WO2021106117A1 - 生産システムの情報収集装置、情報収集方法及びプログラム - Google Patents

生産システムの情報収集装置、情報収集方法及びプログラム Download PDF

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Publication number
WO2021106117A1
WO2021106117A1 PCT/JP2019/046456 JP2019046456W WO2021106117A1 WO 2021106117 A1 WO2021106117 A1 WO 2021106117A1 JP 2019046456 W JP2019046456 W JP 2019046456W WO 2021106117 A1 WO2021106117 A1 WO 2021106117A1
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Prior art keywords
information
evaluation
control signal
database
signal
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Ceased
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PCT/JP2019/046456
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English (en)
French (fr)
Japanese (ja)
Inventor
剛 若松
中村　智之
光章 中西
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Priority to CN201980102508.3A priority Critical patent/CN114730179A/zh
Priority to EP19954374.5A priority patent/EP4068023A4/en
Priority to PCT/JP2019/046456 priority patent/WO2021106117A1/ja
Priority to JP2021519174A priority patent/JP6965477B2/ja
Priority to TW109141525A priority patent/TWI868259B/zh
Publication of WO2021106117A1 publication Critical patent/WO2021106117A1/ja
Priority to JP2021171963A priority patent/JP7407784B2/ja
Priority to US17/752,861 priority patent/US12436526B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-control systems
    • G05B19/02—Program-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]
    • G05B19/41875—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] characterised by quality surveillance of production
    • 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—Program-control systems
    • G05B19/02—Program-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]
    • G05B19/4183—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] characterised by data acquisition, e.g. workpiece identification
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31282—Data acquisition, BDE MDE
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32366—Line performance evaluation
    • 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
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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

  • This disclosure relates to an information collection device, an information collection method, and a program of a production system.
  • Patent Document 1 describes a state of a reference data acquisition unit that acquires reference data including time information in which a reference for data grouping operates in a production facility, and a state of the production facility detected by a detector provided in the production facility.
  • the target data acquisition unit that acquires the target data related to, and for each group of the reference data, the data detected in the target data in the same time zone as the operation time zone of the reference data is combined with the reference data to generate the combined data for each group.
  • a data processing apparatus of a production facility including a combined data generation unit is disclosed.
  • This disclosure provides a data collection device that is effective for early grasping changes in the condition of local equipment.
  • the information collecting device of the production system stores control signals, which are internal information of local equipment including a motor during operation including a plurality of processes, in a data handling unit and a database.
  • the control signal extraction unit that extracts the signal set accumulated during the execution of any one of the plurality of processes from the control signal, and the signal set extracted by the control signal extraction unit are evaluated, and the evaluation result is shown. It includes a control signal evaluation unit that generates evaluation information.
  • the information collecting method is to store the control signal which is the internal information of the local device including the motor during the operation including a plurality of steps in the database and the control signal stored in the database. To extract the signal set accumulated during the execution of any one of the plurality of processes from, and to evaluate the signal set extracted by the control signal extraction unit and generate evaluation information representing the evaluation result. ,including.
  • the program according to still another aspect of the present disclosure is to store control signals, which are internal information of a local device including a motor during operation including a plurality of steps, in a database, and from the control signals stored in the database. Extracting the signal set accumulated during the execution of any one of the plurality of processes, evaluating the signal set extracted by the control signal extraction unit, and generating evaluation information representing the evaluation result. To the device.
  • the production system 1 shown in FIG. 1 is a system that produces workpieces by cooperative operation of a plurality of local devices.
  • work all the objects to be worked on by each local device are referred to as "work”.
  • the "work” includes a final product in the production system 1, parts of the final product, a unit in which a plurality of parts are combined, and the like.
  • Coordinated operation means that a plurality of local devices operate so as to share a plurality of steps for obtaining at least one of the above final products.
  • the plurality of local devices may operate so as to share a plurality of processes for obtaining one final product in a process unit, or a plurality of processes for obtaining a plurality of final products may be divided into a final product unit. It may operate so as to share with.
  • the production system 1 includes a plurality of local devices 2 and a control system 100.
  • the local device 2 is a device that directly executes work on the work 9 at the production site of the work 9.
  • the direct work is, for example, a work of applying some energy such as heat energy, kinetic energy, potential energy, etc. to the work 9.
  • At least one of the plurality of local devices 2 includes at least one servomotor.
  • the plurality of local devices 2 include at least a robot (at least one local device 2 is a robot).
  • the plurality of local devices 2 shown in FIG. 1 include, but are not limited to, the transfer device 2A and the robots 2B and 2C. As long as at least one of the local devices 2 includes at least one servomotor, the number and type of the local devices 2 can be changed as appropriate.
  • the transport device 2A transports the work 9 using, for example, an electric servomotor or the like as a power source.
  • the transport device 2A include a belt conveyor, a roller conveyor, and the like.
  • the robots 2B and 2C perform work on the work 9 transported by the transport device 2A.
