WO2022269706A1 - ロボットシステムで発生した異常に対する手順を提供する異常処理装置、ネットワークシステム、及び方法 - Google Patents

ロボットシステムで発生した異常に対する手順を提供する異常処理装置、ネットワークシステム、及び方法 Download PDF

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Publication number
WO2022269706A1
WO2022269706A1 PCT/JP2021/023453 JP2021023453W WO2022269706A1 WO 2022269706 A1 WO2022269706 A1 WO 2022269706A1 JP 2021023453 W JP2021023453 W JP 2021023453W WO 2022269706 A1 WO2022269706 A1 WO 2022269706A1
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WO
WIPO (PCT)
Prior art keywords
abnormality
procedure
unit
data
robot
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Ceased
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PCT/JP2021/023453
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English (en)
French (fr)
Japanese (ja)
Inventor
眞二 栗原
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Fanuc Corp
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Fanuc Corp
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Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to US18/567,149 priority Critical patent/US20240280979A1/en
Priority to DE112021007486.5T priority patent/DE112021007486T5/de
Priority to PCT/JP2021/023453 priority patent/WO2022269706A1/ja
Priority to JP2023529232A priority patent/JP7688127B2/ja
Priority to CN202180099403.4A priority patent/CN117461007A/zh
Priority to TW111119685A priority patent/TW202300303A/zh
Publication of WO2022269706A1 publication Critical patent/WO2022269706A1/ja
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
    • 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
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • 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
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the present disclosure relates to an abnormality processing device, network system, and method that provide a procedure for an abnormality that has occurred in a robot system.
  • a device that displays the work procedure that an operator should take on a work line when an abnormality occurs in a robot system (for example, Patent Document 1).
  • An abnormality processing device that provides procedures for coping with an abnormality that has occurred in a robot system includes a storage unit that stores a plurality of procedures for coping with each of a plurality of types of anomalies in association with anomaly specifying information that specifies the anomalies; An anomaly detection unit that detects an anomaly based on operating state data of the robot system; a data acquisition unit that acquires anomaly identification information for the anomaly detected by the anomaly detection unit; A procedure obtaining unit for obtaining a procedure from among the plurality of procedures stored in the storage unit.
  • a method for providing a procedure for anomalies occurring in a robot system includes: storing a plurality of procedures for coping with a plurality of types of anomalies in a storage unit in association with anomaly specifying information for specifying the anomaly; abnormality is detected based on the operating state data, abnormality specifying information of the detected abnormality is acquired, and a procedure corresponding to the acquired abnormality specifying information is acquired from a plurality of procedures stored in the storage unit.
  • FIG. 1 is a block diagram of a network system according to one embodiment
  • FIG. It is an example of the robot system shown in FIG.
  • FIG. 4 is a block diagram of a network system according to another embodiment
  • FIG. 10 is a flow chart illustrating an example of a method of providing a procedure for anomalies that occur in a robot system
  • FIG. 11 is a flow chart showing another example of a method of providing a procedure for anomalies occurring in a robot system
  • FIG. FIG. 11 is a block diagram of a network system according to still another embodiment
  • the network system 10 includes a robot system 12 , preventive maintenance equipment 14 , external equipment 16 and a communication network 18 .
  • the robot system 12 is an industrial robot system that performs predetermined operations on workpieces.
  • the preventive maintenance device 14 obtains operating state data OD representing the operating state of the robot system 12 from the robot system 12, and monitors abnormalities AB occurring in the robot system based on the operating state data OD.
  • the external device 16 is a desktop or portable PC, or a computer such as a server.
  • the communication network 18 is, for example, a LAN (intranet, etc.) or the Internet, and connects the robot system 12, the preventive maintenance device 14, and the external device 16 so as to be able to communicate with each other.
  • the robot system 12 is installed in a first building provided with a work line
  • the preventive maintenance device 14 is installed in a second building separate from the first building
  • the external equipment 16 is , in a third building separate from the first and second buildings.
  • Robotic system 12 includes robot 20 , sensors 22 ( FIG. 1 ), and controller 24 .
  • the robot 20 is a vertical multi-joint robot and has a carrier 26, a robot base 28, a swing trunk 30, a lower arm 32, an upper arm 34, a wrist 36, and an end effector 38.
  • the guided vehicle 26 may be, for example, an automatic guided vehicle (AGV) that runs on its own according to a command from the control device 24, or a manual guided vehicle that is manually moved by the operator A1. .
  • the transport vehicle 26 can move the robot 20 to any position.
  • AGV automatic guided vehicle
  • the robot base 28 is fixed on the carrier 26.
  • a swing barrel 30 is provided on the robot base 28 so as to be swingable around a vertical axis.
  • the lower arm portion 32 is provided on the swing barrel 30 so as to be rotatable around the horizontal axis, and the upper arm portion 34 is rotatably provided at the tip of the lower arm portion 32 .
  • the wrist part 36 is provided at the tip of the upper arm part 34 so as to be rotatable about two axes perpendicular to each other.
  • the end effector 38 is detachably attached to the tip of the wrist 36 (so-called wrist flange).
  • the end effector 38 is, for example, a robot hand, a cutting tool, a welding torch, or the like, and performs predetermined work (work handling, cutting, welding, etc.) on the work.
  • the robot hand may have a plurality of fingers for gripping the work, or may have a suction pad for sucking and holding the work by generating a negative pressure with the work.
  • a servo motor 40 (FIG. 1) is provided in each component of the robot 20 (the carrier 26, the robot base 28, the swing body 30, the lower arm 32, the upper arm 34, and the wrist 36).
