WO2016098571A1 - Robot maintenance assist device and method - Google Patents

Robot maintenance assist device and method Download PDF

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Publication number
WO2016098571A1
WO2016098571A1 PCT/JP2015/083652 JP2015083652W WO2016098571A1 WO 2016098571 A1 WO2016098571 A1 WO 2016098571A1 JP 2015083652 W JP2015083652 W JP 2015083652W WO 2016098571 A1 WO2016098571 A1 WO 2016098571A1
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WO
WIPO (PCT)
Prior art keywords
current command
robot
command value
trend
diagnosis
Prior art date
Application number
PCT/JP2015/083652
Other languages
French (fr)
Japanese (ja)
Inventor
洋美 澤田
雅人 吉村
知也 清水
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015131422A external-priority patent/JP6664893B2/en
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to CN201580069458.5A priority Critical patent/CN107107348B/en
Priority to EP15869779.7A priority patent/EP3235611B1/en
Priority to KR1020177018647A priority patent/KR20170093908A/en
Priority to US15/537,461 priority patent/US20170351243A1/en
Priority to CA2971378A priority patent/CA2971378C/en
Priority to SG11201705045XA priority patent/SG11201705045XA/en
Priority to KR1020197030471A priority patent/KR102397267B1/en
Publication of WO2016098571A1 publication Critical patent/WO2016098571A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4065—Monitoring tool breakage, life or condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34477—Fault prediction, analyzing signal trends
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37209—Estimate life of gear, drive
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39413—Robot self diagnostics
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42319—What kind of actuator failure
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50197—Signature analysis, store working conditions, compare with actual
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a robot maintenance support apparatus and method for predicting the remaining life of a robot drive system and supporting robot maintenance.
  • the long-term use of the robot causes deterioration of the equipment that constitutes the robot drive system for driving the robot arm and the robot external shaft (for example, wear of the gears of the speed reducer). Operating accuracy is reduced. Furthermore, if such a state is left unattended, the equipment constituting the robot drive system is damaged and the robot fails.
  • the remaining life of the equipment is estimated based on the design life of the equipment that makes up the robot drive system (such as a reducer) and the operating time of the robot up to the current date. A way to do this is considered.
  • the robot operating conditions assumed when determining the design life of the equipment may differ greatly from the robot operating conditions in actual work, so the design life of the equipment and the robot operating time up to the current date In the method for estimating the remaining lifetime of the device based on the above, it is difficult to maintain the accuracy of the estimated value high.
  • Patent Document 1 proposes a technique for collecting data of a robot controller in actual work via a communication line and performing failure diagnosis and maintenance based on the collected data (Patent Document 1). ).
  • the conventional technology has a problem that it is difficult to plan a work schedule related to the maintenance of the robot in advance with sufficient time, and as a result, it is difficult to perform the maintenance of the robot in a timely manner. .
  • the present invention has been made in view of the above-described problems of the prior art, and an object thereof is to provide a robot maintenance support apparatus and method that can accurately predict the remaining life of a robot drive system. .
  • a first aspect of the present invention is a robot maintenance support apparatus for assisting maintenance by predicting the life of a robot drive system, the servo constituting the robot drive system.
  • An acquisition data storage means for storing data acquired for the current command value of the motor, and a future change tendency of the current command value is diagnosed based on the data of the current command value stored in the acquisition data storage means For determining a period until the current command value reaches a preset value based on a future change trend of the current command value obtained by the trend diagnosis unit And a life judging means.
  • the acquired data storage means stores data relating to the plurality of current command values relating to the plurality of servo motors constituting the drive system of the robot, It further comprises target data selection means for selecting the current command value to be diagnosed by the trend diagnosis means from among the plurality of current command values.
  • the trend diagnosis unit has a function of causing a display unit to display a prediction line indicating a future change trend of the current command value as a graph. It is characterized by that.
  • the life determination unit determines a time corresponding to an intersection of the prediction line displayed in the graph and a reference line set in the graph as a predicted life. It is comprised so that it may determine with.
  • the diagnostic item of the current command value by the trend diagnostic unit is selected from I2 monitor, duty, and peak current.
  • a diagnostic item selection means is further provided.
  • the apparatus further includes a setting value changing unit for changing a setting value used for diagnosis in the tendency diagnosing unit. To do.
  • the setting value used for diagnosis in the trend diagnosis unit includes a threshold value related to the current command value, the number of target data days from the current date, It includes at least one of the number of days from the current date to the determination date and the minimum number of data used for the diagnostic calculation.
  • the tendency diagnosis unit is configured to perform a diagnosis based only on the current command value during the operation of the robot. It is characterized by that.
  • a robot maintenance support apparatus for assisting maintenance by predicting a life of a robot drive system, the servo constituting the robot drive system.
  • An acquisition data storage means for storing data acquired for the current command value of the motor, and a future change tendency of the current command value is diagnosed based on the data of the current command value stored in the acquisition data storage means For determining a period until the current command value reaches a preset value based on a future change trend of the current command value obtained by the trend diagnosis unit
  • a table for acquiring and displaying at least one of the life determination means and the diagnosis result of the trend diagnosis means and the determination result of the life determination means via a communication network Characterized by comprising a means.
  • the ninth aspect of the present invention can be appropriately combined with any one or more of the first to eighth aspects of the present invention described above.
  • a tenth aspect of the present invention is a robot maintenance support method for supporting maintenance by predicting the life of a robot drive system, the servo constituting the drive system of the robot
  • An acquisition data storage step for storing data acquired for the current command value of the motor, and a trend diagnosis for diagnosing a future change trend of the current command value based on the data of the current command value stored by the acquisition data storage step
  • the acquired data storage step data related to the plurality of current command values related to the plurality of servo motors constituting the drive system of the robot is stored, and the tendency
  • the method further comprises a target data selection step of selecting the current command value to be diagnosed in the diagnostic step from the plurality of current command values.
  • a prediction line indicating a future change tendency of the current command value is displayed as a graph on a display unit.
  • a time corresponding to an intersection between the prediction line displayed in the graph and a reference line set in the graph is a predicted life. It is characterized by determining.
  • the diagnostic item of the current command value by the trend diagnosing means is selected from I2 monitor, duty, and peak current.
  • the method further comprises a diagnostic item selection step.
  • the method further includes a setting value changing step for changing a setting value used for diagnosis in the trend diagnosis unit. To do.
  • the setting value used for diagnosis in the trend diagnosis step is a threshold value related to the current command value, the number of target data days from the current date, It includes at least one of the number of days from the current date to the determination date and the minimum number of data used for the diagnostic calculation.
  • the trend diagnosis step performs a diagnosis based only on the current command value during the operation of the robot. .
  • FIG. 1 is a block diagram showing a schematic configuration of a robot maintenance support apparatus according to an embodiment of the present invention.
  • the figure which showed the object data used with the robot maintenance assistance apparatus shown in FIG. The figure which showed the setting item used with the robot maintenance assistance apparatus shown in FIG.
  • the figure which showed each item of the trend graph produced with the robot maintenance assistance apparatus shown in FIG. The figure which showed an example of the trend graph produced with the robot maintenance assistance apparatus shown in FIG.
  • the flowchart which showed the method of estimating the remaining lifetime of a robot drive system using the robot maintenance assistance apparatus shown in FIG.
