WO2023248471A1 - 監視装置及びロボット監視システム - Google Patents

監視装置及びロボット監視システム Download PDF

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Publication number
WO2023248471A1
WO2023248471A1 PCT/JP2022/025357 JP2022025357W WO2023248471A1 WO 2023248471 A1 WO2023248471 A1 WO 2023248471A1 JP 2022025357 W JP2022025357 W JP 2022025357W WO 2023248471 A1 WO2023248471 A1 WO 2023248471A1
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WO
WIPO (PCT)
Prior art keywords
robot
production
time
production work
change
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/025357
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English (en)
French (fr)
Japanese (ja)
Inventor
謝舒瀟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112022006968.6T priority Critical patent/DE112022006968T5/de
Priority to PCT/JP2022/025357 priority patent/WO2023248471A1/ja
Priority to CN202280097338.6A priority patent/CN119403661A/zh
Priority to JP2024528248A priority patent/JP7832326B2/ja
Priority to TW112122653A priority patent/TW202400381A/zh
Publication of WO2023248471A1 publication Critical patent/WO2023248471A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35291—Record history, log, journal, audit of machine operation

Definitions

  • Embodiments of the present invention relate to a monitoring device and a robot monitoring system that have a function of monitoring changes in information related to robot production work.
  • the monitoring device receives execution history including start date and time and end date and time of production work from a robot control device that controls the robot according to a production program for causing the robot to execute a predetermined production work.
  • a second receiving means that receives a change history including the date and time when the production program or variable was manually changed; and determining means for determining whether or not a production operation is in progress at a given timing.
  • FIG. 8 is a diagram showing an example of a notification screen provided to a user terminal from the monitoring device according to the present embodiment.
  • FIG. 9 is a flowchart illustrating an example of a procedure for monitoring processing by the monitoring device according to the present embodiment.
  • FIG. 10 is a diagram showing another example of the production program stored in the robot control device of FIG. 1.
  • the monitoring device is configured such that information related to the production work of the robot, such as a production program for causing the robot to perform a predetermined production work, and variables used in the production program, is stored during the production work of the robot.
  • a computer that has a function of determining whether or not information related to the robot's production work has been manually changed during production work, and a function of notifying a preset user terminal that information related to the robot's production work has been manually changed during production work. It is a device.
  • "information related to the robot's production work” includes information directly related to the robot's operation, such as information related to the production program and variable setting information used in the production program.
  • Variables used in the production program include operating speed, waiting time, movement type, interpolation type, etc.
  • Changes to the production program include changes, additions, and deletions to operation commands and changes, additions, and deletions to teaching positions.
  • the operation command includes a movement command, a grip command, a welding command, a standby command, and the like.
  • “Information related to robot production work” is not limited to information directly related to robot operation, but includes a wide variety of information that affects the entire robot production work. Such information includes system variables inside the robot control device, such as variables related to data transmission and reception.
  • a "variable” refers not only to a numerical value but also to a character string or the like that can be handled as a numerical value or code within the robot control device.
  • the robot is in production means that the production program is being executed.
  • the time when the robot is stationary according to a standby command included in the production program is also included in the robot's production work.
  • the period during which the robot's production work is interrupted is also included in the robot's production work.
  • the intervals between production tasks are typically not included in the robot's production tasks. Of course, intervals between production operations may be treated as included during production operations.
  • an identifier is written in the production program in order to obtain the start date and time and end date and time of the production work by the robot.
  • the identifier records the date and time at the time it was read, and may be the execution command itself, or a mark for other programs to record the date and time.
  • the identifier is referred to as a command.
  • FIG. 1 shows a robot monitoring system 1 including a monitoring device 10 according to the present embodiment.
  • the robot monitoring system 1 includes a robot 40, a robot control device 50 that controls the robot 40, and a monitoring device 10 that is connected to the robot control device 50 via the Internet 90.
  • a user terminal 80 operated by a user who is in charge of managing the robot 40 is connected to the robot control device 50 and the monitoring device 10 via the Internet 90 or the like.
  • the user terminal 80 has a function of displaying a notification screen provided by the monitoring device 10, a function of displaying a control screen for the robot 40 provided by the robot control device 50, and a function of displaying a control screen of the robot 40 provided by the robot control device 50. It is a computer device that has a function of transmitting various information to the robot control device 50.
  • the user terminal 80 is provided by a smartphone, a tablet, a PC, or the like.