  • Servomotors 40 drive the movable components of robot 20 (carrying vehicle 26 , swing barrel 30 , lower arm 32 , upper arm 34 , wrist 36 ) in accordance with commands from controller 24 .
  • the sensor 22 detects operating state data OD.
  • the operating state data OD may include the rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, and load torque ⁇ of the servomotor 40 .
  • the sensor 22 includes a rotation detection sensor 22A (encoder, Hall element, or the like) that detects the rotational position of the servomotor 40, a current sensor 22B that detects the current value of the servomotor 40, and the load torque of the servomotor 40. You may have the torque sensor 22C which detects.
  • the operating state data OD may also include the position Pc, velocity Vc, and acceleration ⁇ c of the movable component (for example, the end effector 38) of the robot 20.
  • the position Pc, velocity Vc, and acceleration ⁇ c of the movable component (end effector 38) of the robot 20 can be obtained, for example, from the detected value (specifically, the rotational position Pm) of the rotation detection sensor 22A.
  • the operating state data OD may include the pressure P of the cylinder that opens and closes the plurality of fingers. Further, when the end effector 38 is a robot hand having a suction pad, the operating state data OD may include the pressure P generated on the suction pad. In these cases, the sensor 22 may have a pressure sensor 22D that detects the pressure P.
  • the operating state data OD may also include the battery voltage E for operating the control device 24 or the rotation detection sensor 22A.
  • the sensor 22 may have a voltage sensor 22E that detects the voltage E.
  • the operating state data OD may also include the external force F applied to the robot 20 .
  • the sensor 22 may have a force sensor 22F that detects the external force F.
  • the sensor 22 has a visual sensor 22G arranged at a known position with respect to the robot 20.
  • the visual sensor 22G captures image data ID of the workpiece as the operation state data OD, and outputs the image data ID to the control device 24. may be supplied.
  • the visual sensor 22G may provide the control device 24 with judgment information for judging whether or not the image data ID of the workpiece has been properly captured, together with the image data ID.
  • the sensor 22 has at least one sensor 22A, 22B, 22C, 22D, 22E and 22F and at least one operating state data OD (rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I , load torque ⁇ , position Pc, velocity Vc, acceleration ⁇ c, pressure P, voltage E, external force F, and image data ID).
  • the operating state data OD is not limited to the example described above, and may include any other data, and the sensor 22 may be configured to detect the data.
  • the control device 24 is installed outside the robot 20 (or inside the carrier 26) and controls the operation of the robot 20.
  • the control device 24 is a computer having a processor 42, a storage unit 44, an I/O interface 46, an input device 48, a display device 50, and the like.
  • the processor 42 has a CPU, GPU, or the like, and is communicably connected to the storage unit 44 , I/O interface 46 , input device 48 , and display device 50 via a bus 52 .
  • the storage unit 44 has RAM, ROM, or the like, and temporarily or permanently stores various data used in arithmetic processing executed by the processor 42 and various data generated during the arithmetic processing.
  • the I/O interface 46 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and exchanges data with external devices under instructions from the processor 42. Communicate by wire or wirelessly. In this embodiment, I/O interface 46 is connected to communication network 18 , sensors 22 , and servo motors 40 .
  • the input device 48 has a keyboard, mouse, touch panel, or the like, and receives data input from the operator.
  • the display device 50 has a liquid crystal display, an organic EL display, or the like, and displays various data.
  • the input device 48 and the display device 50 may be provided separately from the housing of the control device 24 , or may be integrated into the housing of the control device 24 .
  • the processor 42 receives the operating state data OD (rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, load torque ⁇ , position Pc, speed Vc, acceleration ⁇ c, pressure P, voltage E, external force F, image data ID, etc.), and continuously (for example, periodically) transmit the acquired operating state data OD to the preventive maintenance device 14 via the communication network 18 .
  • the operating state data OD rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, load torque ⁇ , position Pc, speed Vc, acceleration ⁇ c, pressure P, voltage E, external force F, image data ID, etc.
  • the preventive maintenance device 14 is a computer having a processor 62, a storage unit 64, an I/O interface 66, an input device 68, a display device 70, and the like.
  • the configuration of the processor 62, storage unit 64, I/O interface 66, input device 68, and display device 70 is similar to that of the processor 42, storage unit 44, I/O interface 46, input device 48, and display device 50 described above. Since it is similar to , redundant description is omitted.
  • the processor 62 is communicatively connected to the storage unit 64 , the I/O interface 66 , the input device 68 and the display device 70 via the bus 72 .
  • the I/O interface 66 is connected to the communication network 18 , and the processor 62 obtains the operating state data OD from the controller 24 through the communication network 18 and stores it in the storage unit 64 .
  • the processor 62 detects an abnormality AB of the robot system 12 based on the obtained operating state data OD. As an example, processor 62 determines whether operating state data OD differs from a predetermined criterion. Specifically, the processor 62 obtains operating state data OD (rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, load torque ⁇ , position Pc, velocity Vc, acceleration ⁇ c, pressure P , or voltage E) exceeds a predetermined reference value ⁇ (OD> ⁇ or OD ⁇ ), and if the value of the operating state data OD exceeds the reference value ⁇ , the operation state data OD is determined to be different from the reference.
  • operating state data OD rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, load torque ⁇ , position Pc, velocity Vc, acceleration ⁇ c, pressure P , or voltage E
  • the end effector 38 is a robot hand having a suction pad
  • the processor 62 can detect that the grip failure abnormality AB1 has occurred in the end effector 38 when the pressure P exceeds the reference value ⁇ P and increases (P> ⁇ P ) or decreases (P ⁇ P ). Further, when the voltage E obtained from the voltage sensor 22E drops below the reference value ⁇ E (E ⁇ E ), the processor 62 detects a voltage drop abnormality AB2 in the battery of the control device 24 or the rotation detection sensor 22A. You can detect what happened.