  • the robot includes a robot arm and a robot drive system for driving the robot arm and an external axis of the robot.
  • the robot drive system has a servo motor that generates a driving force, a speed reducer that transmits the driving force from the servo motor to the robot arm and the robot external axis, and an encoder that detects the position of the servo motor.
  • the robot drive system is controlled by a servo control system including a position loop, a velocity loop, and a current loop.
  • the robot targeted by the robot maintenance support apparatus includes a robot drive system R1 having eight drive axes JT1 to JT8.
  • the robot drive system R1 is used as a robot controller R2. Control.
  • the robot maintenance support apparatus 1 is an apparatus for supporting maintenance by predicting the life of the robot drive system R1.
  • the robot maintenance support apparatus 1 acquires data for acquiring data related to current command values of servo motors corresponding to the drive axes JT1 to JT8 of the robot drive system R1 from the robot controller R2. Means 2 are provided.
  • Data acquisition by the data acquisition means 2 may be acquired from the robot controller R2 via a communication line such as the Internet, or a substrate for data acquisition is connected to the robot controller R2 and directly from the robot controller R2. Data may be acquired.
  • Data relating to the current command value acquired by the data acquisition means 2 is sent to the acquisition data storage means 4 configured in the PC 3 and stored therein.
  • the acquired data storage means 4 stores data relating to a plurality of current command values relating to a plurality of servo motors constituting the robot drive system R1.
  • the robot maintenance support device 1 further includes a trend diagnosing means 5 for diagnosing a future change tendency of the current command value of the servo motor.
  • the trend diagnosing means 5 diagnoses a future change tendency of the current command value based on the data related to the current command value stored in the acquired data storage means 4.
  • the diagnosis result can be output as a trend graph, for example.
  • the robot maintenance support device 1 further includes a life determination means 6 for determining the life of the robot drive system R1. Based on the future change tendency of the current command value obtained by the trend diagnosis unit 5, the life determination unit 6 reaches the preset value of the current command value of the servo motor constituting the robot drive system R1. The period until is determined.
  • the robot maintenance support apparatus 1 further includes target data selecting means for selecting a current command value to be diagnosed by the trend diagnosing means 5 from a plurality of current command values corresponding to the drive axes JT1 to JT8. 7 is provided. That is, the target data selection means 7 can select the drive shafts JT1 to JT8 for which the remaining life should be determined.
  • the target data selected by the target data selecting means 7 is data in the execution section set by the robot teaching program. That is, only data related to the current command value during robot operation is a diagnosis target, and data during robot stop is not a diagnosis target. Thereby, the accuracy of the determination of the remaining life can be improved.
  • the trend diagnosis unit 5 of the robot maintenance support device 1 has a function of causing the display unit 8 to display a prediction line indicating a future change trend of the current command value as a graph (trend graph).
  • the lifetime determination means 6 is comprised so that the time corresponding to the intersection of the predicted line displayed on the graph and the reference line set to the graph may be determined as the predicted lifetime.
  • the robot maintenance support device 1 further includes a diagnostic item selection unit 9 for selecting a diagnostic item of the current command value by the trend diagnostic unit 5 from the I2 monitor, duty (DUTY), and peak current.
  • the I2 monitor is based on the initial measurement value and the threshold is 107% (design standard).
  • the duty is based on the motor continuous stall current value (motor manufacturer specifications).
  • the peak current value is based on the current limit value (amplifier, reducer, motor current limit).
  • the robot maintenance support device 1 includes a set value changing unit 10 for changing a set value used for diagnosis in the trend diagnosing unit 5.
  • the setting values used for diagnosis in the trend diagnosis means 5 are the threshold value for the current command value, the number of target data days from the current date (reference days), and from the current date to the determination date (life prediction value). The number of days (number of judgment days) and the minimum number of data used for the diagnostic calculation are included.
  • the graph displayed on the display means 8 of the robot maintenance support apparatus 1 includes the items shown in FIG. 4, and an example thereof is shown in FIG. FIG. 5 shows the diagnosis result of the current command value related to the servomotor corresponding to the drive axis JT1 selected by the target data selection unit 12 when the diagnostic item selection unit 11 selects the I2 monitor.
  • the X axis (horizontal axis) of the graph shown in FIG. 5 indicates the date and time when the current command value data was acquired, and the Y axis (vertical axis) represents the current command value of the servo motor for the drive axis JT1 with I2
  • the monitor is shown as a diagnostic item.
  • the reference days in the graph are the default 10 days.
  • the reference line 13 for determining the remaining life is determined by reference value ⁇ threshold value / 100.
  • a prediction line 15 obtained by the least square method based on the plot data 14 of the current command value is shown.
  • the intersection of the prediction line 15 and the reference line 13 is shown as the remaining life prediction date 16.
  • acquisition data storage step S1 data related to the current command values of the servomotors corresponding to the plurality of drive shafts JT1 to JT8 acquired by the data acquisition unit 2 is stored by the acquisition data storage unit 4 (acquisition data storage step S1). Subsequently, a current command value to be diagnosed is selected from a plurality of current command values corresponding to the plurality of drive shafts JT1 to JT8 (target data selection step S2).
  • the diagnostic item selection means 9 selects a diagnostic item from the I2 monitor, duty, and peak current (diagnostic item selection step S3). Moreover, the default value about a threshold value, the number of reference days, the determination days, and the number of data is changed by the setting value change means 10 as needed (setting value change process S4).
  • the trend diagnosis means 5 plots the selected current command value data and the diagnosis result relating to the diagnosis item on a graph (diagnosis result plotting step S5). Subsequently, a prediction line is drawn by the least square method based on the diagnosis result plotted on the graph (prediction line drawing step S6).
  • the diagnosis result plotting step S5 and the prediction line drawing step S6 constitute a trend diagnosis step for diagnosing a future change tendency of the current command value.
  • the present embodiment it is possible to predict the remaining life of the robot drive system R1 with high accuracy based on the current command value data of the servo motor of the robot drive system R1. As a result, the maintenance of the robot can be carried out in a timely manner, and the stop time of the robot due to a failure can be minimized, thereby preventing a decrease in productivity of the production line where the robot is installed.
  • the trend diagnosis unit 5 since the trend diagnosis unit 5 performs the diagnosis based only on the current command value during the operation of the robot, the prediction accuracy of the remaining life of the robot drive system R1 can be further increased. .
  • the PC 3 connected to the robot controller R2 is connected to the Internet or the like. It is also possible to provide a device that can be connected via a communication network.
  • a so-called smart device such as a tablet terminal, a smartphone, or a laptop PC is preferable, or a normal desktop PC can be used.
  • any device that can be connected to the PC 3 via a communication network at a location away from the site where the robot is installed may be used.
  • the state of the robot can be remotely confirmed even at a location away from the site where the robot is installed.
  • the maintenance work of the robot can be performed more accurately and timely.