  • various information provided from the user terminal 80 to the robot control device 50 includes information related to the production work of the robot 40 and its change information, information related to the addition of an identifier to the production program, and information about the addition of an identifier to the production program. Contains information regarding deletion and modification of identifiers written in production programs.
  • FIG. 2 is a block diagram showing the functions of the robot control device 50.
  • the robot control device 50 includes hardware such as an operation section 53, a display section 54, a communication section (first and second receiving means) 55, and a storage section 56 for a processor 52 such as a CPU. are connected and configured.
  • the robot control device 50 is provided by a general information processing terminal such as a PC or a tablet.
  • the operation unit 53 has input devices such as a keyboard, a mouse, and a jog.
  • the input device may be provided by a touch panel that also serves as the display unit 54, or may be provided by a dedicated operating device (pendant) of the robot control device 50.
  • the user Via the operation unit 53, the user can input information related to the production work of the robot 40 and its change information, information related to adding an identifier to the production program, information related to deleting an identifier written in the production program, and information related to the production program. Information regarding modification of the written identifier can be input to the robot controller 50.
  • the operation unit 53 has an interrupt button for interrupting the production work of the robot 40.
  • the suspend button may be implemented by software.
  • the robot control device 50 controls the robot 40 according to the user's operation of the interrupt button. Specifically, the robot control device 50 interrupts the production work of the robot 40 when the interrupt button is pressed, and stops the production work of the robot 40 that had been interrupted when the interrupt button is pressed again. to be restarted.
  • the display unit 54 has a display device such as an LCD, and displays a control screen and the like.
  • the communication unit 55 controls data transmission and reception between the monitoring device 10 and the user terminal 80 . Through the processing of the communication unit 55, the robot control device 50 can receive various information from the user terminal 80. Furthermore, the robot control device 50 can transmit to the monitoring device 10 execution history data managed in the execution history management table and change history data managed in the change history management table.
  • the storage unit 56 includes a storage device such as an HDD or an SSD.
  • the storage unit 56 stores a monitoring program for the robot control device, a production program for causing the robot 40 to perform production work, variables used in the production program, and system variables related to internal processing of the robot control device 50. has been done.
  • the storage unit 56 also stores an execution history management table and a change history management table.
  • Figure 3 shows an example of a production program.
  • the production program is provided in text format, with operation instructions written line by line in accordance with the order of the processes.
  • the operation commands include a movement command to a teaching position, a grip command to grip a workpiece, a release command to release a workpiece, a welding command, a standby command, and the like.
  • the command "1 [1]” written on the second line of the production program indicates a movement command to the taught position "1".
  • the command "TAIKI” written on the 8th line indicates a standby command.
  • a recording command for recording date and time information is written in the production program.
  • the recording command is written at a position where the production program is read before the first operation command and at a position where it is read after the last operation command is read.
  • the second line of the production program is the first operation command. Therefore, the command "Kaishinichiji" for recording date and time information together with a code specifying the start date and time as a recording command is written in the first line that is read before the first operation command.
  • the 10th line of the production program is the last operation command. Therefore, the command "Shuuryounichiji" for recording date and time information together with a code specifying the end date and time as a recording command is written on the 11th line read after the last operation command.
  • the robot control device 50 when the processor 52 executes the monitoring program for the robot control device stored in the storage unit 56, the robot control device 50 includes a production program change unit 521, a system variable change unit 522, It functions as an execution history updater 523 and a change history updater 524.
  • the production program change unit 521 changes the production program and the variables used in the production program according to the change information of the information related to the production work of the robot 40 inputted via the operation unit 53 and the communication unit 55.
  • the system variable change unit 522 changes the system variables according to the system variable change information input via the operation unit 53 and the communication unit 55.
  • the execution history update unit 523 creates a record that summarizes the product ID, date and time, code, robot name, and program name according to the reading of the identifier written in the production program, and adds it to the execution history management table.
  • FIG. 4 shows an example of the execution history management table.
  • the production start date and time and the production end date and time of the robot 40 are managed.