  • Specific examples of the work on the work 9 include assembling another work 9 (for example, a sub-part) to the work 9 (for example, a base part) conveyed by the transfer device 2A, and fastening the parts in the work 9 conveyed by the transfer device 2A. (For example, bolt fastening), joining (for example, welding) and the like can be mentioned.
  • the robots 2B and 2C are 6-axis vertical articulated robots, and as shown in FIG. 2, the base portion 11, the swivel portion 12, the first arm 13, the second arm 14, and the third arm 17 , The tip portion 18, and the actuators 41, 42, 43, 44, 45, 46.
  • the base 11 is installed around the transport device 2A.
  • the swivel portion 12 is provided on the base portion 11 so as to swivel around the vertical axis 21.
  • the first arm 13 is connected to the swivel portion 12 so as to swing around the axis 22 intersecting (for example, orthogonal to) the axis 21.
  • the intersection also includes a case where there is a twisting relationship such as a so-called grade separation.
  • the second arm 14 is connected to the tip of the first arm 13 so as to swing around an axis 23 substantially parallel to the axis 22.
  • the second arm 14 includes an arm base 15 and an arm end 16.
  • the arm base 15 is connected to the tip of the first arm 13 and extends along an axis 24 that intersects (for example, is orthogonal to) the axis 23.
  • the arm end 16 is connected to the tip of the arm base 15 so as to swivel around the axis 24.
  • the third arm 17 is connected to the tip of the arm end 16 so as to swing around the axis 25 intersecting (for example, orthogonal to) the axis 24.
  • the tip 18 is connected to the tip of the third arm 17 so as to swivel around an axis 26 that intersects (eg, is orthogonal) the axis 25.
  • the robot 10 connects the joint 31 that connects the base 11 and the swivel portion 12, the joint 32 that connects the swivel portion 12 and the first arm 13, and the first arm 13 and the second arm 14.
  • Actuators 41, 42, 43, 44, 45, 46 include, for example, an electric servomotor and a speed reducer, and drive joints 31, 32, 33, 34, 35, 36, respectively.
  • the actuator 41 swings the swivel portion 12 around the axis 21, swings the first arm 13 around the axis 22, swings the second arm 14 around the axis 23, and swings the arm end 16 around the axis 24. Is swiveled, the third arm 17 is swung around the axis 25, and the tip 18 is swiveled around the axis 26.
  • the robots 2B and 2C can be changed as appropriate.
  • the robots 2B and 2C may be a 7-axis redundant robot in which a 1-axis joint is added to the 6-axis vertical articulated robot, or may be a so-called scalar type articulated robot.
  • the production system 1 may further include an inspection device 5.
  • the inspection device 5 inspects the quality of the work 9.
  • Specific examples of the inspection device 5 include a camera that inspects the appearance of the work 9.
  • the inspection device 5 may be a sensor that inspects the size of the work 9 or the like with a laser beam or the like.
  • the production system 1 may include a plurality of inspection devices 5.
  • the control system 100 includes a host controller 300, a plurality of local controllers 400, and an information collecting device 200.
  • the plurality of local controllers 400 control each of the plurality of local devices 2.
  • the local controller 400 acquires an operation command of the local device 2 to be controlled, and causes the operation of the local device 2 to follow the operation command.
  • the local controller 400 generates a local command signal for the motor of the local device 2 based on the operation command, acquires a feedback signal from the motor, and controls the motor based on the local command signal and the feedback signal. For example, the local controller 400 outputs drive power to the motor so as to reduce the deviation between the local command signal and the feedback signal.
  • the local controller 400 generates a plurality of local command signals for one motor, acquires a plurality of feedback signals from one motor, and makes one motor based on the plurality of local command signals and the plurality of feedback signals. You may control it.
  • the local command signal include a position command signal indicating a position target value (for example, a rotation angle target value), a speed command signal indicating a speed target value (for example, an angular velocity target value), and the like.
  • the feedback signal include a position signal indicating a position detection value, a speed signal indicating a speed detection value, an output current command value or a current signal indicating a detection value, and a voltage indicating an output voltage command value or a detection value. Signals and the like can be mentioned.
  • the local controller 400 When the local device 2 has a plurality of motors, the local controller 400 generates one or a plurality of local command signals for each motor, acquires one or a plurality of feedback signals for each motor, and obtains a plurality of motors. Control each.
  • the control system 100 has three local controllers 400A, 400B, 400C.
  • the local controller 400A controls the transfer device 2A
  • the local controller 400B controls the robot 2B
  • the local controller 400C controls the robot 2C.
  • the number of local controllers 400 and the configuration of each local controller 400 can be appropriately changed according to the number of local devices 2 and the type of each local device 2.
  • the host controller 300 outputs an operation command to the plurality of local controllers 400, and acquires status information from the plurality of local controllers 400.
  • the status information includes one or more of the local command signals and one or more of the feedback signals. Further, the host controller 300 acquires the inspection result of the work 9 from the inspection device 5.