  • Robot maintenance support device 2 Data acquisition means 3 PC 4 Acquired Data Storage Unit 5 Trend Diagnosis Unit 6 Life Determination Unit 7 Target Data Center Unit 8 Display Unit 9 Diagnostic Item Selection Unit 10 Set Value Change Unit 11 Diagnostic Item Selection Unit 12 Target Data Selection Unit 13 Graph Reference Line 14 Plot Data 15 Predicted line of graph 16 Predicted date of remaining life R1 Robot drive system R2 Robot controller S1 Acquisition data storage step S2 Target data selection step S3 Diagnostic item selection step S4 Set value change step S5 Diagnostic result plot step (trend diagnosis step) S6 Predictive line drawing process (trend diagnosis process) S7 Life judgment process

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

A robot maintenance assist device is provided with: an acquired data storage means (4) for storing data acquired regarding a current command value for a servomotor that constitutes a robot drive system (R1); a trend assessment means (5) that assesses a future variation trend for the current command value on the basis of the current command value data stored in the acquired data storage means (4); and a service life determination means (6) for determining the period of time until the current command value reaches a preset value on the basis of the future variation trend for the current command value that is obtained by the trend assessment means (5). The present invention makes it possible to accurately predict the remaining service life of a robot drive system.

Description

ロボット保守支援装置および方法Robot maintenance support apparatus and method
　本発明は、ロボットの駆動系の残余寿命を予測して、ロボットの保守を支援するためのロボット保守支援装置および方法に関する。 The present invention relates to a robot maintenance support apparatus and method for predicting the remaining life of a robot drive system and supporting robot maintenance.
　産業用ロボットは、その長期の使用により、ロボットアームやロボット外部軸を駆動するためのロボット駆動系を構成する機器の劣化（例えば、減速機の歯車の摩耗）が発生し、これにより、ロボットの動作精度が低下する。さらに、このような状態を放置しておくと、ロボット駆動系を構成する機器が破損して、ロボットが故障する。 With industrial robots, the long-term use of the robot causes deterioration of the equipment that constitutes the robot drive system for driving the robot arm and the robot external shaft (for example, wear of the gears of the speed reducer). Operating accuracy is reduced. Furthermore, if such a state is left unattended, the equipment constituting the robot drive system is damaged and the robot fails.
　生産ラインに設置される産業用ロボットにおいては、ロボットが故障すると生産ライン全体が停止し、生産性が低下して生産計画に支障をきたすことになる。そのため、ロボットに故障が発生する前に予防保全を実施し、故障を未然に防ぎたいという市場の要求がある。 For industrial robots installed in the production line, if the robot breaks down, the entire production line stops, resulting in reduced productivity and a hindrance to the production plan. For this reason, there is a market demand for performing preventive maintenance before a failure occurs in a robot and preventing the failure in advance.
　この市場の要求に応えるためには、例えば、ロボットの駆動系を構成する機器（減速機等）の設計寿命と、現在日までのロボットの運転時間とに基づいて、当該機器の残余寿命を推定する方法が考えられる。 In order to meet this market demand, for example, the remaining life of the equipment is estimated based on the design life of the equipment that makes up the robot drive system (such as a reducer) and the operating time of the robot up to the current date. A way to do this is considered.
　しかしながら、機器の設計寿命を決定する際に想定されるロボット運転条件と、実際の作業におけるロボット運転条件とが大きく異なる場合があるため、機器の設計寿命と、現在日までのロボットの運転時間とに基づいて当該機器の残余寿命を推定する方法では、その推定値の精度を高く維持することが困難である。 However, the robot operating conditions assumed when determining the design life of the equipment may differ greatly from the robot operating conditions in actual work, so the design life of the equipment and the robot operating time up to the current date In the method for estimating the remaining lifetime of the device based on the above, it is difficult to maintain the accuracy of the estimated value high.
　一方、例えば特許文献１には、実際の作業におけるロボットコントローラのデータを、通信回線を介して収集し、収集したデータに基づいて故障診断やメンテナンスを実施する技術が提案されている（特許文献１）。 On the other hand, for example, Patent Document 1 proposes a technique for collecting data of a robot controller in actual work via a communication line and performing failure diagnosis and maintenance based on the collected data (Patent Document 1). ).
特開２００７－１９０６６３号公報JP 2007-190663 A
　しかしながら、上述の従来技術では、現時点でのデータに基づいて現時点でのメンテナンス（部品交換等）の要否を判断することはできるが、現時点でのメンテナンスが不要と判断された場合に、将来的にメンテナンスがいつ頃必要になるかについては、その時期（タイミング）を特定することができなかった。 However, in the above-described conventional technology, it is possible to determine whether the current maintenance (part replacement, etc.) is necessary based on the current data, but if it is determined that the current maintenance is not necessary, As for when maintenance is needed, the timing (timing) could not be specified.
　すなわち、従来の技術では、ロボットのメンテナンスに関する作業スケジュールを、時間的余裕を持って予め計画しておくことが困難であり、その結果、ロボットのメンテナンスを適時に行うことが難しいという問題があった。 In other words, the conventional technology has a problem that it is difficult to plan a work schedule related to the maintenance of the robot in advance with sufficient time, and as a result, it is difficult to perform the maintenance of the robot in a timely manner. .
　本発明は、上述した従来の技術の問題点に鑑みてなされたものであって、ロボット駆動系の残余寿命を精度良く予測することができるロボット保守支援装置および方法を提供することを目的とする。 The present invention has been made in view of the above-described problems of the prior art, and an object thereof is to provide a robot maintenance support apparatus and method that can accurately predict the remaining life of a robot drive system. .
　上記課題を解決するために、本発明の第１の態様は、ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援装置であって、前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶するための取得データ記憶手段と、前記取得データ記憶手段に記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断するための傾向診断手段と、前記傾向診断手段によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定するための寿命判定手段と、を備えたことを特徴とする。 In order to solve the above-described problems, a first aspect of the present invention is a robot maintenance support apparatus for assisting maintenance by predicting the life of a robot drive system, the servo constituting the robot drive system. An acquisition data storage means for storing data acquired for the current command value of the motor, and a future change tendency of the current command value is diagnosed based on the data of the current command value stored in the acquisition data storage means For determining a period until the current command value reaches a preset value based on a future change trend of the current command value obtained by the trend diagnosis unit And a life judging means.
　本発明の第２の態様は、第１の態様において、前記取得データ記憶手段は、前記ロボットの駆動系を構成する複数の前記サーボモータに関する複数の前記電流指令値に関するデータを記憶しており、前記傾向診断手段による診断の対象とすべき前記電流指令値を、前記複数の電流指令値の中から選択するための対象データ選択手段をさらに備えた、ことを特徴とする。 According to a second aspect of the present invention, in the first aspect, the acquired data storage means stores data relating to the plurality of current command values relating to the plurality of servo motors constituting the drive system of the robot, It further comprises target data selection means for selecting the current command value to be diagnosed by the trend diagnosis means from among the plurality of current command values.
　本発明の第３の態様は、第１または第２の態様において、前記傾向診断手段は、前記電流指令値の将来の変化傾向を示す予測線を、表示手段にグラフとして表示させる機能を有する、ことを特徴とする。 According to a third aspect of the present invention, in the first or second aspect, the trend diagnosis unit has a function of causing a display unit to display a prediction line indicating a future change trend of the current command value as a graph. It is characterized by that.
　本発明の第４の態様は、第３の態様において、前記寿命判定手段は、前記グラフに表示された前記予測線と、前記グラフに設定された基準線との交点に対応する時点を予測寿命と判定するように構成されている、ことを特徴とする。 According to a fourth aspect of the present invention, in the third aspect, the life determination unit determines a time corresponding to an intersection of the prediction line displayed in the graph and a reference line set in the graph as a predicted life. It is comprised so that it may determine with.
