Preventive maintenance system

Abstract

A technique is provided that enables efficient inspection and maintenance by easily identifying the robots to be inspected in a preventive maintenance system that monitors and diagnoses multiple robots. The preventive maintenance system (10) includes: a priority calculation processing unit (21) that determines the priority of inspections for multiple robots (40); an inspection list notification unit (31) that displays a list of the determined inspection priorities, i.e., a priority list; and an inspection item notification unit (32) that displays the inspection items corresponding to the robots (40) displayed in the priority list.

Description

Technical Field

[0001] This disclosure relates to a preventive maintenance system. Background Technology

[0002] In production systems using robots, prolonged production line shutdowns and significant damage can sometimes occur due to obstruction by a single robot. To prevent such situations, information from network-connected robots is collected for anomaly detection, fault diagnosis, and fault prediction. Patent documents 1-5, for example, describe technologies related to preventative maintenance systems for monitoring machine anomalies and malfunctions.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-058849

[0006] Patent Document 2: Japanese Patent Application Publication No. 2020-086495

[0007] Patent Document 3: Japanese Patent Application Publication No. 2018-207349

[0008] Patent Document 4: Japanese Patent Application Publication No. 2014-096019

[0009] Patent Document 5: Japanese Patent Application Publication No. 61-178160 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] The purpose of this disclosure is to provide a technique that enables easy identification of robots requiring inspection in a preventive maintenance system that monitors and diagnoses multiple robots, thereby achieving high efficiency in inspection and maintenance.

[0012] Methods for solving problems

[0013] This disclosure relates to a preventive maintenance system for monitoring and diagnosing robots, wherein the preventive maintenance system comprises: a priority calculation processing unit that determines the priority of inspections for a plurality of robots; an inspection list notification unit that displays a list of the determined inspection priorities, i.e., a priority list; and an inspection item notification unit that displays inspection items corresponding to each robot displayed in the priority list. Attached Figure Description

[0014] Figure 1 This is a functional block diagram of a preventive maintenance system according to one embodiment of the present invention.

[0015] Figure 2This is a schematic diagram showing one example of the elements that make up a robot.

[0016] Figure 3 This is an example of a priority list display for the preventative maintenance system.

[0017] Figure 4 This is an example of the inspection items displayed in the preventive maintenance system.

[0018] Figure 5 It is a flowchart showing the preventive maintenance process of the preventive maintenance system.

[0019] Figure 6 It is a flowchart showing the process of handling objects that are set to be checked again after a certain period of time. Detailed Implementation

[0020] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Figure 1 This is a functional block diagram of a preventive maintenance system 10 according to one embodiment of the present invention.

[0021] First, the overall structure of the preventive maintenance system 10 will be explained. The preventive maintenance system 10 is a computer that monitors and diagnoses multiple robots 40. The preventive maintenance system 10 is constructed using a processor such as a CPU (Central Processing Unit) and a storage unit. The processor executes various programs stored in the storage unit to implement the functions of the preventive maintenance system. The storage unit is constructed using various types of memory, such as ROM (Read Only Memory), RAM (Random Access Memory), non-volatile memory, and hard disk drive, to store various types of data.

[0022] Robot 40, for example, is a 6-axis articulated robot that performs predetermined machining on a workpiece. In this embodiment, at least one of the plurality of robots 40 is a different type of robot from the others. Figure 1 Although the illustration shows three robots 40, the number of robots can be two or more. Furthermore, robot 40 is not limited to a 6-axis articulated robot.

[0023] Robot 40 is connected to preventive maintenance system 10 via robot control device 41. Robot control device 41 is a computer that controls the actions of robot 40 based on processing procedures or operator-specified content.

[0024] Figure 2 This is a schematic diagram showing one example of the elements that constitute robot 40. For example... Figure 2As shown, robot 40 has multiple axes, such as axis 1 45, axis 2 46, axis 3 47, etc., as elements. Furthermore, Figure 2 The elements shown are just examples; some may be omitted, or other elements may be added or changed. In this example, axis 1 45 includes elements such as reducer 45a, cable 45b, motor 45c, and sensor 45d; axis 2 46 includes elements such as reducer 46a, cable 46b, motor 46c, and sensor 46d; and axis 3 47 includes elements such as reducer 47a, cable 47b, motor 47c, and sensor 47d.