  • Specific examples of the host controller 300 include a programmable logic controller that operates according to a ladder program.
  • the information collecting device 200 stores the control signal, which is internal information of the local device 2 during operation including a plurality of steps, in the database, and one step of the plurality of steps from the control signal stored in the database. It is configured to extract the signal set accumulated during the execution of, and to evaluate the extracted signal set and generate evaluation information representing the evaluation result.
  • the internal information is information generated / acquired in a control loop closed between the local controller 400 and the local device 2 to be controlled.
  • the control signal includes the one or more local command signals described above and one or more feedback signals.
  • the information collecting device 200 acquires control signals from a plurality of local controllers 400 by wired communication or wireless communication.
  • the information collecting device 200 can communicate with the host controller 300 by wired communication or wireless communication, and acquires control signals from a plurality of local controllers 400 via the host controller 300.
  • the information collecting device 200 has a data handling unit 211, a control signal extraction unit 212, and a control signal evaluation unit 213 as a functional configuration (hereinafter, referred to as “functional block”). It has a list screen generation unit 214. Since these functional blocks are components of the information collecting device 200, the processing executed by each functional block is the processing executed by the information collecting device 200.
  • the data handling unit 211 acquires the control signal of the local device 2 from the plurality of local controllers 400 and stores it in the database.
  • the data handling unit 211 may further store time information regarding the operating time of the local device 2 in the database. For example, as illustrated in FIG. 4, the data handling unit 211 associates a position command signal, a speed command signal, a position signal, a speed signal, a voltage signal, a current signal, etc. for each motor with the time in the control signal database 223. accumulate.
  • the data handling unit 211 acquires time information based on, for example, the time measured by the timer of the information collecting device 200 (system timer 297 described later).
  • the data handling unit 211 may acquire the time information from the host controller 300 or the local controller 400.
  • the data handling unit 211 may further store program information related to a program for operating the local device 2 (hereinafter, referred to as an "operation program") in the database.
  • the operation program includes a plurality of job programs.
  • the program information includes, for example, identification information of the local device 2 to be controlled and identification information of each job program.
  • the job program is a program that represents a set of work of the local device 2. Specific examples of the work as a group include transportation of the work 9 along a series of paths, welding of the work 9 along a series of welding lines, painting of the work 9 along a series of painting lines, and the like.
  • the data handling unit 211 stores the identification information of the job program (“job” in the figure), the start time, and the end time in association with each other in the program database 221 as illustrated in FIG.
  • the job program may include two or more steps in a time series.
  • the data handling unit 211 further associates the process identification information (“step” in the figure) with the job program identification information, and associates the start time and end time with each process in the program database 221. accumulate.
  • the plurality of processes are grouped into a plurality of groups according to the job information related to the job program (for example, the identification information of the job program).
  • Each group includes two or more steps belonging to the same job program. Therefore, accumulating the identification information of the job program and the identification information of the process in the program database 221 in association with each other is an example of further accumulating the grouping information including the job information in the database.
  • Grouping information is information for grouping a plurality of processes into two or more processes belonging to a group of operations.
  • the data handling unit 211 may further accumulate work information related to the work 9 in the database.
  • the data handling unit 211 includes job identification information, process identification information, work 9 type (“type” in the figure), and work 9 individual identification information (FIG. 5). It is stored in the program database 221 in association with the "serial No.") in the program database 221.
  • the individual identification information of the work 9 is associated with the identification information of the two or more processes.
  • a plurality of processes are grouped into a plurality of groups according to the work information. Each group includes two or more steps for the same work. Therefore, storing the individual identification information of the work 9 and the process identification information in association with each other in the program database 221 is an example of further storing the grouping information including the work information in the database.
  • the data handling unit 211 may further accumulate quality information representing the quality inspection result of the work 9 in the database. For example, as shown in FIG. 6, the data handling unit 211 associates the type of the work 9, the individual identification information of the work 9, the inspection time by the inspection device 5, and the inspection result by the inspection device 5 with the work quality. Accumulate in database 222.
  • the inspection time by the inspection device 5 may be the time when the program database 221 acquires the inspection result by the inspection device 5.
  • control signal extraction unit 212 extracts the signal set accumulated during the execution of any one of the plurality of processes from the control signals accumulated in the control signal database 223.
  • the control signal extraction unit 212 may extract a signal set based on the time information. Further, the control signal extraction unit 212 may extract a signal set based on the program information. For example, the control signal extraction unit 212 acquires the start time and end time of the above one process from the program database 221 and extracts the signal set from the acquired start time to the end time from the control signal database 223.
  • control signal extraction unit 212 can extract the signal set of the one step based on the identification information of the one step.
  • the control signal extraction unit 212 may extract a signal set based on the work information. For example, the control signal extraction unit 212 acquires the start time and end time of the process associated with the individual identification information of the work 9 from the program database 221 and obtains the signal set from the acquired start time to the end time in the control signal database. Extract from 223.