　本発明の第５の態様は、第１乃至第４のいずれかの態様において、前記傾向診断手段による前記電流指令値の診断項目を、Ｉ２モニタ、デューティ、およびピーク電流の中から選択するための診断項目選択手段をさらに備えた、ことを特徴とする。 According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the diagnostic item of the current command value by the trend diagnostic unit is selected from I2 monitor, duty, and peak current. A diagnostic item selection means is further provided.
　本発明の第６の態様は、第１乃至第５のいずれかの態様において、前記傾向診断手段における診断に際して使用する設定値を変更するための設定値変更手段をさらに備えた、ことを特徴とする。 According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the apparatus further includes a setting value changing unit for changing a setting value used for diagnosis in the tendency diagnosing unit. To do.
　本発明の第７の態様は、第１乃至第６のいずれかの態様において、前記傾向診断手段における診断に際して使用する前記設定値は、前記電流指令値に関する閾値、現在日からの対象データ日数、現在日から判定日までの日数、および診断演算に使用する最低データ数の中の少なくとも一つを含む、ことを特徴とする。 According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the setting value used for diagnosis in the trend diagnosis unit includes a threshold value related to the current command value, the number of target data days from the current date, It includes at least one of the number of days from the current date to the determination date and the minimum number of data used for the diagnostic calculation.
　本発明の第８の態様は、第１乃至第７のいずれかの態様において、前記傾向診断手段は、前記ロボットの動作中における前記電流指令値のみに基づいて診断を行うように構成されている、ことを特徴とする。 According to an eighth aspect of the present invention, in any one of the first to seventh aspects, the tendency diagnosis unit is configured to perform a diagnosis based only on the current command value during the operation of the robot. It is characterized by that.
　上記課題を達成するために、本発明の第９の態様は、ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援装置であって、前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶するための取得データ記憶手段と、前記取得データ記憶手段に記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断するための傾向診断手段と、前記傾向診断手段によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定するための寿命判定手段と、前記傾向診断手段の診断結果および前記寿命判定手段の判定結果のうちの少なくとも一方を、通信ネットワークを介して取得して表示するための表示手段と、を備えたことを特徴とする。 To achieve the above object, according to a ninth aspect of the present invention, there is provided a robot maintenance support apparatus for assisting maintenance by predicting a life of a robot drive system, the servo constituting the robot drive system. An acquisition data storage means for storing data acquired for the current command value of the motor, and a future change tendency of the current command value is diagnosed based on the data of the current command value stored in the acquisition data storage means For determining a period until the current command value reaches a preset value based on a future change trend of the current command value obtained by the trend diagnosis unit A table for acquiring and displaying at least one of the life determination means and the diagnosis result of the trend diagnosis means and the determination result of the life determination means via a communication network Characterized by comprising a means.
　また、本発明の第９の態様を、上述した本発明の第１乃至第８の態様のいずれか一つまたは複数と適宜組み合わせることもできる。 Also, the ninth aspect of the present invention can be appropriately combined with any one or more of the first to eighth aspects of the present invention described above.
　上記課題を解決するために、本発明の第１０の態様は、ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援方法であって、前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶する取得データ記憶工程と、前記取得データ記憶工程によって記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断する傾向診断工程と、前記傾向診断工程によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定する寿命判定工程と、を備えたことを特徴とする。 In order to solve the above-described problems, a tenth aspect of the present invention is a robot maintenance support method for supporting maintenance by predicting the life of a robot drive system, the servo constituting the drive system of the robot An acquisition data storage step for storing data acquired for the current command value of the motor, and a trend diagnosis for diagnosing a future change trend of the current command value based on the data of the current command value stored by the acquisition data storage step A life determination step of determining a period until the current command value reaches a preset value based on a future change trend of the current command value obtained by the trend diagnosis step. It is characterized by having.
　本発明の第１１の態様は、第１０の態様において、前記取得データ記憶工程において、前記ロボットの駆動系を構成する複数の前記サーボモータに関する複数の前記電流指令値に関するデータを記憶し、前記傾向診断工程における診断の対象とすべき前記電流指令値を、前記複数の電流指令値の中から選択する対象データ選択工程をさらに備えた、ことを特徴とする。 According to an eleventh aspect of the present invention, in the tenth aspect, in the acquired data storage step, data related to the plurality of current command values related to the plurality of servo motors constituting the drive system of the robot is stored, and the tendency The method further comprises a target data selection step of selecting the current command value to be diagnosed in the diagnostic step from the plurality of current command values.
　本発明の第１２の態様は、第１０または第１１の態様において、前記傾向診断工程において、前記電流指令値の将来の変化傾向を示す予測線を、表示手段上でグラフとして表示する、ことを特徴とする。 According to a twelfth aspect of the present invention, in the tenth or eleventh aspect, in the trend diagnosis step, a prediction line indicating a future change tendency of the current command value is displayed as a graph on a display unit. Features.
　本発明の第１３の態様は、第１２の態様において、前記寿命判定工程において、前記グラフに表示された前記予測線と、前記グラフに設定された基準線との交点に対応する時点を予測寿命と判定する、ことを特徴とする。 According to a thirteenth aspect of the present invention, in the twelfth aspect, in the life determination step, a time corresponding to an intersection between the prediction line displayed in the graph and a reference line set in the graph is a predicted life. It is characterized by determining.
　本発明の第１４の態様は、第１０乃至第１３のいずれかの態様において、前記傾向診断手段による前記電流指令値の診断項目を、Ｉ２モニタ、デューティ、およびピーク電流の中から選択するための診断項目選択工程をさらに備えた、ことを特徴とする。 According to a fourteenth aspect of the present invention, in any one of the tenth to thirteenth aspects, the diagnostic item of the current command value by the trend diagnosing means is selected from I2 monitor, duty, and peak current. The method further comprises a diagnostic item selection step.
　本発明の第１５の態様は、第１０乃至第１４のいずれかの態様において、前記傾向診断手段における診断に際して使用する設定値を変更するための設定値変更工程をさらに備えた、ことを特徴とする。 According to a fifteenth aspect of the present invention, in any one of the tenth to fourteenth aspects, the method further includes a setting value changing step for changing a setting value used for diagnosis in the trend diagnosis unit. To do.
　本発明の第１６の態様は、第１０乃至第１５のいずれかの態様において、前記傾向診断工程における診断に際して使用する前記設定値は、前記電流指令値に関する閾値、現在日からの対象データ日数、現在日から判定日までの日数、および診断演算に使用する最低データ数の中の少なくとも一つを含む、ことを特徴とする。 In a sixteenth aspect of the present invention, in any one of the tenth to fifteenth aspects, the setting value used for diagnosis in the trend diagnosis step is a threshold value related to the current command value, the number of target data days from the current date, It includes at least one of the number of days from the current date to the determination date and the minimum number of data used for the diagnostic calculation.
　本発明の第１７の態様は、第１０乃至第１６のいずれかの態様において、前記傾向診断工程において、前記ロボットの動作中における前記電流指令値のみに基づいて診断を行う、ことを特徴とする。 According to a seventeenth aspect of the present invention, in any one of the tenth to sixteenth aspects, the trend diagnosis step performs a diagnosis based only on the current command value during the operation of the robot. .