  • the processor 62 detects an abnormality AB3 of malfunction (that is, failure) of the force sensor 22F.
  • an abnormality AB4 in which the robot 20 collides with a surrounding environment object (or operator A1) can be detected.
  • the processor 62 when the processor 62 acquires the image data ID captured by the visual sensor 22G as the operation state data OD, the processor 62 refers to the determination information included in the image data ID, and the determination information appropriately matches the image data ID. It may be determined that the operating state data OD (image data ID) is different from the reference when indicating that no image is captured. Thereby, the processor 62 can detect that the visual sensor 22G has an imaging failure abnormality AB5.
  • the processor 62 may determine whether the image data ID differs from the reference based on the image data ID. Specifically, the control device 24 of the robot system 12 captures an image of a marker provided at a known position with respect to the robot 20 using the visual sensor 22G while the robot 20 is performing a task.
  • the processor 62 obtains the image data ID of the imaged marker from the robot system 12 and obtains the position of the marker in the image data ID. If the position of this marker deviates from a predetermined reference point, it may be determined that the image data ID is different from the reference. Thus, the processor 62 can detect that the visual sensor 22G has an imaging failure abnormality AB5 based on the image data ID.
  • the processor 62 may detect an abnormality AB of the robot system 12 using a learning model LM constructed by machine learning.
  • This learning model LM shows the correlation between the operating state data OD (for example, pressure P) and the abnormality AB that occurs in the robot system 12 (for example, an abnormality AB1 of poor gripping of the end effector 38).
  • operating state data OD for example, pressure P
  • judgment data representing the presence or absence of abnormality AB
  • the processor 62 sequentially inputs the operating state data OD continuously obtained from the robot system 12 to the learning model LM.
  • the learning model LM identifies and outputs an abnormality AB when there is an abnormality AB highly correlated with changes in the operating state data OD input during a predetermined period.
  • the processor 62 can detect an abnormality AB occurring in the robot system 12 from the operating state data OD and the learning model LM. By using this learning model LM, the processor 62 can predict that a component (for example, the servo motor 40 or the sensor 22) of the robot system 12 will fail due to the occurrence of the abnormality AB. It should be noted that the processor 62 may be configured to perform the functions of the machine learning device described above.
  • the processor 62 functions as the anomaly detector 74 (FIG. 1) that detects the anomaly AB based on the operating state data OD.
  • the storage unit 64 associates a plurality of procedures PR for coping with a plurality of types of anomalies AB that may occur in the robot system 12 with the anomaly specifying information SI that specifies the anomaly AB.
  • the abnormality identification information SI has an abnormality identification code SI1 individually assigned to multiple types of abnormality AB (eg, abnormality AB1, AB2, AB3, AB4, . . . ).
  • the abnormality identification code SI1 consists of a plurality of character strings (so-called error code), and is uniquely assigned to each of a plurality of types of abnormality AB.
  • an abnormality AB1 of a poor grip of the end effector 38 is given an abnormality identification code SI1 of a character string "AB001", and an abnormality AB2 of a battery voltage drop is given an abnormality identification code SI1 of a character string "AB002".
  • Abnormality AB3 of the malfunction of the force sensor 22F is given an abnormality identification code SI1 of the character string "AB003”
  • Abnormality AB4 of the collision between the robot 20 and the surrounding environment is given "AB004".
  • An abnormality identification code SI1 of a character string is assigned, and an abnormality AB5 of imaging failure of the visual sensor 22G is assigned an abnormality identification code SI1 of a character string "AB005".
  • a procedure PR for coping with various abnormal ABs is prepared in advance for each abnormal AB.
  • the procedure PR has text image data explaining the procedure PR in characters, or still image or moving image data representing the operation of the operator A1 executing the procedure PR.
  • the procedure PR1 for coping with the grip failure abnormality AB1 of the end effector 38 having a suction pad has image data describing the procedure for checking the suction pad or the air valve that generates negative pressure on the suction pad. .
  • the procedure PR2 for coping with the battery voltage drop abnormality AB2 has image data describing the procedure for replacing the battery.
  • the procedure PR4 for coping with the abnormality AB4 in which the robot 20 collides with the surrounding environment object has image data describing the procedure for confirming the presence or absence of the collision.
  • the procedure PR5 for coping with the abnormality AB5 of the imaging failure of the visual sensor 22G includes confirmation of the installation position of the visual sensor 22G, confirmation of the member (for example, lens) of the visual sensor 22G, and calibration of the visual sensor 22G. It has image data describing the procedure to be performed.
  • the storage unit 64 stores procedures PR (for example, procedures PR1, PR2, . are stored in association with each other.
  • An operator A2 (for example, a work line designer) of the preventive maintenance device 14 operates the input device 68 to input a plurality of procedures PR (procedure PR1, etc.) and abnormality identification information SI (abnormality identification code) associated with the procedures PR.
  • SI1 "AB001", etc.).
  • the processor 62 receives input of the procedure PR and the abnormality identification information SI through the input device 68 . Therefore, in this embodiment, the processor 62 functions as an input reception unit 76 (FIG. 1) that receives inputs of the procedure PR and the abnormality identification information SI.
  • the storage unit 64 stores the procedure PR and the abnormality identification information SI received by the processor 62 in association with each other. In this way, the procedure PR and the abnormality identification information SI (specifically, the abnormality identification code SI1) are stored in the storage unit 64 in advance.
  • the processor 62 When the processor 62 functions as an anomaly detector 74 and detects an anomaly AB, it acquires anomaly specifying information SI that specifies the anomaly AB.