  • one record in the execution history management table includes a product ID for individually identifying the product to be produced, a code for individually identifying the identifier written in the production program, date and time, and usage.
  • a robot name for individually specifying the robot 40 that has been used, and a program name for individually specifying the program used are managed.
  • the product ID is production object information for individually identifying production objects, and corresponds to the number of repetitions in a case where production work is repeated.
  • the code "1001" is a code that specifies the start date and time
  • the code "2001” is a code that specifies the end date and time. Therefore, the date and time “2022/01/03 10:11:33” corresponding to the product ID "001” and the code “1001” indicates the production start date and time of the first produced product.
  • the date and time “2022/01/03 10:13:21” corresponding to the product ID “001” and the code “2001” indicates the production end date and time of the first produced product.
  • the period from the date and time "2022/01/03 10:11:33" to the date and time "2022/01/03 10:13:21” means that the robot is in production.
  • the change history update unit 524 summarizes the change date and time, robot name, change code, and change details in accordance with the input of change information of information related to production work by the robot 40 via the operation unit 53 or the communication unit 55. Create a new record and add it to the change history management table.
  • the change history management table manages the date and time when information related to production work by the robot 40 was changed. Specifically, as shown in FIG. 5, in one record of the change history management table, the change number, change date and time, robot name to individually identify the robot 40 to be changed, and changed items are individually specified. Change codes and specific changes are managed.
  • FIG. 6 is a block diagram showing the functions of the monitoring device 10.
  • the robot control device 50 is configured such that hardware such as a communication section 15 and a storage section 16 are connected to a processor 12 such as a CPU.
  • the monitoring device 10 is typically provided by a server device.
  • the communication unit 15 controls data transmission and reception between the robot control device 50 and the user terminal 80. Through the processing of the communication unit 15, the monitoring device 10 can receive execution history data and change history data from the robot control device 50. Furthermore, the monitoring device 10 can transmit a notification screen created by the notification screen creation unit 124 to the user terminal 80.
  • the storage unit 16 includes a storage device such as an HDD or an SSD.
  • the storage unit 16 stores a monitoring program for the monitoring device.
  • the storage unit 16 also stores an execution history management table (see FIG. 4) and a change history management table (see FIG. 7).
  • the monitoring device 10 By executing the monitoring program for the monitoring device stored in the storage unit 16 by the processor 12, the monitoring device 10 includes an execution history update unit 121, a change history update unit 122, a determination unit (determination means) 123, and It functions as a notification screen creation unit 124.
  • the execution history update unit 121 adds the execution history data received from the robot control device 50 to the execution history management table. Since the execution history management table is the same as that held by the robot control device 50 shown in FIG. 4, its explanation will be omitted.
  • the change history update unit 122 adds the change history data received from the robot control device 50 to the change history management table, and adds to the change history a production work flag according to the determination result of the determination unit 123, which will be described later.
  • FIG. 7 shows an example of a change history management table stored in the monitoring device 10. As shown in FIG. 7, the change history management table managed by the monitoring device 10 is the same as the change history management table managed by the robot control device 50, with the item "production flag" added.
  • the production work flag indicates whether the corresponding change was made during production work. Here, the production flag "0" indicates that the change was not made during the production process, and the production process flag "1" indicates that the change was made during the production process.
  • the determination unit 123 determines whether or not the timing at which the information related to the production work of the robot 40 is changed is during the production work by referring the change history to the execution history.
  • the change date and time of change No. "1" in the change history management table shown in FIG. 7 is "2022/01/03/09:05".
  • the execution history management table held in the monitoring device 10 is inquired, the change date and time "2022/01/03/09:05" is the date and time before the start of production. Therefore, the determination unit determines that the change corresponding to change No. "1" has not been made during production work.
  • the production work flag "0" indicating that the change is not a change during production work is written in the record corresponding to the change number "1".
  • the change date and time of change No. "3" in the change history management table shown in FIG. 7 is "2022/01/03/10:23".
  • the change date and time "2022/01/03/10:23" is the date and time during production work for the product ID "002". Therefore, the determination unit determines that the change corresponding to change No. 3 was made during production work.
  • a production work flag "1" indicating that the change is a production work in progress is written.
  • the notification screen creation unit 124 creates a notification screen for notifying the user that information related to the production work of the robot 40 has been changed.