　本発明によれば、ロボット駆動系の残余寿命を精度良く予測することができるロボット保守支援装置および方法を提供することができる。 According to the present invention, it is possible to provide a robot maintenance support apparatus and method that can accurately predict the remaining life of a robot drive system.
本発明の一実施形態によるロボット保守支援装置の概略構成を示したブロック図。1 is a block diagram showing a schematic configuration of a robot maintenance support apparatus according to an embodiment of the present invention. 図１に示したロボット保守支援装置で使用される対象データを示した図。The figure which showed the object data used with the robot maintenance assistance apparatus shown in FIG. 図１に示したロボット保守支援装置で使用される設定項目を示した図。The figure which showed the setting item used with the robot maintenance assistance apparatus shown in FIG. 図１に示したロボット保守支援装置で作成するトレンドグラフの各項目を示した図。The figure which showed each item of the trend graph produced with the robot maintenance assistance apparatus shown in FIG. 図１に示したロボット保守支援装置で作成されたトレンドグラフの一例を示した図。The figure which showed an example of the trend graph produced with the robot maintenance assistance apparatus shown in FIG. 図１に示したロボット保守支援装置を用いてロボット駆動系の残余寿命を予測する方法を示したフローチャート。The flowchart which showed the method of estimating the remaining lifetime of a robot drive system using the robot maintenance assistance apparatus shown in FIG.
　以下、本発明の一実施形態によるロボット保守支援装置について、図面を参照して説明する。 Hereinafter, a robot maintenance support device according to an embodiment of the present invention will be described with reference to the drawings.
　まず初めに、本実施形態によるロボット保守支援装置が対象とするロボットの概略構成について説明する。当該ロボットは、ロボットアームと、このロボットアームやロボットの外部軸を駆動するためのロボット駆動系とを備えている。 First, a schematic configuration of a robot targeted by the robot maintenance support apparatus according to the present embodiment will be described. The robot includes a robot arm and a robot drive system for driving the robot arm and an external axis of the robot.
　ロボット駆動系は、駆動力を生成するサーボモータ、サーボモータからの駆動力をロボットアームやロボット外部軸に伝達する減速機、およびサーボモータの位置を検出するエンコーダを有する。ロボット駆動系は、位置ループ、速度ループ、および電流ループを含むサーボ制御系によって制御される。 The robot drive system has a servo motor that generates a driving force, a speed reducer that transmits the driving force from the servo motor to the robot arm and the robot external axis, and an encoder that detects the position of the servo motor. The robot drive system is controlled by a servo control system including a position loop, a velocity loop, and a current loop.
　本実施形態によるロボット保守支援装置が対象とするロボットは、図１に示したように、８つの駆動軸ＪＴ１～ＪＴ８を有するロボット駆動系Ｒ１を備えており、このロボット駆動系Ｒ１をロボットコントローラＲ２が制御する。 As shown in FIG. 1, the robot targeted by the robot maintenance support apparatus according to the present embodiment includes a robot drive system R1 having eight drive axes JT1 to JT8. The robot drive system R1 is used as a robot controller R2. Control.
　そして、本実施形態によるロボット保守支援装置１は、ロボット駆動系Ｒ１の寿命を予測して保守を支援するための装置ある。 The robot maintenance support apparatus 1 according to the present embodiment is an apparatus for supporting maintenance by predicting the life of the robot drive system R1.
　図１に示したように、ロボット保守支援装置１は、ロボットコントローラＲ２から、ロボット駆動系Ｒ１の各駆動軸ＪＴ１～ＪＴ８に対応する各サーボモータの電流指令値に関するデータを取得するためのデータ取得手段２を備えている。 As shown in FIG. 1, the robot maintenance support apparatus 1 acquires data for acquiring data related to current command values of servo motors corresponding to the drive axes JT1 to JT8 of the robot drive system R1 from the robot controller R2. Means 2 are provided.
　データ取得手段２によるデータの取得は、インターネット等の通信回線を介してロボットコントローラＲ２から取得しても良いし、データ取得のための基板をロボットコントローラＲ２に接続して、ロボットコントローラＲ２から直接的にデータを取得しても良い。 Data acquisition by the data acquisition means 2 may be acquired from the robot controller R2 via a communication line such as the Internet, or a substrate for data acquisition is connected to the robot controller R2 and directly from the robot controller R2. Data may be acquired.
　データ取得手段２によって取得された電流指令値に関するデータは、ＰＣ３内に構成された取得データ記憶手段４に送られ、そこで記憶される。取得データ記憶手段４は、ロボット駆動系Ｒ１を構成する複数のサーボモータに関する複数の電流指令値に関するデータを記憶する。 Data relating to the current command value acquired by the data acquisition means 2 is sent to the acquisition data storage means 4 configured in the PC 3 and stored therein. The acquired data storage means 4 stores data relating to a plurality of current command values relating to a plurality of servo motors constituting the robot drive system R1.
　ロボット保守支援装置１は、さらに、サーボモータの電流指令値の将来の変化傾向を診断するための傾向診断手段５を備えている。この傾向診断手段５は、取得データ記憶手段４に記憶された電流指令値に関するデータに基づいて、電流指令値の将来の変化傾向を診断する。診断結果は、例えばトレンドグラフとして出力することができる。 The robot maintenance support device 1 further includes a trend diagnosing means 5 for diagnosing a future change tendency of the current command value of the servo motor. The trend diagnosing means 5 diagnoses a future change tendency of the current command value based on the data related to the current command value stored in the acquired data storage means 4. The diagnosis result can be output as a trend graph, for example.
　ロボット保守支援装置１は、さらに、ロボット駆動系Ｒ１の寿命を判定するための寿命判定手段６を備えている。この寿命判定手段６は、傾向診断手段５によって得られた電流指令値の将来の変化傾向に基づいて、ロボット駆動系Ｒ１を構成するサーボモータの電流指令値が、予め設定された値に到達するまでの期間を判定する。 The robot maintenance support device 1 further includes a life determination means 6 for determining the life of the robot drive system R1. Based on the future change tendency of the current command value obtained by the trend diagnosis unit 5, the life determination unit 6 reaches the preset value of the current command value of the servo motor constituting the robot drive system R1. The period until is determined.
　ロボット保守支援装置１は、さらに、傾向診断手段５による診断の対象とすべき電流指令値を、各駆動軸ＪＴ１～ＪＴ８に対応する複数の電流指令値の中から選択するための対象データ選択手段７を備える。すなわち、対象データ選択手段７によって、残余寿命の判定を行うべき駆動軸ＪＴ１～ＪＴ８を選択することができる。 The robot maintenance support apparatus 1 further includes target data selecting means for selecting a current command value to be diagnosed by the trend diagnosing means 5 from a plurality of current command values corresponding to the drive axes JT1 to JT8. 7 is provided. That is, the target data selection means 7 can select the drive shafts JT1 to JT8 for which the remaining life should be determined.