  • control signal extraction unit 212 sets a signal for the process corresponding to the work 9 based on the individual identification information of the work 9. Can be extracted.
  • the control signal extraction unit 212 back-calculates the start time and end time of the process for the work 9 from the inspection time of the work 9 in the work quality database 222, and calculates the back-calculated signal set from the start time to the end time in the control signal database 223. It may be extracted from.
  • the control signal extraction unit 212 stores the extracted signal set in the evaluation target database 224.
  • the control signal extraction unit 212 may repeatedly extract the signal set based on the extraction conditions that specify the same process and store it in the evaluation target database 224. For example, the control signal extraction unit 212 may repeatedly extract a signal set of a process in which the process identification information satisfies the process condition, based on the process condition for designating the process identification information. Further, the control signal extraction unit 212 may repeatedly extract a signal set of a process in which the type of the work 9 satisfies the work condition based on the work condition for specifying the type of the work 9.
  • the control signal extraction unit 212 may repeatedly extract the signal set based on the extraction conditions that specify the processes that are the same process and are executed in the same time zone. For example, in the control signal extraction unit 212, the process identification information satisfies the process conditions, and the start time and the end time satisfy the time conditions based on the process conditions for designating the process identification information and the time conditions for specifying the time zone. The signal set of the process may be extracted repeatedly. Further, in the control signal extraction unit 212, the type of the work 9 satisfies the work condition, and the start time and the end time set the time condition based on the work condition for specifying the type of the work 9 and the time condition for specifying the time zone. The signal set of the process to be satisfied may be repeatedly extracted.
  • the process identification information satisfies the process conditions, and the start time and the end time set the time conditions based on the process conditions for designating the process identification information and the time conditions for specifying the time zone.
  • the signal set of the process to be satisfied may be repeatedly extracted.
  • the control signal extraction unit 212 may repeatedly extract the signal set based on the extraction conditions that specify the processes that are the same process and that are executed in the same time zone.
  • the control signal extraction unit 212 may extract two or more signal sets corresponding to two or more processes belonging to the same group as signal sets of the same group and store them in the evaluation target database 224. Good. For example, the control signal extraction unit 212 may extract two or more signal sets corresponding to two or more steps for the same work as a signal set of the same group, based on at least the work information. Further, the control signal extraction unit 212 may extract two or more signal sets corresponding to two or more processes belonging to the same job as a signal set of the same group, based on at least the job information.
  • the control signal evaluation unit 213 evaluates the signal set extracted by the control signal extraction unit 212, and generates evaluation information representing the evaluation result.
  • Specific examples of the evaluation of the signal set include a comparative evaluation between the size of the signal set (hereinafter referred to as “signal level”) and a predetermined reference level.
  • the evaluation information may be information indicating whether or not the signal level exceeds the reference level, or may be information indicating whether or not the signal level is below the reference level.
  • the evaluation information may be information indicating the difference between the signal level and the reference level.
  • the control signal evaluation unit 213 evaluates the signal to be evaluated based on the signal set to be evaluated extracted by the control signal extraction unit 212 and at least one comparison target signal set extracted by the control signal extraction unit 212 in the past.
  • the evaluation information of the set may be generated.
  • the evaluation information may be information indicating the difference between the signal level of the signal set to be evaluated and the signal level of the signal set to be compared (hereinafter, referred to as “abnormality”), and the degree of abnormality may be.
  • the information may indicate whether or not the predetermined reference deviation level is exceeded, or may be information indicating whether or not the degree of abnormality is below the reference reference deviation level.
  • the control signal evaluation unit 213 selects one of a plurality of types of evaluation engines 231 that output evaluation information when a signal set is input based on the extraction conditions of the signal set, and sets the signal and the selected evaluation. Evaluation information may be generated based on the engine. Although three evaluation engines 231 are shown in the figure, the number of evaluation engines is not limited to this.
  • the plurality of types of evaluation engines 231 include a plurality of evaluation engines 231 having different reference levels, and a plurality of evaluation engines 231 having different reference deviation levels.
  • One of the evaluation engines 231 is an engine that compares the signal level of the signal set with the reference level, and the other evaluation engine 231 compares the signal level of the signal set to be evaluated with the signal level of the comparison target. It may be an engine that compares with the signal level.
  • the control signal evaluation unit 213 stores the generated evaluation information in the evaluation result database 225 in association with the job program identification information, the process identification information, the work 9 type, the work 9 individual identification information, and the like. As described above, when the control signal extraction unit 212 repeatedly extracts the signal set based on the above extraction conditions, the control signal evaluation unit 213 evaluates a plurality of signal sets repeatedly extracted by the control signal extraction unit 212, and evaluates the plurality of signal sets. A plurality of evaluation information representing each evaluation result (hereinafter, referred to as “tracking target evaluation information”) may be generated and stored in the evaluation result database 225.
  • the control signal evaluation unit 213 evaluates each of the signal sets of the same group extracted by the control signal extraction unit 212, and a plurality of evaluation information representing the evaluation results (hereinafter, referred to as "evaluation information of the same group"). May be generated and stored in the evaluation result database 225.