  • a data table DT1 in which types of anomalies AB (e.g., gripping failure anomaly AB1) and an anomaly identification code SI1 (e.g., "AB001") assigned to the anomaly AB are stored in association with each other is Further stored in the storage unit 64 .
  • the processor 62 refers to the data table DT1 and acquires the abnormality identification code SI1 assigned to the detected abnormality AB as the abnormality specifying information SI.
  • the processor 62 may use the learning model LM described above to identify the abnormality AB from the operating state data OD and acquire the abnormality identification code SI1 assigned to the abnormality AB.
  • the learning model LM repeats the learning data set DS2 of the operating state data OD, the judgment data indicating the presence or absence of the abnormality AB, and the abnormality identification code SI1 assigned to the abnormality AB to the machine learning device. You can build by giving.
  • the processor 62 sequentially inputs the operating state data OD obtained from the robot system 12 to the learning model LM, and the learning model LM outputs the identified abnormality AB and the abnormality identification code SI1 assigned to the abnormality AB.
  • the processor 62 can acquire the abnormality AB occurring in the robot system 12 and the abnormality identification code SI1 from the operating state data OD.
  • the processor 62 functions as the data acquisition unit 78 (FIG. 1) that acquires the abnormality identification information SI (specifically, the abnormality identification code SI1) of the detected abnormality AB.
  • the processor 62 acquires the procedure PR corresponding to the acquired abnormality specifying information SI from the multiple procedures PR stored in the storage unit 64 .
  • the processor 62 detects the grip failure abnormality AB1 and obtains the abnormality identification code SI1: “AB001” assigned to the abnormality AB1 as the abnormality specifying information SI, the plurality of procedures stored in the storage unit 64
  • the processor 62 functions as the procedure acquisition unit 80 (FIG. 1) that acquires the procedure PR corresponding to the acquired abnormality specifying information SI.
  • the processor 62 supplies the acquired image data of the procedure PR to the display device 70 through the bus 72 and causes the display device 70 to display the procedure PR as an image.
  • the processor 62 transmits the acquired image data of the procedure PR to the communication network 18 through the I/O interface 66 and supplies it to the control device 24 via the communication network.
  • the processor 42 of the control device 24 obtains image data of the procedure PR via the I/O interface 46 and displays the procedure PR as an image on the display device 50 .
  • the processor 62 functions as the display control unit 82 (FIG. 1) that causes the display devices 50 and 70 to display the acquired procedure PR as an image.
  • the processor 62 may function as a display control unit 82 and display the acquired procedure PR on a display device (not shown) installed in the work line instead of (or in addition to) the display device 50. .
  • the storage unit 64 stores a plurality of procedures PR in association with the abnormality identification information SI
  • the processor 42 includes the abnormality detection unit 74, the input reception unit 76, the data acquisition unit 78, It functions as a procedure acquisition unit 80 and a display control unit 82 to provide a procedure PR for coping with an abnormality AB that has occurred in the robot system 12 .
  • the storage unit 64 and the processor 42 perform an anomaly processing that provides a procedure PR for coping with the anomaly AB.
  • An apparatus 90 (FIG. 1) is constructed.
  • the abnormality processing device 90 is mounted in the preventive maintenance device 14 .
  • the storage section 64 stores a plurality of procedures PR in association with the abnormality specifying information SI
  • the abnormality detection section 74 detects abnormality AB based on the operating state data OD
  • the data acquisition section 78 acquires the abnormality identification information SI (specifically, the abnormality identification code SI1) of the abnormality AB detected by the abnormality detection unit 74, and stores the procedure PR corresponding to the abnormality identification information SI obtained by the data acquisition unit 78. It acquires from among the plurality of procedures PR stored in the unit 64 . According to this configuration, it is possible to automatically obtain and provide a procedure PR for coping with various abnormalities AB that may occur in the robot system 12 . Therefore, it is possible to appropriately and easily deal with various abnormalities AB.
  • the input reception unit 76 receives input of the procedure PR and the abnormality identification information SI (abnormality identification code SI1), and the storage unit 64 stores the procedure PR and the abnormality identification received by the input reception unit 76.
  • Information SI is stored in association with each other. According to this configuration, the operator A2 can arbitrarily input the procedure PR and the abnormality identification information SI. data can be updated.
  • the abnormality identification information SI has abnormality identification codes SI1 individually assigned to a plurality of types of abnormality AB, and the data acquisition unit 78 detects the abnormality AB detected by the abnormality detection unit 74.
  • the given abnormality identification code SI1 is obtained as abnormality identification information SI.
  • the processor 62 can function as the procedure acquisition unit 80 and easily and quickly retrieve the procedure PR for coping with the abnormality AB that has occurred, using the abnormality identification code SI1.
  • the display control unit 82 causes the display devices 50 and 70 to display the procedure PR acquired by the procedure acquiring unit 80 as an image.
  • the operator A1 of the work line and the operator A2 of the preventive maintenance device 14 can easily carry out the procedure PR for coping with the abnormality AB. can be understood. Then, the operator A1 can appropriately deal with the abnormality AB on the work line according to the procedure PR displayed on the display device 50 without having specialized knowledge.
  • the processor 62 functions as a display control unit 82, transmits the image data of the procedure PR acquired by the procedure acquiring unit 80 to the external device 16 via the communication network 18, and It may be displayed on a device (not shown).
  • the operator A3 of the external device 16 (for example, the work line manager) can also easily understand the procedure PR for coping with the abnormality AB.
  • the procedure PR may have audio data for explaining the procedure PR by voice instead of (or in addition to) the image data.