　図２に示したように、対象データ選択手段７により選択される対象データは、ロボット教示プログラムで設定された実行区間におけるデータである。すなわち、ロボット動作中の電流指令値に関するデータのみが診断対象となり、ロボット停止中のデータは診断対象とならない。これにより、残余寿命の判定の精度を向上させることができる。 As shown in FIG. 2, the target data selected by the target data selecting means 7 is data in the execution section set by the robot teaching program. That is, only data related to the current command value during robot operation is a diagnosis target, and data during robot stop is not a diagnosis target. Thereby, the accuracy of the determination of the remaining life can be improved.
　ロボット保守支援装置１の傾向診断手段５は、電流指令値の将来の変化傾向を示す予測線を、表示手段８にグラフ（トレンドグラフ）として表示させる機能を有する。そして、寿命判定手段６は、グラフに表示された予測線と、グラフに設定された基準線との交点に対応する時点を予測寿命と判定するように構成されている。 The trend diagnosis unit 5 of the robot maintenance support device 1 has a function of causing the display unit 8 to display a prediction line indicating a future change trend of the current command value as a graph (trend graph). And the lifetime determination means 6 is comprised so that the time corresponding to the intersection of the predicted line displayed on the graph and the reference line set to the graph may be determined as the predicted lifetime.
　ロボット保守支援装置１は、さらに、傾向診断手段５による電流指令値の診断項目を、Ｉ２モニタ、デューティ（ＤＵＴＹ）、およびピーク電流の中から選択するための診断項目選択手段９を備える。 The robot maintenance support device 1 further includes a diagnostic item selection unit 9 for selecting a diagnostic item of the current command value by the trend diagnostic unit 5 from the I2 monitor, duty (DUTY), and peak current.
　図３に示したように、Ｉ２モニタは、初期計測値を基準とし、閾値を１０７％（設計基準）とする。デューティは、モータ連続ストール電流値(モータメーカ仕様)を基準とする。ピーク電流値は、電流制限値（アンプ、減速機、モータの電流リミット）を基準とする。 As shown in FIG. 3, the I2 monitor is based on the initial measurement value and the threshold is 107% (design standard). The duty is based on the motor continuous stall current value (motor manufacturer specifications). The peak current value is based on the current limit value (amplifier, reducer, motor current limit).
　また、ロボット保守支援装置１は、傾向診断手段５における診断に際して使用する設定値を変更するための設定値変更手段１０を備える。図３に示したように、傾向診断手段５における診断に際して使用する設定値は、電流指令値に関する閾値、現在日からの対象データ日数（参照日数）、現在日から判定日（寿命予測値）までの日数（判定日数）、および診断演算に使用する最低データ数を含んでいる。 Further, the robot maintenance support device 1 includes a set value changing unit 10 for changing a set value used for diagnosis in the trend diagnosing unit 5. As shown in FIG. 3, the setting values used for diagnosis in the trend diagnosis means 5 are the threshold value for the current command value, the number of target data days from the current date (reference days), and from the current date to the determination date (life prediction value). The number of days (number of judgment days) and the minimum number of data used for the diagnostic calculation are included.
　ロボット保守支援装置１の表示手段８において表示されるグラフは、図４に示した項目を含んでおり、その一例が図５に示されている。図５では、診断項目選択部１１においてＩ２モニタを選択した場合について、対象データ選択部１２で選択された駆動軸ＪＴ１に対応するサーボモータに関する電流指令値の診断結果が示されている。 The graph displayed on the display means 8 of the robot maintenance support apparatus 1 includes the items shown in FIG. 4, and an example thereof is shown in FIG. FIG. 5 shows the diagnosis result of the current command value related to the servomotor corresponding to the drive axis JT1 selected by the target data selection unit 12 when the diagnostic item selection unit 11 selects the I2 monitor.
　図５に示したグラフのＸ軸(横軸)は、電流指令値のデータを取得した日時を示しており、Ｙ軸（縦軸）は、駆動軸ＪＴ１に対するサーボモータの電流指令値について、Ｉ２モニタを診断項目として示している。同グラフにおける参照日数は、デフォルトの１０日である。同グラフにおける、残余寿命の判定基準とするための基準線１３は、基準値×閾値／１００で決定されている。 The X axis (horizontal axis) of the graph shown in FIG. 5 indicates the date and time when the current command value data was acquired, and the Y axis (vertical axis) represents the current command value of the servo motor for the drive axis JT1 with I2 The monitor is shown as a diagnostic item. The reference days in the graph are the default 10 days. In the graph, the reference line 13 for determining the remaining life is determined by reference value × threshold value / 100.
　同グラフには、電流指令値のプロットデータ１４に基づいて最小二乗法によって求めた予測線１５が示されている。この予測線１５と基準線１３との交点が、残余寿命の予測日１６として示されている。 In the graph, a prediction line 15 obtained by the least square method based on the plot data 14 of the current command value is shown. The intersection of the prediction line 15 and the reference line 13 is shown as the remaining life prediction date 16.
　次に、上述したロボット保守支援装置１を用いて、ロボット駆動系Ｒ１の寿命を予測して、ロボットの保守を支援する方法について、図６を参照して説明する。 Next, a method for predicting the life of the robot drive system R1 using the robot maintenance support apparatus 1 described above and supporting the maintenance of the robot will be described with reference to FIG.
　まず、データ取得手段２によって取得した、複数の駆動軸ＪＴ１～ＪＴ８に対応するサーボモータの電流指令値に関するデータを、取得データ記憶手段４によって記憶する（取得データ記憶工程Ｓ１）。続いて、診断の対象とすべき電流指令値を、複数の駆動軸ＪＴ１～ＪＴ８に対応する複数の電流指令値の中から選択する（対象データ選択工程Ｓ２）。 First, data related to the current command values of the servomotors corresponding to the plurality of drive shafts JT1 to JT8 acquired by the data acquisition unit 2 is stored by the acquisition data storage unit 4 (acquisition data storage step S1). Subsequently, a current command value to be diagnosed is selected from a plurality of current command values corresponding to the plurality of drive shafts JT1 to JT8 (target data selection step S2).
　次に、診断項目選択手段９によって、Ｉ２モニタ、デューティ、およびピーク電流の中から、診断項目を選択する（診断項目選択工程Ｓ３）。また、必要に応じて、設定値変更手段１０によって、閾値、参照日数、判定日数、データ数についてのデフォルト値を変更する（設定値変更工程Ｓ４）。 Next, the diagnostic item selection means 9 selects a diagnostic item from the I2 monitor, duty, and peak current (diagnostic item selection step S3). Moreover, the default value about a threshold value, the number of reference days, the determination days, and the number of data is changed by the setting value change means 10 as needed (setting value change process S4).
　次に、傾向診断手段５によって、選択した電流指令値データおよび診断項目に関する診断結果をグラフにプロットする（診断結果プロット工程Ｓ５）。続いて、グラフにプロットした診断結果に基づいて、最小二乗法により予測線を描画する（予測線描画工程Ｓ６）。診断結果プロット工程Ｓ５および予測線描画工程Ｓ６は、電流指令値の将来の変化傾向を診断する傾向診断工程を構成している。 Next, the trend diagnosis means 5 plots the selected current command value data and the diagnosis result relating to the diagnosis item on a graph (diagnosis result plotting step S5). Subsequently, a prediction line is drawn by the least square method based on the diagnosis result plotted on the graph (prediction line drawing step S6). The diagnosis result plotting step S5 and the prediction line drawing step S6 constitute a trend diagnosis step for diagnosing a future change tendency of the current command value.