  • the list screen generation unit 214 generates a list screen that displays the evaluation information of the same group accumulated in the evaluation result database 225 for each group, and displays it on a display device or the like.
  • the list screen generation unit 214 may further generate a quality list screen that displays the quality information accumulated in the work quality database 222 for each work 9, and display it on a display device or the like.
  • the list screen generation unit 214 may generate the list screen and the quality list screen on one screen as illustrated in FIGS. 7, 8 and 9. On the screen of FIG. 7, in each line, the inspection time of the work 9, the type of the work 9, the individual identification information of the work 9, and the evaluation information of the same group (the group corresponding to the work 9) (“step” in the figure). 1 evaluation ”,“ ... ”,“ Step N evaluation ”) and the inspection result are associated with each other.
  • the evaluation information generation time (“analysis time” in the figure), the job program execution start time (“start time” in the figure), and the job program execution end time (“start time” in the figure) ( “End time” in the figure), job program identification information (“job” in the figure), and evaluation information of the same group (group corresponding to the job program) ("step 1 evaluation”, " ⁇ ⁇ ”,“ Step N evaluation ”) are associated with each other.
  • the list screen generation unit 214 uses the evaluation information of the tracking target for any work or job program on the list screen. You may make a highlighting to visually recognize the existence.
  • the information collecting device 200 may further have an operation evaluation unit 215.
  • the operation evaluation unit 215 generates operation evaluation information representing the operation evaluation result of the local device 2 corresponding to the group based on the evaluation information of the signal set of the same group accumulated in the evaluation result database 225.
  • the evaluation result database 225 performs statistical processing on the evaluation information of the signal set of the same group to generate the operation evaluation information.
  • the evaluation result database 225 generates the average value, the maximum value, the minimum value, and the like of the evaluation information of the signal set of the same group as the operation evaluation information.
  • the list screen generation unit 214 may generate a list screen for displaying the operation evaluation information for each group (see FIGS. 7, 8 and 9).
  • the list screen generation unit 214 may generate a list screen that displays the operation evaluation information for each group without displaying the evaluation information of the same group.
  • the list screen generation unit 214 displays the evaluation information of the same group in response to the selection of any group on the screen of FIG. 10 (a) ((b) of FIG. 10). See) may be generated.
  • the information collecting device 200 may further include a time-dependent screen generation unit 216.
  • the time-dependent change screen generation unit 216 generates a time-dependent change screen showing the time-dependent change of the evaluation information based on the evaluation information of the tracking target, and displays it on a display device or the like.
  • the generation and display of the time-dependent screen is executed, for example, in response to an operation (for example, a mouse click operation) on a predetermined portion of the screen shown in FIGS. 7 to 10.
  • FIG. 11 is a graph illustrating a time-dependent change screen. The horizontal axis of the graph represents the elapsed time, and the vertical axis of the graph represents the size of the evaluation information.
  • the information collecting device 200 may further have a signal chart generation unit 217.
  • the signal chart generation unit 217 generates a signal chart screen showing a change over time of the control signal in a period designated by the user, and displays it on a display device or the like. For example, when any inspection time is selected in FIG. 7, the signal chart generation unit 217 generates a signal chart screen for a period from a predetermined period before the inspection time to the inspection time. Further, the signal chart generation unit 217 generates a signal chart screen for a period from the start time to the end time of the job program when the identification information of any of the job programs is selected in FIG.
  • FIG. 12 is a graph illustrating a signal chart screen.
  • the horizontal axis of the graph represents the elapsed time, and the vertical axis of the graph represents the magnitude of the control signal.
  • the configuration of the information collecting device 200 shown above is just an example and can be changed as appropriate.
  • the information collecting device 200 may be configured to periodically generate and store evaluation information, or may be configured to generate evaluation information each time a list screen is displayed. Further, the information collecting device 200 may be configured to automatically generate an evaluation report conforming to ISO9001 or the like based on the evaluation information accumulated in the evaluation result database 225.
  • FIG. 13 is a block diagram illustrating the hardware configuration of the information collecting device 200.
  • the information collecting device 200 includes at least one processor 291, a memory 292, a storage 293, a communication port 294, a display device 295, an input device 296, and a system timer 297.
  • the storage 293 has a computer-readable storage medium, such as a hard disk.
  • the storage medium may be a removable medium such as a non-volatile semiconductor memory, a magnetic disk, or an optical disk.
  • the storage 293 stores the control signal, which is internal information of the local device including the servomotor during operation including a plurality of steps, in the database, and any one of the plurality of steps from the control signal stored in the database.
  • the storage 293 stores a program for configuring each functional block of the information collecting device 200 described above.
  • the memory 292 temporarily stores the program loaded from the storage 293 and the calculation result by the processor 291.
  • the processor 291 constitutes each of the above-mentioned functional blocks by executing the above program in cooperation with the memory 292.
