit has been replaced is input to the replacement information input unit 6 to update the unit installation date of the replacement date list 13. If the check result shows no abnormality, the process is executed for all M units until M = 0 in block 34.

If there is still no abnormality, in block 36, a display prompting the user to check the remaining L parts in order of higher priority is displayed on the check unit display section 9. If the result of checking by a device not shown in block 37 is abnormal, the check unit display section 9 displays a message prompting unit replacement in block 38. Then, the process returns to block 32.

[0014]

[Effect of the device]

 As described above, according to the present invention, the service life and replacement date of each unit are recorded without attaching a means for observing whether or not each part of the industrial robot is faulty to each part. Since it is possible to execute the fault diagnosis according to the temporal transition of the failure rate, it becomes possible to check with a cheaper method from the unit that is more likely to be the cause of the abnormality. In addition, in order to observe each failure sign of each part of the conventional industrial robot, it is necessary to attach a larger number of observation means sensors in order to perform more accurate diagnosis. The number of parts and the reliability are inversely proportional unless the parts that do not permanently break down are used, and the reliability of the entire control system is reduced. However, according to the present invention, the parts constituting the industrial robot are divided into replaceable units to form a unit composed of one or a plurality of parts, and the division unit is made finer to increase the accuracy of failure diagnosis. Therefore, it is possible to provide a failure diagnosis device for an industrial robot that can maintain reliability because the number of parts does not increase.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a failure diagnosis device for an industrial robot according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a flowchart of life judgment performed by the failure diagnosis device for the industrial robot according to the embodiment of the present invention shown in FIG.

FIG. 3 is a block diagram showing a flowchart of a fault diagnosis performed by the fault diagnosing device for an industrial robot according to the embodiment of the present invention shown in FIG.

[Explanation of symbols]

 1. ． CPU part 2. ． Elapsed time calculation algorithm 3. ． Service life discrimination algorithm 4. ． Check order change algorithm 5. ． Time measurement unit 6. ． Exchange information input unit Input unit 7. ． Abnormality input section 8. ． Data storage unit 9. ． Check unit display section 11. Unit list 12. Service life list 13. Exchange date list 14. Checklist 15. Service life history information list

Claims (1)

[Claims for utility model registration] [Claim 1] A time measuring unit for measuring the current date and time, and parts constituting an industrial robot are divided into replaceable units and are composed of one or a plurality of parts. The unit list in which it has been entered in advance as a unit, the service life list in which the service life, which is the period until the failure of each unit exceeds the specified value is input in advance, and the date of replacement of each unit, are entered. A replacement date list, a service life history information list in which information indicating whether the service life of each unit has been exceeded or not has been entered, and a unit to be checked according to the type of error when an error occurs are registered in advance. The data storage means including the input check list, the current time measured by the time measuring unit at a fixed time interval, and the exchange date list. Elapsed time calculation algorithm that calculates the time elapsed from the replacement date of the knit, whether each unit has a useful life by comparing each elapsed time of each unit with each useful life of the useful life list And a CPU unit including a check life changing algorithm that prioritizes the units whose exhausted lives have expired, and the order of each of the units to be checked is determined and output by each of the algorithms of the CPU unit. Check unit display section for displaying the unit to be checked, and an abnormality presence / absence input section for inputting whether the unit displayed on the check unit display section is normal or abnormal, and an abnormality presence / absence input section When you replace the unit that is displayed abnormally, enter the replacement. Trouble diagnosis device for an industrial robot comprising: the replacement information input unit for, a.