  • the processor 62 may output the audio data of the procedure PR through a speaker provided in the preventive maintenance device 14 (or the control device 24). If the procedure PR has only voice data, the display control section can be omitted from the abnormality processing device 90 .
  • the input reception unit 76 can be omitted from the error handling device 90 .
  • the procedure PR and the abnormality identification information SI may be prepared using the external device 16 of the abnormality processing device 90 and downloaded to the preventive maintenance device 14 via the communication network 18 (or external memory).
  • the operator A1 may not be able to handle the situation on the work line.
  • the procedure PR3 for coping with the malfunction AB3 of the force sensor 22F includes, for example, a procedure PR3_1 for disconnecting the robot 20 from the work line, and a procedure PR3_1 for disconnecting the robot 20 from the work line and transferring the work that the robot 20 was performing on the work line to the operator A1. and a procedure PR3_2 for manual substitution.
  • the procedure PR3_1 for separating the robot 20 is image data of text explaining in characters the procedure for operating the carrier 26 to remove the robot 20 from the work line, or the procedure is executed by the operator A1. It may have still or moving image data representing motion.
  • the procedure PR3_1 for disconnecting the robot 20 is image data of text explaining in characters the procedure for disconnecting the communication connection between the control device 24 and a higher-level controller (not shown) of the control device 24, or the procedure. can have still or moving image data representing actions performed by operator A1.
  • the procedure PR3_2 for having the operator A1 perform the work on behalf of the robot 20 is a text explaining in characters the procedure of the work (for example, the work handling procedure) to be executed by the operator A1 instead of the robot 20 on the work line after the robot 20 is disconnected. , or still or moving image data representing the actions performed by the operator A1 through the procedure.
  • the processor 62 When the processor 62 detects the malfunction AB3 of the force sensor 22F, the processor 62 functions as the data acquisition unit 78 to acquire the abnormality identification code SI1: “AB003” assigned to the abnormality AB3, and the procedure acquisition unit 80 and retrieves the procedure PR3 associated with the abnormality identification code SI1: "AB003” from the storage unit 64 and acquires it.
  • the processor 62 functions as a display control unit 82, supplies the image data of the procedure PR3 to the display devices 50 and 70, and displays the image of the procedure PR3_1 and the image of the procedure PR3_2 to the display devices 50 and 70. , in order.
  • the operators A1 and A2 perform a procedure PR3_1 for disconnecting the robot 20 from the work line and a procedure PR3_2 for the work to be performed by the operator A1 after disconnection, in order to deal with the abnormality AB3.
  • the operator A1 takes over the work of the robot 20, so that the work on the work line can be continued.
  • anomaly AB that requires the disconnection of the robot 20 and the work substitution procedure PR3 may exist in addition to the anomaly AB3 of the malfunction of the force sensor 22F.
  • procedure PR3 for anomaly AB5′ in which the anomaly AB5 of poor imaging of the visual sensor 22G occurs repeatedly and anomaly AB6 in the detected value of the sensor 22 (for example, the detected value is continuously zero).
  • the procedure PR3 is stored in the storage unit 64 in association with the abnormality identification codes SI1 (for example, "AB003", "AB005'” and "AB006") assigned to these abnormalities AB3, AB5' and AB6. .
  • the processor 62 includes, in addition to the abnormality detection unit 74, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, and the display control unit 82 described above, a permission determination unit 84 and a notification generation unit 86. , and the communication control unit 88 .
  • the operation flow of the preventive maintenance device 14 will be described below with reference to FIG. The flow shown in FIG. 4 is started when the processor 62 receives an operation start command from the operator A2, the host controller, or the computer program.
  • the processor 62 starts the operation of acquiring the operating state data OD. Specifically, processor 62 initiates an operation to continuously (eg, periodically) obtain operating state data OD from controller 24 over communication network 18, as described above.
  • step S2 the processor 62 functions as the anomaly detector 74 and determines whether or not an anomaly AB has been detected based on the operating state data OD by the method described above.
  • the processor 62 determines YES when the abnormality AB is detected and proceeds to step S3, and determines NO when the abnormality AB is not detected and proceeds to step S5.
  • step S3 the processor 62 determines whether it is necessary to disconnect the robot 20 from the work line based on the abnormality identification information SI. Specifically, the processor 62 functions as the data acquisition unit 78 and acquires the abnormality identification code SI1 of the abnormality AB detected in the most recent step S2 as the abnormality specifying information SI.
  • the processor 62 determines whether or not the acquired abnormality identification code SI1 corresponds to the code SI1 X that requires the robot 20 to be separated from the work line.
  • the abnormality identification codes SI1: "AB003", “AB005'”, and "AB006" assigned to the abnormalities AB3, AB5', and AB6 described above are classified into code SI1X .
  • step S3 If the processor 62 acquires an abnormality identification code SI1 (for example, “AB003”, “AB005′”, or “AB006”) classified as code SI1 X in step S3, the processor 62 determines YES, and step S6. On the other hand, when an abnormality identification code SI1 that is not classified as code SI1 X is acquired, it is determined as NO, and the process proceeds to step S4.
  • SI1 for example, “AB003”, “AB005′”, or “AB006”
  • step S4 the processor 62 functions as the procedure acquisition unit 80 and acquires the procedure PR corresponding to the abnormality specifying information SI (specifically, the abnormality identification code SI1) acquired in the most recent step S3 by the method described above. , from among a plurality of procedures PR stored in the storage unit 64 .
  • the processor 62 functions as the display control unit 82 and causes the display devices 50 and 70 (and the display device of the external device 16) to display the acquired procedure PR as an image.