[0025] Next, the structure of the preventive maintenance system 10 will be described. The preventive maintenance system 10 includes a data processing device 20 and a display device 30.

[0026] The data processing device 20 performs various processes for preventive maintenance. In this embodiment, the data processing device 20 has a priority calculation processing unit 21, which determines the priority (score) of inspections of the plurality of robots 40 connected to the preventive maintenance system 10.

[0027] The priority calculation and processing unit 21 determines the inspection priority for each of the multiple robots 40 that are being monitored, based on factors such as the characteristics, amount of operation, and operating time of each robot 40. The priority calculation and processing unit 21 calculates the inspection priority based on, for example, the lifespan data of the reducers, the amount of axis movement, the elapsed time after introduction, and the action time. The lifespan data can also be calculated, for example, through simulation based on the rotational speed of the reducers of each axis of the robot 40 and the load applied to the reducers of each axis.

[0028] The display device 30 outputs images to a monitor or similar device, performing processing to display various information about preventative maintenance to the operator. The display device 30 can display images on its own monitor or on an external monitor or computer.

[0029] The display device 30 of this embodiment has a checklist notification unit 31 and a check item notification unit 32.

[0030] The inspection list notification unit 31 generates a priority list that represents the priority of the inspection along with the robot 40 to be inspected, based on the priority calculated by the priority calculation processing unit 21.

[0031] Figure 3 This is an example of a priority list display for the preventive maintenance system 10. In Figure 3 In the table, 40 robots with inspection targets are displayed. Figure 3The example priority list includes a robot selection unit 100, a configuration information display unit 101, a robot number display unit 102, a machine type display unit 103, and a priority display unit 104.

[0032] The robot selection unit 100 implements the function of adding inspected robots 40 to the checklist. After inspection, the operator selects the robot selection unit 100 to add the robots 40 to the checklist, thereby reflecting the check results in a table. Robots 40 added to the checklist by the robot selection unit 100 become the next inspection targets (priority calculation targets). The robot selection unit 100 can also move robots 40 added to the checklist to the bottom of the priority list. In this example, the robot selection unit 100 sets the checklist for all robots 40 in the priority list, making all robots 40 inspection targets (priority calculation targets).

[0033] The configuration information display unit 101 displays items indicating the configuration information of the robot 40. The robot number display unit 102 displays items indicating the number set on the robot 40. The model display unit 103 displays items indicating the model of the robot 40. The priority display unit 104 displays items indicating the priority calculated by the priority calculation processing unit 21. In this example, the items on the priority display unit 104 are arranged such that the higher up the item, the higher the priority of the inspection.

[0034] The inspection item notification unit 32 displays inspection items corresponding to each robot 40 displayed in the priority list. For example, the inspection item notification unit 32 displays the inspection items for the robot 40 that the operator selected from the multiple robots 40 displayed in the priority list. The inspection items are preset for each robot 40. Inspection items can be set for each type of robot 40, or individually based on operating time or the purpose of the robot 40.

[0035] Figure 4 This is a display example of the inspection items for the preventive maintenance system 10. In Figure 4 The table displays the inspection items for a specific robot (40) in the priority list. Figure 4 The example inspection items include a verification display unit 110, an element display unit 111, an inspection content display unit 112, and a corresponding content display unit 113.

[0036] The verification display unit 110 implements the function of adding checked elements to the verification list. After inspection, the operator selects the verification display unit 110 to add elements to the verification list, thereby reflecting the verification results in a table. Elements that are excluded from the next inspection (priority calculation object) can be removed. The verification display unit 110 can also move robots 40 that have been added to the verification list down the priority list. In this example, the verification display unit 110 is set to check all inspection items, indicating that the inspection of each element of the robot 40 has been completed.

[0037] The element display unit 111 displays items that are the various elements that the robot 40 is inspecting. In this example, the element display unit 111 displays examples of elements such as reducers, mechanical cable units, and reducer grease.

[0038] The inspection content display unit 112 displays the items for inspection performed on each element. The inspection content display unit 112 displays the inspection items for each element. For example, for a speed reducer, it displays examples of inspections such as vibration, iron powder concentration, and grease leakage. The corresponding content display unit 113 displays the inspection results and items corresponding to the occurrence of abnormalities. The corresponding content display unit 113 displays specific suggested actions for abnormalities and malfunctions, such as replacing the speed reducer or replacing the grease.