  • FIG. 8 shows an example of a notification screen displayed on the user terminal 80.
  • the notification screen displays information indicating that the information related to the production work of the robot 40 has been changed during the production work, as well as the robot name, product ID, and changed items that were subject to change. Contains the change code and specific changes.
  • the notification screen By viewing the notification screen, the user can see that the information related to the production work of the robot 40 has been changed during the production work, as well as the products that were being produced at the time of the change, the items that have been changed, and the information that has been changed. Be able to understand the specific content.
  • FIG. 8 is a flowchart illustrating an example of a procedure for monitoring processing by the monitoring device 10.
  • the start of the monitoring process by the monitoring device 10 is waited until reception of the execution history starts, in other words, until the robot control device 50 starts controlling the robot 40 (S11; NO).
  • reception of the execution history is started (S11; YES)
  • monitoring processing by the monitoring device 10 is started.
  • the monitoring device 10 receives the execution history (S12), and adds the received execution history to the execution history management table (S13).
  • the monitoring device 10 receives the change history (S14; YES) it refers the change history to the execution history management table and determines whether the change indicated by the change history is during production work by the robot 40.
  • the monitoring device 10 adds the received change history to the change history management table with the production work in progress flag set to "1" (S16). Then, the monitoring device 10 creates a notification screen (S17), and transmits the created notification screen to the user terminal 80 (S18). If it is determined that the change is not being made during production work by the robot 40 (S15; NO), the monitoring device 10 adds the received change history to the change history management table with the production work in progress flag set to "0" (S19).
  • step S12 to step S19 are repeatedly executed until the reception of the execution history is finished, in other words, until the control of the robot 40 by the robot control device 50 is finished (S20; NO).
  • the reception of the execution history is finished (S20; YES)
  • the monitoring process by the monitoring device 10 is finished.
  • the monitoring device 10 determines whether information related to the production work of the robot 40 has been changed during the production work of the robot 40, based on the execution history and change history provided from the robot control device 50. can be determined. Thereby, the user can particularly grasp changes in information related to the production work of the robot 40 during the production work of the robot 40, which are likely to lead to production defects. Furthermore, the monitoring device 10 can send a notification screen to the user terminal to notify that a change has been made during production work. This notification screen includes the robot name, product ID, changed items, and contents, along with text information indicating that the changes were made during production work. The risk of production defects differs depending on the change items and details.
  • changes in production programs and variables directly related to the production work of the robot 40 have a higher risk of production defects in the robot 40 than changes in system variables.
  • the user may manage multiple robots 40 in some cases. By being able to grasp change items and change details via the notification screen, the user can respond to items with the highest risk of production defects in order of priority, and can efficiently manage the entire production work performed by the plurality of robots 40. Can be done.
  • an abnormality actually occurs in a product you can determine which robot caused the problem and which product caused the abnormality. It is possible to quickly respond to the situation to determine whether or not it has occurred.
  • a start command is written in a position that is read before the first operation command in the production program, as shown in FIG. , the end command was written in a position that was read after the last operation command.
  • the start date and time or end date and time of at least one process among a plurality of processes constituting the production program may be acquired.
  • a command to obtain the date and time is written in the line between the operation instructions in each line written according to the order of the processes. be done.
  • the monitoring device 10 has a function of creating a notification screen for notifying that information related to the production work of the robot 40 has been changed during the production work, and transmitting it to the user terminal 80.
  • the monitoring device 10 creates a notification screen to notify that information related to the production work of the robot 40 has been changed, and sends it to the user terminal 80, regardless of whether the robot 40 is in production work or not. Good too.
  • the monitoring program installed in the robot control device 50 and the monitoring device 10 may be distributed by being recorded on a removable medium, or may be distributed by being downloaded to a user's computer via a network. You can.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Factory Administration (AREA)
  • Manipulator (AREA)
PCT/JP2022/025357 2022-06-24 2022-06-24 監視装置及びロボット監視システム Ceased WO2023248471A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE112022006968.6T DE112022006968T5 (de) 2022-06-24 2022-06-24 Überwachungsvorrichtung und Roboterüberwachungssystem
PCT/JP2022/025357 WO2023248471A1 (ja) 2022-06-24 2022-06-24 監視装置及びロボット監視システム
CN202280097338.6A CN119403661A (zh) 2022-06-24 2022-06-24 监视装置以及机器人监视系统
JP2024528248A JP7832326B2 (ja) 2022-06-24 2022-06-24 監視装置及びロボット監視システム
TW112122653A TW202400381A (zh) 2022-06-24 2023-06-16 監視裝置及機器人監視系統