  • step S5 the processor 62 determines whether or not an operation end command has been received from the operator A2, the host controller, or the computer program. If the processor 62 has received the operation end command, it determines YES and terminates the flow shown in FIG. 4. If the operation end command has not been received, the processor 62 determines NO and returns to step S2.
  • step S3 determines in step S6 whether it is possible to deal with the abnormality AB detected in the most recent step S2.
  • the processor 62 determines in step S6 whether it is possible to deal with the abnormality AB detected in the most recent step S2.
  • the operator A1 cannot separate the robot 20 from the work line (for example, if the operator A1 is not permitted to operate the carrier 26, or if the robot 20 does not have the carrier 26 in the first place) , fixed to the work line and cannot be moved).
  • the operator A1 may not be able to take over the work that the robot 20 was performing (for example, the robot 20 is performing laser processing). In these cases, the operator A1 cannot deal with the detected abnormality AB on the work line.
  • the processor 62 acquires the abnormality identification information SI and the possibility determination information DI for determining whether the abnormality AB can be dealt with. Determine whether it is possible.
  • the propriety determination information DI includes an identification code DI1 (serial number, model number, etc.) that identifies the robot 20, and a data table DT2 that stores the identification code DI1X of the robot that cannot be separated from the work line.
  • the propriety determination information DI stores an identification code DI2 (for example, an identification code representing laser processing) for identifying work to be executed by the robot 20, and an identification code DI2X for work for which the operator A1 cannot substitute. and data table DT3.
  • identification codes DI1 and DI2 and data tables DT2 and DT3 are stored in advance in the storage unit 44 of the control device 24, for example.
  • the processor 62 functions as a data acquisition unit 78, acquires the abnormality identification information SI (abnormality identification code SI1) of the abnormality AB detected in the most recent step S2, identifies the identification code DI1 (or DI2), and the data table DT2. (or DT3) is obtained from the controller 24 via the communication network 18 .
  • SI abnormality identification code SI1
  • DI2 identification code DI2
  • DI3 data table DT2.
  • the processor 62 determines whether or not the acquired identification code DI1 (or DI2) corresponds to the identification code DI1 X (or DI2 X ) included in the data table DT2 (or DT3). YES is determined to proceed to step S8, while if not applicable, NO is determined to proceed to step S7.
  • the processor 62 functions as the advisability determination unit 84 (FIG. 3) that determines whether or not the abnormality AB can be dealt with based on the advisability determination information DI.
  • step S7 the processor 62 functions as the procedure acquisition unit 80 and acquires the abnormality identification information SI (for example, abnormality identification code SI1: "AB003", “AB005'”, or "AB006") acquired in the most recent step S3. (specifically, procedures PR3 _1 and PR3 _2 ) for detaching the robot 20 and working on behalf of the robot 20 corresponding to .
  • SI abnormality identification code SI1: "AB003", "AB005'", or "AB006
  • the processor 62 functions as the display control unit 82 and causes the display devices 50 and 70 (and the display device of the external device 16) to display the acquired procedure PR3 as an image.
  • the work line operator A1 can easily understand the procedure PR3_1 for separating the robot 20 from the work line and the procedure PR3_2 for the work to be performed after the separation of the robot 20.
  • These procedures PR3_1 and PR3_2 can be executed on the work line without the
  • step S8 the processor 62 generates notification data ND notifying that it is impossible to deal with the abnormality AB detected in the most recent step S2, and transmits it to the external device 16.
  • the processor 62 generates, for example, notification data ND representing a warning that "an abnormality that cannot be handled in the robot system has occurred" as image data or audio data.
  • the processor 62 includes the notification generation unit 86 (FIG. 3) that generates the notification data ND when it is determined in step S6 that it is impossible to deal with the abnormality AB (that is, YES). function as
  • the processor 62 transmits the generated notification data ND via the communication network 18 to the external device 16 registered in advance in the storage unit 64 as a transmission destination.
  • the processor 62 may transmit the notification data ND to the external device 16 in the form of e-mail.
  • the processor 62 functions as the communication control section 88 ( FIG. 3 ) that transmits the generated notification data ND to the external device 16 . After executing step S8, the processor 62 ends the flow of FIG.
  • the processor 42 includes the anomaly detection unit 74, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, the display control unit 82, the availability determination unit 84, the notification generation unit 86, and the communication control unit 88 to provide the procedure PR stored in the storage unit 64 .
  • the storage unit 64 and processor 42 constitutes an abnormality processing device 100 (FIG. 1) that provides a procedure PR for coping with an abnormality AB.
  • the error processing device 100 is mounted in the preventive maintenance device 14 .
  • the data acquisition unit 78 acquires the availability determination information DI together with the failure identification information SI, and the availability determination unit 84 determines whether or not the failure AB can be handled based on the availability determination information DI.
  • the notification generation unit 86 generates notification data ND for notifying that effect when the availability determination unit 84 determines that the abnormality AB cannot be dealt with. According to this configuration, when an abnormality AB that the operator A1 cannot deal with on the work line occurs in the robot system 12, that effect can be automatically notified.
  • the communication control unit 88 transmits the notification data ND generated by the notification generating unit 86 to the external device 16 of the error handling device 100 . According to this configuration, it is possible to automatically notify the operator A3 (for example, the work line manager) of the external device 16 that an unhandled abnormality AB has occurred.
  • a procedure PR5 for coping with an abnormality AB5 of an imaging failure of the visual sensor 22G includes a procedure PR5_1 for confirming the installation position (or member) of the visual sensor 22G and a procedure PR5_2 for calibrating the visual sensor 22G.