　次に、寿命判定手段６によって、傾向診断工程Ｓ５、Ｓ６によって得られた電流指令値の将来の変化傾向に基づいて、電流指令値が、予め設定された基準線１３に到達するまでの期間を判定する（寿命判定工程Ｓ７）。すなわち、寿命判定工程Ｓ７においては、図５のグラフに表示された予測線１５と、グラフに設定された基準線１３との交点に対応する時点を予測寿命と判定する。 Next, a period until the current command value reaches the preset reference line 13 based on the future change tendency of the current command value obtained by the trend diagnosis steps S5 and S6 by the life determination means 6 is determined. Determine (life determination step S7). That is, in the life determination step S7, the time corresponding to the intersection of the predicted line 15 displayed in the graph of FIG. 5 and the reference line 13 set in the graph is determined as the predicted life.
　以上述べたように、本実施形態によれば、ロボット駆動系Ｒ１のサーボモータの電流指令値のデータに基づいて、ロボット駆動系Ｒ１の残余寿命を高い精度で予測することが可能である。これにより、ロボットのメンテナンスを適時に実施することが可能となり、故障によるロボットの停止時間を最小化して、ロボットが設置された生産ラインの生産性の低下を確実に防止することができる。 As described above, according to the present embodiment, it is possible to predict the remaining life of the robot drive system R1 with high accuracy based on the current command value data of the servo motor of the robot drive system R1. As a result, the maintenance of the robot can be carried out in a timely manner, and the stop time of the robot due to a failure can be minimized, thereby preventing a decrease in productivity of the production line where the robot is installed.
　特に、本実施形態においては、傾向診断手段５が、ロボットの動作中における電流指令値のみに基づいて診断を行うようにしたので、ロボット駆動系Ｒ１の残余寿命の予測精度をさらに高めることができる。 In particular, in the present embodiment, since the trend diagnosis unit 5 performs the diagnosis based only on the current command value during the operation of the robot, the prediction accuracy of the remaining life of the robot drive system R1 can be further increased. .
　本発明の他の実施形態としては、上述した実施形態の構成において、ロボットコントローラＲ２に接続された表示手段８に加えて、或いはこれに代えて、ロボットコントローラＲ２に接続されたＰＣ３に、インターネットなどの通信ネットワークを介して接続可能なデバイスを設けることもできる。 As another embodiment of the present invention, in the configuration of the above-described embodiment, in addition to or instead of the display means 8 connected to the robot controller R2, the PC 3 connected to the robot controller R2 is connected to the Internet or the like. It is also possible to provide a device that can be connected via a communication network.
　そのようなデバイスとしては、タブレット端末、スマートフォン、ラップトップＰＣなどの、いわゆるスマートデバイスが好適であり、或いは、通常のデスクトップＰＣを使用することもできる。要するに、ロボットが設置された現場から離れた場所において、通信ネットワークを介してＰＣ３と接続可能なデバイスであれば良い。 As such a device, a so-called smart device such as a tablet terminal, a smartphone, or a laptop PC is preferable, or a normal desktop PC can be used. In short, any device that can be connected to the PC 3 via a communication network at a location away from the site where the robot is installed may be used.
　本実施形態によるロボット保守支援装置および方法によれば、ロボットが設置された現場から離れた場所においても、ロボットの状態を遠隔で確認することができる。これにより、ロボットの保守作業を、より一層適確且つ適時に行なうことが可能となる。 According to the robot maintenance support apparatus and method according to the present embodiment, the state of the robot can be remotely confirmed even at a location away from the site where the robot is installed. As a result, the maintenance work of the robot can be performed more accurately and timely.
　１　ロボット保守支援装置
　２　データ取得手段
　３　ＰＣ
　４　取得データ記憶手段
　５　傾向診断手段
　６　寿命判定手段
　７　対象データセンタ手段
　８　表示手段
　９　診断項目選択手段
　１０　設定値変更手段
　１１　診断項目選択部
　１２　対象データ選択部
　１３　グラフの基準線
　１４　プロットデータ
　１５　グラフの予測線
　１６　残余寿命の予測日
　Ｒ１　ロボット駆動系
　Ｒ２　ロボットコントローラ
　Ｓ１　取得データ記憶工程
　Ｓ２　対象データ選択工程
　Ｓ３　診断項目選択工程
　Ｓ４　設定値変更工程
　Ｓ５　診断結果プロット工程（傾向診断工程）
　Ｓ６　予測線描画工程（傾向診断工程）
　Ｓ７　寿命判定工程
  1 Robot maintenance support device 2 Data acquisition means 3 PC
4 Acquired Data Storage Unit 5 Trend Diagnosis Unit 6 Life Determination Unit 7 Target Data Center Unit 8 Display Unit 9 Diagnostic Item Selection Unit 10 Set Value Change Unit 11 Diagnostic Item Selection Unit 12 Target Data Selection Unit 13 Graph Reference Line 14 Plot Data 15 Predicted line of graph 16 Predicted date of remaining life R1 Robot drive system R2 Robot controller S1 Acquisition data storage step S2 Target data selection step S3 Diagnostic item selection step S4 Set value change step S5 Diagnostic result plot step (trend diagnosis step)
S6 Predictive line drawing process (trend diagnosis process)
S7 Life judgment process

Claims (17)

  1. 　ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援装置であって、
    　前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶するための取得データ記憶手段と、
    　前記取得データ記憶手段に記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断するための傾向診断手段と、
    　前記傾向診断手段によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定するための寿命判定手段と、を備えたロボット保守支援装置。     A robot maintenance support device for predicting the life of a robot drive system and supporting maintenance,
    An acquired data storage means for storing data acquired for a current command value of a servo motor constituting the drive system of the robot;
    Trend diagnosis means for diagnosing a future change trend of the current command value based on the data of the current command value stored in the acquired data storage means;
    Life determination means for determining a period until the current command value reaches a preset value based on a future change tendency of the current command value obtained by the trend diagnosis means. Robot maintenance support device.
  2. 　前記取得データ記憶手段は、前記ロボットの駆動系を構成する複数の前記サーボモータに関する複数の前記電流指令値に関するデータを記憶しており、
    　前記傾向診断手段による診断の対象とすべき前記電流指令値を、前記複数の電流指令値の中から選択するための対象データ選択手段をさらに備えた、請求項１記載のロボット保守支援装置。     The acquired data storage means stores data relating to a plurality of the current command values relating to a plurality of the servo motors constituting the drive system of the robot,
    The robot maintenance support apparatus according to claim 1, further comprising target data selection means for selecting the current command value to be diagnosed by the trend diagnosis means from the plurality of current command values.
  3. 　前記傾向診断手段は、前記電流指令値の将来の変化傾向を示す予測線を、表示手段にグラフとして表示させる機能を有する、請求項１または２に記載のロボット保守支援装置。 The robot maintenance support apparatus according to claim 1 or 2, wherein the trend diagnosis unit has a function of causing a display unit to display a prediction line indicating a future change trend of the current command value as a graph.