  • the communication port 294 communicates with the host controller 300 via the network line NW1 in accordance with a command from the processor 291.
  • the display device 295 and the input device 296 function as a user interface of the information collecting device 200.
  • the display device 295 includes, for example, a liquid crystal monitor and is used for displaying information to the user.
  • the input device 296 is, for example, a keypad or the like, and acquires input information by the user.
  • the display device 295 and the input device 296 may be integrated like a so-called touch panel.
  • the display device 295 and the input device 296 may be incorporated in the information collecting device 200, or may be provided in an external device connected to the information collecting device 200.
  • the system timer 297 measures the elapsed time, for example, by counting a reference clock pulse having a fixed cycle.
  • a control signal which is internal information of a local device including a servomotor during operation including a plurality of steps
  • the control signal stored in the database is used as one of a plurality of steps.
  • the information collection procedure is divided into "Signal storage procedure”, “Signal evaluation procedure”, “List screen generation procedure”, “Time-varying screen generation procedure”, and “Signal chart screen generation procedure” in detail. Illustrate.
  • the signal storage procedure is a procedure for storing the control signal and the quality information of the work 9.
  • the information collecting device 200 first executes steps S01 and S02.
  • step S01 the data handling unit 211 acquires the control signal of the local device 2 from the plurality of local controllers 400 and stores it in the control signal database 223.
  • step S02 the data handling unit 211 completes whether or not one step of the operation program is completed.
  • step S02 When it is determined in step S02 that one step of the operation program is completed, the information collecting device 200 executes step S03.
  • step S03 the data handling unit 211 stores the program information of the completed process in the program database 221.
  • step S04 the information collecting device 200 executes step S04. If it is determined in step S02 that one step of the operation program has not been completed, the information collecting device 200 executes step S04 without executing step S03. In step S04, the data handling unit 211 confirms whether or not the inspection by the inspection device 5 is completed.
  • step S05 the data handling unit 211 acquires the quality inspection result of the work 9 from the host controller 300 or the like and stores it in the work quality database 222. After that, the information collecting device 200 returns the process to step S01. If it is determined in step S04 that the inspection has not been completed, the information collecting device 200 returns the process to step S01 without executing step S05. The information collecting device 200 repeats the above processing. As a result, the control signal is accumulated in the control signal database 223, and the inspection result of the quality of the work 9 is accumulated in the work quality database 222.
  • the signal evaluation procedure is a procedure for evaluating the control signal stored in the control signal database 223 for each process.
  • the information collecting device 200 first executes steps S11, S12, S13, S14, and S15.
  • step S11 the control signal extraction unit 212 sets the time of the control signal extraction target. For example, the control signal extraction unit 212 acquires the start time and end time of the process satisfying the extraction condition from the program database 221.
  • step S12 the control signal extraction unit 212 extracts the acquired signal set from the start time to the end time from the control signal database 223.
  • step S13 the control signal extraction unit 212 stores the extracted signal set in the evaluation target database 224.
  • step S14 the control signal evaluation unit 213 selects one of a plurality of types of evaluation engines 231 based on the signal set extraction conditions by the control signal extraction unit 212.
  • step S15 the control signal evaluation unit 213 generates evaluation information based on the signal set extracted by the control signal extraction unit 212 and the selected evaluation engine 231.
  • the control signal evaluation unit 213 executes, for example, step S21 of FIG. To do.
  • step S21 the control signal evaluation unit 213 confirms whether or not a predetermined number of signal sets to be compared are accumulated in the evaluation target database 224.
  • step S21 When it is determined in step S21 that a predetermined number of signal sets to be compared are accumulated, the information collecting device 200 executes step S22.
  • step S22 the control signal evaluation unit 213 calculates the difference between the signal level of the signal set to be evaluated and the signal level of the signal set to be compared as the abnormality degree.
  • step S21 When it is determined in step S21 that a predetermined number of signal sets to be compared are not accumulated, the information collecting device 200 completes the evaluation of the signal sets without executing step S22.
  • step S16 the control signal evaluation unit 213 stores the evaluation information in the evaluation result database 225.
  • step S17 the control signal extraction unit 212 confirms whether the evaluation of all the steps satisfying the extraction conditions has been completed.
  • step S17 If it is determined in step S17 that there are still steps for which evaluation has not been completed, the information collecting device 200 returns the process to step S11. After that, the extraction and evaluation of the signal set are repeated until the evaluation of all the steps satisfying the extraction conditions is completed.
  • step S17 When it is determined in step S17 that the evaluation of all the steps has been completed, the information collecting device 200 completes the signal evaluation procedure. The information collecting device 200 periodically repeats the above signal evaluation procedure.
  • the information collecting device 200 first executes steps S31, S32, S33, S34, and S35.
  • step S31 the list screen generation unit 214 selects any work 9 in the evaluation result database 225.
  • the selected work 9 is referred to as an "evaluation target work”.
  • step S32 the list screen generation unit 214 extracts all the evaluation information corresponding to the work to be evaluated from the evaluation result database 225.