  • the processor 62 first acquires the procedure PR5_1 and causes the display device 50 to display it in step S4. At this time, the processor 62 causes the display device 50 to display an input image for inputting whether or not there is a shift in the installation position of the visual sensor 22G.
  • the operator A1 confirms whether or not there is a deviation in the installation position of the visual sensor 22G according to the procedure PR5_1 , and if the deviation can be eliminated, the operator A1 operates the input device 48 to detect the abnormality AB5 in the input image displayed on the display device 50. Input data IP1 indicating that the above has been dealt with.
  • the operator A1 operates the input device 48 to input input data IP2 indicating that there is no deviation in the input image displayed on the display device 50. do. If the input data IP1 is received from the control device 24, the processor 62 ends step S4. to display.
  • the operator A ⁇ b>1 can take appropriate measures according to the situation of the robot system 12 .
  • step S3' the processor 62 determines whether it is necessary to disconnect the robot 20 from the work line based on the input data IP from the operator A1.
  • the processor 62 determines whether it is necessary to disconnect the robot 20 from the work line based on the input data IP from the operator A1.
  • the operator A1 is provided with a procedure PR for coping with the abnormality AB in step S4 and the operator A1 executes the procedure PR, it may not be possible to cope with the abnormality AB.
  • step S2 the processor 62 detects that the external force F acquired by the force sensor 22F exceeds the reference value ⁇ F2 and increases (F> ⁇ E2 ).
  • the processor 62 determines NO in step S3, and in step S4 acquires a procedure PR4 (that is, image data describing a procedure for confirming the presence or absence of a collision) for coping with the abnormality AB4, and the control device 24 is displayed on the display device 50 .
  • a procedure PR4 that is, image data describing a procedure for confirming the presence or absence of a collision
  • the processor 62 supplies an input image for inputting whether or not there is a collision between the robot 20 and the surrounding environment to the control device 24 and causes the display device 50 to display it.
  • the operator A checks whether or not there is a collision between the robot 20 and the surrounding environment according to the procedure PR4, and if there is a collision, takes measures to resolve the collision, such as leaving the surrounding environment. Thereby, it is possible to deal with the abnormality AB4.
  • the operator A operates the input device 48 to input the input data IP1 indicating that there has been a collision with the surrounding environmental object in the input image displayed on the display device 50 .
  • operator A confirms whether or not there is a collision between the robot 20 and the surrounding environment according to procedure PR4 . can be caused by malfunction AB3 of the force sensor 22F, which cannot be dealt with.
  • the operator A operates the input device 48 to input the input data IP2 indicating that the input image displayed on the display device 50 did not collide with the surrounding environment.
  • the processor 62 detects an abnormality AB5 of an imaging failure of the visual sensor 22G in step S2.
  • the processor 62 determines NO in step S3, and in step S4, prepares a procedure PR5 (that is, image data describing a procedure for confirming and calibrating the visual sensor 22G) for coping with the abnormality AB5. Obtained and displayed on the display device 50 of the control device 24 .
  • the processor 62 supplies an input image for inputting whether or not the abnormality AB5 has been resolved to the control device 24, and causes the display device 50 to display it.
  • Operator A performs necessary measures such as calibration according to procedure PR5.
  • the operator A operates the input device 48 to input the input data IP1 indicating that the abnormality AB5 has been resolved to the input image displayed on the display device 50 .
  • step S3′ When the input data IP2 is received from the control device 24 in step S3′, the processor 62 determines that the robot 20 needs to be separated (ie, YES), and advances to step S6. If the input data IP1 has been received, it is determined that the robot 20 does not need to be separated (that is, NO), and the process proceeds to step S5. Then, the processor 62 sequentially executes steps S6 to S8 or step S5 as in the flow of FIG.
  • the processor 62 determines whether or not to disconnect the robot 20 based on the abnormality identification information SI in step S3, provides the procedure PR in step S4, and then performs , the necessity of disconnecting the robot 20 is determined again based on the input data IP from the operator A1. According to this configuration, even if the procedure PR presented in step S4 fails to deal with the abnormality AB, the work can be continued by disconnecting the robot 20 in step S7. Therefore, it is possible to reduce the possibility that the work will be interrupted.
  • the components of the abnormality processing device 90 or 100 may be implemented in controller 24 .
  • FIG. Such a form is shown in FIG.
  • the communication control unit 88 is implemented in the preventive maintenance device 14
  • the abnormality detection unit 74 of the abnormality processing device 100 is implemented in the control device 24 .
  • the processor 42 of the control device 24 and the processor 62 of the preventive maintenance device 14 execute the flow shown in FIG. 4 or 5 while communicating with each other. Specifically, in step S1, the processor 42 of the control device 24 starts the operation of acquiring the operating state data OD from the sensor 22, and in step S2, functions as the abnormality detection unit 74, and performs the above-described embodiment. Similarly, it is determined whether or not an abnormality AB has been detected based on the operating state data OD.
  • the processor 42 of the control device 24 transmits the abnormality specifying information SI (specifically, the abnormality identification code SI1) of the detected abnormality AB to the communication network 18.
  • the error processing device 90 or 100 may be mounted in the control device 24.
  • the storage unit 44 of the control device 24 stores a plurality of procedures PR in association with the abnormality specifying information SI. It functions as a procedure acquisition unit 80 , a display control unit 82 , a propriety determination unit 84 , a notification generation unit 86 and a communication control unit 88 .
  • the abnormality identification information SI is not limited to the abnormality identification code SI1, and may include any other data for identifying the abnormality AB.
  • the abnormality specifying information SI includes a plurality of types of operating state data OD detected by the sensor 22 (for example, rotational position Pm, rotational speed Vm, rotational acceleration ⁇ m, current value I, load torque ⁇ , position Pc, speed Vc, acceleration ⁇ c, pressure P, voltage E, external force F, image data ID, etc.) may include a data identification code SI2 individually given.