  4. 　前記寿命判定手段は、前記グラフに表示された前記予測線と、前記グラフに設定された基準線との交点に対応する時点を予測寿命と判定するように構成されている、請求項３記載のロボット保守支援装置。 The said lifetime determination means is comprised so that the time corresponding to the intersection of the said prediction line displayed on the said graph and the reference line set to the said graph may be determined as a prediction lifetime. Robot maintenance support device.
  5. 　前記傾向診断手段による前記電流指令値の診断項目を、Ｉ２モニタ、デューティ、およびピーク電流の中から選択するための診断項目選択手段をさらに備えた、請求項１乃至４のいずれか一項に記載のロボット保守支援装置。 The diagnostic item selection means for selecting the diagnostic item of the said current command value by the said trend diagnostic means from I2 monitor, a duty, and a peak current, It further provided with any one of Claims 1 thru | or 4 Robot maintenance support device.
  6. 　前記傾向診断手段における診断に際して使用する設定値を変更するための設定値変更手段をさらに備えた、請求項１乃至５のいずれか一項に記載のロボット保守支援装置。 The robot maintenance support device according to any one of claims 1 to 5, further comprising setting value changing means for changing a setting value used for diagnosis in the trend diagnosis means.
  7. 　前記傾向診断手段における診断に際して使用する前記設定値は、前記電流指令値に関する閾値、現在日からの対象データ日数、現在日から判定日までの日数、および診断演算に使用する最低データ数の中の少なくとも一つを含む、請求項１乃至６のいずれか一項に記載のロボット保守支援装置。 The set value used for diagnosis in the trend diagnosis means is a threshold value regarding the current command value, the number of target data days from the current date, the number of days from the current date to the determination date, and the minimum number of data used for the diagnostic calculation. The robot maintenance support device according to claim 1, comprising at least one.
  8. 　前記傾向診断手段は、前記ロボットの動作中における前記電流指令値のみに基づいて診断を行うように構成されている、請求項１乃至７のいずれか一項に記載のロボット保守支援装置。 The robot maintenance support apparatus according to any one of claims 1 to 7, wherein the trend diagnosis unit is configured to perform a diagnosis based only on the current command value during operation of the robot.
  9. 　ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援装置であって、
    　前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶するための取得データ記憶手段と、
    　前記取得データ記憶手段に記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断するための傾向診断手段と、
    　前記傾向診断手段によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定するための寿命判定手段と、
    　前記傾向診断手段の診断結果および前記寿命判定手段の判定結果のうちの少なくとも一方を、通信ネットワークを介して取得して表示するための表示手段と、を備えたロボット保守支援装置。     A robot maintenance support device for predicting the life of a robot drive system and supporting maintenance,
    An acquired data storage means for storing data acquired for a current command value of a servo motor constituting the drive system of the robot;
    Trend diagnosis means for diagnosing a future change trend of the current command value based on the data of the current command value stored in the acquired data storage means;
    Life determination means for determining a period until the current command value reaches a preset value based on a future change tendency of the current command value obtained by the trend diagnosis means;
    A robot maintenance support apparatus comprising: display means for acquiring and displaying at least one of a diagnosis result of the trend diagnosis means and a determination result of the life determination means via a communication network.
  10. 　ロボットの駆動系の寿命を予測して保守を支援するためのロボット保守支援方法であって、
    　前記ロボットの駆動系を構成するサーボモータの電流指令値について取得したデータを記憶する取得データ記憶工程と、
    　前記取得データ記憶工程によって記憶された前記電流指令値のデータに基づいて前記電流指令値の将来の変化傾向を診断する傾向診断工程と、
    　前記傾向診断工程によって得られた前記電流指令値の将来の変化傾向に基づいて、前記電流指令値が、予め設定された値に到達するまでの期間を判定する寿命判定工程と、を備えたロボット保守支援方法。     A robot maintenance support method for predicting the life of a robot drive system and supporting maintenance,
    An acquisition data storage step for storing data acquired for a current command value of a servomotor constituting the drive system of the robot;
    A trend diagnosis step of diagnosing a future change trend of the current command value based on the data of the current command value stored by the acquisition data storage step;
    A life determination step of determining a period until the current command value reaches a preset value based on a future change tendency of the current command value obtained by the trend diagnosis step. Maintenance support method.
  11. 　前記取得データ記憶工程において、前記ロボットの駆動系を構成する複数の前記サーボモータに関する複数の前記電流指令値に関するデータを記憶し、
    　前記傾向診断工程における診断の対象とすべき前記電流指令値を、前記複数の電流指令値の中から選択する対象データ選択工程をさらに備えた、請求項１０記載のロボット保守支援方法。     In the acquired data storage step, data relating to the plurality of current command values relating to the plurality of servo motors constituting the drive system of the robot is stored,
    The robot maintenance support method according to claim 10, further comprising a target data selection step of selecting the current command value to be diagnosed in the trend diagnosis step from the plurality of current command values.
  12. 　前記傾向診断工程において、前記電流指令値の将来の変化傾向を示す予測線を、表示手段上でグラフとして表示する、請求項１０または１１に記載のロボット保守支援方法。 The robot maintenance support method according to claim 10 or 11, wherein in the trend diagnosis step, a prediction line indicating a future change trend of the current command value is displayed as a graph on a display means.
  13. 　前記寿命判定工程において、前記グラフに表示された前記予測線と、前記グラフに設定された基準線との交点に対応する時点を予測寿命と判定する、請求項１２記載のロボット保守支援方法。 13. The robot maintenance support method according to claim 12, wherein in the life determination step, a time corresponding to an intersection of the predicted line displayed in the graph and a reference line set in the graph is determined as a predicted life.
  14. 　前記傾向診断手段による前記電流指令値の診断項目を、Ｉ２モニタ、デューティ、およびピーク電流の中から選択するための診断項目選択工程をさらに備えた、請求項１０乃至１３のいずれか一項に記載のロボット保守支援方法。 The diagnostic item selection process for selecting the diagnostic item of the said current command value by the said trend diagnostic means from I2 monitor, a duty, and a peak current, It further has provided the diagnostic item selection process as described in any one of Claims 10 thru | or 13. Robot maintenance support method.
  15. 　前記傾向診断手段における診断に際して使用する設定値を変更するための設定値変更工程をさらに備えた、請求項１０乃至１４のいずれか一項に記載のロボット保守支援方法。 15. The robot maintenance support method according to any one of claims 10 to 14, further comprising a set value changing step for changing a set value used for diagnosis in the tendency diagnosing means.
  16. 　前記傾向診断工程における診断に際して使用する前記設定値は、前記電流指令値に関する閾値、現在日からの対象データ日数、現在日から判定日までの日数、および診断演算に使用する最低データ数の中の少なくとも一つを含む、請求項１０乃至１５のいずれか一項に記載のロボット保守支援方法。 The set value used for diagnosis in the trend diagnosis step is a threshold value regarding the current command value, the number of target data days from the current date, the number of days from the current date to the determination date, and the minimum number of data used for the diagnostic calculation. The robot maintenance support method according to any one of claims 10 to 15, comprising at least one.
  17. 　前記傾向診断工程において、前記ロボットの動作中における前記電流指令値のみに基づいて診断を行う、請求項１０乃至１６のいずれか一項に記載のロボット保守支援方法。
          The robot maintenance support method according to any one of claims 10 to 16, wherein in the trend diagnosis step, diagnosis is performed based only on the current command value during operation of the robot.
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