  • step S33 the operation evaluation unit 215 generates the operation evaluation information of the local device 2 corresponding to the work to be evaluated based on the evaluation information extracted by the list screen generation unit 214.
  • step S34 the list screen generation unit 214 acquires the inspection result of the quality of the work to be evaluated from the work quality database 222.
  • step S35 the list screen generation unit 214 confirms whether or not the data extraction of all the works 9 is completed.
  • step S35 If it is determined in step S35 that the work 9 for which data extraction has not been completed remains, the information collecting device 200 returns the process to step S31. After that, the selection of the work 9 and the data extraction are repeated until the data extraction of all the works 9 is completed.
  • step S35 When it is determined in step S35 that the data extraction of all the works 9 is completed, the information collecting device 200 executes steps S36 and S37.
  • step S36 the list screen generation unit 214 generates list screen data based on the data extracted for each work 9.
  • step S37 the list screen generation unit 214 outputs the data of the list screen to the display device or the like. This completes the procedure for generating the list screen. By this procedure, for example, the list screen of FIG. 7 is displayed.
  • FIG. 18 is a flowchart showing a modified example of the procedure for generating the list screen.
  • the information collecting device 200 first executes steps S41, S42, S43, and S44.
  • step S41 the list screen generation unit 214 selects one of the job programs in the evaluation result database 225.
  • the selected job program is referred to as an "evaluation target job”.
  • step S42 the list screen generation unit 214 extracts all the evaluation information corresponding to the evaluation target job from the evaluation result database 225.
  • step S43 the operation evaluation unit 215 generates the operation evaluation information of the evaluation target job based on the evaluation information extracted by the list screen generation unit 214.
  • step S44 the list screen generation unit 214 confirms whether or not the data extraction of all the job programs has been completed.
  • step S44 If it is determined in step S44 that there is a job program for which data extraction has not been completed, the information collecting device 200 returns the process to step S41. After that, the job program selection and data extraction are repeated until the data extraction of all the job programs is completed.
  • step S44 When it is determined in step S44 that the data extraction of all the job programs is completed, the information collecting device 200 executes steps S45 and S46.
  • step S45 the list screen generation unit 214 generates list screen data based on the data extracted for each job program.
  • step S46 the list screen generation unit 214 outputs the data of the list screen to the display device or the like. This completes the procedure for generating the list screen. By this procedure, for example, the list screen of FIG. 8 is displayed.
  • the information collecting device 200 first executes steps S51, S52, and S53.
  • step S51 the time-dependent change screen generation unit 216 extracts the latest evaluation information from the evaluation result database 225 from the evaluation information of the tracking target described above.
  • step S52 the time-dependent change screen generation unit 216 extracts from the evaluation result database 225 the evaluation information one older than the evaluation information extracted immediately before among the evaluation information of the tracking target.
  • step S53 the time-dependent change screen generation unit 216 confirms whether or not the extraction of the evaluation information of the preset display target period has been completed.
  • step S53 If it is determined in step S53 that the extraction of the evaluation information for the display target period has not been completed, the information collecting device 200 returns the process to step S52. After that, the extraction of the past evaluation information is repeated until the extraction of the evaluation information of the display target period is completed.
  • step S53 When it is determined in step S53 that the extraction of the evaluation information of the display target period is completed, the information collecting device 200 executes steps S54 and S55.
  • step S54 the time-dependent change screen generation unit 216 generates data of the time-dependent change screen of the plurality of extracted evaluation information.
  • step S55 the time-dependent screen generation unit 216 outputs the data of the time-dependent screen to a display device or the like. This completes the procedure for generating the time-dependent screen. By this procedure, for example, the time-dependent change screen of FIG. 11 is displayed.
  • the information collecting device 200 executes steps S61, S62, and S63.
  • step S61 the signal chart generation unit 217 extracts the control signal in the period specified by the user from the control signal database 223.
  • the signal chart generation unit 217 generates the data of the signal chart screen of the extracted control signal.
  • step S63 the signal chart generation unit 217 outputs the data of the signal chart screen to the display device or the like. This completes the procedure for generating the signal chart screen. By this procedure, for example, the signal chart screen of FIG. 12 is displayed.
  • the information collecting device 200 of the production system 1 has the data handling unit 211 that stores the control signal which is the internal information of the local device 2 including the motor during the operation including the plurality of processes in the database. , Evaluate the control signal extraction unit 212 that extracts the signal set accumulated during the execution of any one of the plurality of processes from the control signals stored in the database, and the signal set extracted by the control signal extraction unit 212. , A control signal evaluation unit 213 that generates evaluation information representing the evaluation result.
  • this information collecting device 200 it is possible to evaluate the control signal and accumulate the evaluation information on a process-by-process basis. According to the evaluation information accumulated in each process, for example, the evaluation information can be easily compared between the same processes. Therefore, it is effective for early grasping the condition of the local device.