  • the storage unit 64 (or 44) stores a plurality of procedures PR in association with the data identification code SI2.
  • a data identification code SI2: "DATA-E” is assigned to the voltage E detected by the voltage sensor 22E, and the procedure PR2 (image data describing the procedure for replacing the battery) regarding the abnormality AB2 of the voltage E is Data identification code SI2: can be stored in the storage unit 64 in association with "DATA-E".
  • a plurality of data identification codes SI2 may be assigned to one type of operating state data OD according to the mode of change. For example, with respect to the external force F detected by the force sensor 22F, the external force F1 that has decreased beyond the reference value ⁇ F1 is given the data identification code SI2: “DATA-F1”, while the external force F1 exceeding the reference value ⁇ F2 A data identification code SI2: "DATA-F2" may be given to the increased external force F2.
  • the procedure PR3 (image data explaining the detachment of the robot 20 and the substitute work) regarding the external force reduction abnormality AB3 can be stored in the storage unit 64 in association with the data identification code SI2: "DATA-F1".
  • the procedure PR4 (image data describing the procedure for confirming the presence or absence of a collision) regarding the external force increase abnormality AB4 can be stored in the storage unit 64 in association with the data identification code SI2: “DATA-F2”.
  • the processor 62 functions as the data acquisition unit 78 and acquires the data identification code SI2 as the abnormality identification information SI instead of (or in addition to) the abnormality identification code SI1 described above. For example, when the processor 62 (or 42) detects an abnormality AB2 in which the voltage E drops, the processor 62 (or 42) functions as the data acquisition unit 78, and reads the data identification code SI2 given to the voltage E: "DATA-E" Acquired as abnormality identification information SI.
  • the abnormality specifying information SI is individually given to a plurality of types of sensors 22 (for example, rotation detection sensor 22A, current sensor 22B, torque sensor 22C, pressure sensor 22D, voltage sensor 22E, force sensor 22F, visual sensor 22G). may also include a sensor identification code SI3.
  • the storage unit 64 (or 44) stores a plurality of procedures PR in association with the sensor identification code SI3.
  • a sensor identification code SI3: "SENSOR-E” is assigned to the voltage sensor 22E, and the procedure PR2 regarding the abnormality AB2 of the voltage E detected by the voltage sensor 22E has the sensor identification code SI3: "SENSOR-E”. It can be associated and stored in the storage unit 64 .
  • the processor 62 functions as the data acquisition unit 78, and acquires the sensor identification code SI3 as the abnormality identification information SI instead of (or in addition to) the abnormality identification code SI1 described above.
  • the processor 62 detects an abnormality AB2 in which the voltage E drops
  • the processor 62 functions as the data acquisition unit 78
  • the sensor identification code SI3 given to the voltage sensor 22E that detected the voltage E: " SENSOR-E” is acquired as the abnormality identification information SI.
  • the abnormality identification code SI1, the data identification code SI2, and the sensor identification code SI3 are not limited to character strings, and may be, for example, a combination of symbols ( ⁇ , ⁇ , ⁇ , +, ⁇ , *, etc.).
  • the procedure PR may also include multilingual textual data.
  • anomalies AB may include anomaly AB6 of communication failure between sensor 22 or servo motor 40 and controller 24 (I/O interface 46).
  • This abnormality AB6 can be detected by monitoring the detected value of the sensor 22 or the servomotor 40, for example.
  • the procedure PR6 for coping with this abnormality AB6 includes, for example, image data or audio data describing the procedure for checking the connection of the communication cable between the sensor 22 or the servomotor 40 and the controller 24.
  • the robot 20 is not limited to the vertical articulated robot as shown in FIG. 2, but may be any type of robot such as a horizontal articulated robot, a parallel link robot, or a worktable device having a plurality of ball screw mechanisms. good too.
  • a horizontal articulated robot such as a horizontal articulated robot, a parallel link robot, or a worktable device having a plurality of ball screw mechanisms. good too.
  • the present disclosure has been described through the embodiments, but the above-described embodiments do not limit the invention according to the scope of claims.

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PCT/JP2021/023453 2021-06-21 2021-06-21 ロボットシステムで発生した異常に対する手順を提供する異常処理装置、ネットワークシステム、及び方法 Ceased WO2022269706A1 (ja)

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US18/567,149 US20240280979A1 (en) 2021-06-21 2021-06-21 Abnormality processing apparatus, network system, and method for providing procedure with respect to abnormality having occurred in robot system
DE112021007486.5T DE112021007486T5 (de) 2021-06-21 2021-06-21 Vorrichtung zur verarbeitung von auffälligkeiten, netzwerksystem und verfahren zur bereitstellung einer methode in bezug auf aufgetretene auffälligkeiten in einem robotersystem
PCT/JP2021/023453 WO2022269706A1 (ja) 2021-06-21 2021-06-21 ロボットシステムで発生した異常に対する手順を提供する異常処理装置、ネットワークシステム、及び方法
JP2023529232A JP7688127B2 (ja) 2021-06-21 2021-06-21 ロボットシステムで発生した異常に対する手順を提供する異常処理装置、ネットワークシステム、及び方法
CN202180099403.4A CN117461007A (zh) 2021-06-21 2021-06-21 提供针对在机器人系统中产生的异常的步骤的异常处理装置、网络系统以及方法
TW111119685A TW202300303A (zh) 2021-06-21 2022-05-26 提供針對在機器人系統發生之異常的程序之異常處理裝置、網路系統及方法

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