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PCT/JP2022/025357 WO2023248471A1 (ja) 2022-06-24 2022-06-24 監視装置及びロボット監視システム

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JP (1) JP7832326B2 (https=)
CN (1) CN119403661A (https=)
DE (1) DE112022006968T5 (https=)
TW (1) TW202400381A (https=)
WO (1) WO2023248471A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025262859A1 (ja) * 2024-06-19 2025-12-26 ファナック株式会社 監視装置及び監視プログラム
WO2026022875A1 (ja) * 2024-07-22 2026-01-29 ファナック株式会社 制御装置、監視装置及び監視システム

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JPH10333736A (ja) * 1997-05-27 1998-12-18 Mitsubishi Electric Corp 稼働管理・監視装置
JP2020119426A (ja) * 2019-01-28 2020-08-06 株式会社安川電機 産業機器管理システム、産業機器管理方法、及びプログラム
JP2020119427A (ja) * 2019-01-28 2020-08-06 株式会社安川電機 産業機器管理システム、産業機器管理方法、及びプログラム
US10802889B1 (en) * 2018-07-18 2020-10-13 NTT DATA Services, LLC Systems and methods of virtual resource monitoring for robotic processes
JP2021056794A (ja) * 2019-09-30 2021-04-08 富士通株式会社 制御プログラム、制御装置及び制御方法

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Publication number Priority date Publication date Assignee Title
JP3579551B2 (ja) * 1996-10-31 2004-10-20 三菱電機株式会社 生産システム
JP2020055043A (ja) 2018-09-28 2020-04-09 豊和工業株式会社 工作機械

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Publication number Priority date Publication date Assignee Title
JPH10333736A (ja) * 1997-05-27 1998-12-18 Mitsubishi Electric Corp 稼働管理・監視装置
US10802889B1 (en) * 2018-07-18 2020-10-13 NTT DATA Services, LLC Systems and methods of virtual resource monitoring for robotic processes
JP2020119426A (ja) * 2019-01-28 2020-08-06 株式会社安川電機 産業機器管理システム、産業機器管理方法、及びプログラム
JP2020119427A (ja) * 2019-01-28 2020-08-06 株式会社安川電機 産業機器管理システム、産業機器管理方法、及びプログラム
JP2021056794A (ja) * 2019-09-30 2021-04-08 富士通株式会社 制御プログラム、制御装置及び制御方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025262859A1 (ja) * 2024-06-19 2025-12-26 ファナック株式会社 監視装置及び監視プログラム
WO2026022875A1 (ja) * 2024-07-22 2026-01-29 ファナック株式会社 制御装置、監視装置及び監視システム

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JP7832326B2 (ja) 2026-03-17
DE112022006968T5 (de) 2025-06-18
JPWO2023248471A1 (https=) 2023-12-28
CN119403661A (zh) 2025-02-07
TW202400381A (zh) 2024-01-01

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