  • the data handling unit 211 may further store time information regarding the operation time of the local device 2 in the database, and the control signal extraction unit 212 may extract the signal set based on the time information.
  • the signal set can be easily and appropriately extracted based on the time information.
  • the data handling unit 211 may further store the program information related to the program for operating the local device 2 in the database, and the control signal extraction unit 212 may extract the signal set based on the program information.
  • the signal set can be easily and appropriately extracted based on the program information that determines the operation of the local device 2.
  • the data handling unit 211 may store work information about the work 9 produced by the local device 2 in a database, and the control signal extraction unit 212 may extract a signal set based on the work information.
  • the signal data of the process corresponding to one work 9 can be easily and appropriately extracted based on the work information.
  • the control signal evaluation unit 213 selects one of a plurality of types of evaluation engines 231 that output evaluation information when a signal set is input based on the extraction conditions of the signal set, and sets the signal and the selected evaluation. Evaluation information may be generated based on the engine 231. In this case, for example, the signal set can be evaluated more appropriately by properly using a plurality of types of evaluation engines 231 according to the operation content of the local device 2.
  • the control signal extraction unit 212 repeatedly extracts the signal set based on the extraction conditions that specify the same process, and the control signal evaluation unit 213 includes the signal set to be evaluated extracted by the control signal extraction unit 212 and the signal set to be evaluated in the past. Evaluation information of the signal set to be evaluated may be generated based on at least one signal set to be compared extracted by the control signal extraction unit 212. In this case, by evaluating the signal set by comparing it with the signal set of the same process in the past, the degree of abnormality of the signal set can be evaluated with higher reliability.
  • the control signal extraction unit 212 repeatedly extracts a signal set based on extraction conditions that specify the same process, and the control signal evaluation unit 213 evaluates a plurality of signal sets repeatedly extracted by the control signal extraction unit 212, and evaluates the plurality of signal sets.
  • a plurality of evaluation information representing each evaluation result is generated and stored in a database, and the information collecting device 200 of the production system 1 represents a time-dependent change of the evaluation information based on the plurality of evaluation information stored in the database.
  • a time-varying screen generation unit 216 that generates a screen may be further provided. In this case, it is possible to further grasp the evaluation information at an early stage by displaying the change with time of the evaluation information.
  • the data handling unit 211 further accumulates grouping information in the database for grouping a plurality of processes for each of two or more processes belonging to a group of operations, and the control signal extraction unit 212 groups the plurality of processes in the same group based on the grouping information. Two or more signal sets corresponding to each of the two or more processes to which they belong are extracted as a signal set of the same group, and the control signal evaluation unit 213 evaluates each of the signal sets of the same group and stores the evaluation information in the database.
  • the information collecting device 200 of the production system 1 generates an operation evaluation information representing an operation evaluation result of a local device corresponding to the group based on the evaluation information of the signal set of the same group accumulated in the database.
  • a unit 215 and a list screen generation unit 214 for generating a list screen for displaying operation evaluation information for each group may be further provided.
  • a unit 215 and a list screen generation unit 214 for generating a list screen for displaying operation evaluation information for each group may be further provided.
  • the evaluation information of the two or more processes in each group into one operation evaluation information, it is possible to display a list screen that makes it easy to grasp the general condition of the condition of the local device 2.
  • the data handling unit 211 further accumulates grouping information in the database for grouping a plurality of processes for each of two or more processes belonging to a group of operations, and the control signal extraction unit 212 groups the plurality of processes in the same group based on the grouping information. Two or more signal sets corresponding to each of the two or more processes to which they belong are extracted as a signal set of the same group, and the control signal evaluation unit 213 evaluates each of the signal sets of the same group and stores the evaluation information in the database.
  • the information collecting device 200 of the production system 1 may further include a list screen generation unit 214 that generates a list screen that displays the evaluation information of each of the signal sets of the same group stored in the database for each group. In this case, by grouping the evaluation information of a plurality of processes for each group of operations, it is possible to display a list screen that makes it easy to find the process for which the evaluation information should be grasped.
  • the data handling unit 211 stores grouping information including work information about the work 9 produced by the operation of the local device 2 including two or more steps in the database, and the control signal extraction unit 212 at least based on the work information. Two or more signal sets corresponding to two or more steps for the same work may be extracted as a signal set of the same group. In this case, more appropriate grouping becomes possible by being based on the work information.
  • the data handling unit 211 may further accumulate quality information representing the quality inspection result of the work 9 in the database, and the list screen generation unit 214 may further generate a quality list screen that displays the quality information for each work. In this case, by further generating the quality list screen, it becomes easier to find the process for which the evaluation information should be grasped.
  • the data handling unit 211 stores grouping information including job information related to a plurality of job programs including two or more processes of the local device 2 in the database, and the control signal extraction unit 212 stores the same job program based on at least the job information. Two or more signal sets corresponding to each of the two or more steps belonging to may be extracted as a signal set of the same group. In this case, more appropriate grouping becomes possible by further based on the job information.

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