[0039] In addition, refer to Figure 4 The inspection items described are just one example. For instance, the inspection display unit 110 can also be omitted from the inspection items.

[0040] Next, refer to Figure 5 This will explain the process of the preventive maintenance system performed by the preventive maintenance system 10. Figure 5 This is a flowchart showing the process of preventive maintenance procedures of the preventive maintenance system 10. Furthermore, in the following description, the explanation referring to the flowchart is merely one example of the process and is not limited to this structure.

[0041] In step S1, the data processing device 20 collects data about the plurality of robots 40. In this embodiment, the data processing device 20 obtains the data about the robots 40 via the robot control device 41.

[0042] In step S2, the priority calculation processing unit 21 calculates the priority for each of the multiple robots 40 based on the information indicating the motion status used to determine the priority from the collected data about the robots 40. The information indicating the motion status includes, as described above, the lifespan data of the reducer, the amount of shaft movement, etc.

[0043] In step S3, the checklist notification unit 31 generates a priority list based on the result of the priority calculation processing unit 21 and displays it on a screen such as a monitor. The priority list represents an overview of the robots 40 to be inspected, arranged in order of priority. When an operator performs a check operation on the check item notification unit 32 indicating that the inspection is complete, the checklist notification unit 31 changes the display mode of the priority display unit 104 to a string indicating that the check is complete, instead of a numerical value indicating the priority. Alternatively, it may perform a process that moves the display position of the robot 40 that has completed the check to below the priority list.

[0044] In step S4, the inspection item notification unit 32 displays the inspection items corresponding to the robot 40 selected by the operator from a list of robots 40 displayed in the priority list on a screen such as a monitor. When the operator performs a verification operation on the verification display unit 110 indicating that the inspection is completed in the inspection item display, the inspection item notification unit 32 changes the display mode of the verification display unit 110 to "verification completed". Alternatively, it may perform a process to change the display position of the completed inspection items to below the inspection items.

[0045] In step S5, when all the inspection items are displayed on the inspection display unit 110, the inspection list notification unit 31 changes the display mode of the priority display unit 104 of the corresponding robot 40 in the priority list to a string indicating that the inspection is complete, instead of a numerical value indicating the priority.

[0046] Furthermore, even if the robot 40 and its elements have already undergone one inspection, they must still be inspected again over time. The inspection item notification unit 32 of this embodiment performs a process for re-inspecting over time. Next, refer to... Figure 6 This will explain the process.

[0047] Figure 6 This is a flowchart representing the process of designating an object for re-inspection after a certain period of time.

[0048] In step S11, the inspection item notification unit 32 obtains the inspection completion data. The inspection completion data may be, for example, the robot 40 that has completed the verification operation or the various elements included in the inspection items of the robot 40.

[0049] In step S12, the inspection item notification unit 32 determines whether there is any data among the acquired inspection completion data that has been in existence for a certain period of time since the inspection began. If there is data that has been in existence for a certain period of time, the inspection item notification unit 32 transfers the processing to step S13 (step S12; yes). If there is no data that has been in existence for a certain period of time, the inspection item notification unit 32 returns to step S11 without going through step S13 (step S12; no).

[0050] In step S13, the inspection item notification unit 32 sets the inspection completion data that has been inspected for a certain period of time as the object to be inspected again. The verification of the robot selection unit 100 in the priority list and the inspection item verification display unit 110 is cancelled. After the processing of step S13, the process returns to step S11.

[0051] Furthermore, although in this embodiment, the structure is automatically reset as the inspection object after a certain period of time, a structure in which the operator or others manually resets the object is also possible.

[0052] As explained above, the preventive maintenance system 10 of this embodiment includes: a priority calculation processing unit 21, which determines the priority of inspections of a plurality of robots 40 connected to the preventive maintenance system 10; an inspection list notification unit 31, which displays a list of the determined inspection priorities, i.e., a priority list; and an inspection item notification unit 32, which displays inspection items corresponding to the robots 40 displayed in the priority list.

[0053] The existing technology for notifying inspection and maintenance periods functions as follows: it processes information only for each robot and individually notifies each robot of its inspection items. On the other hand, when performing robot inspection and maintenance, since performing inspection and maintenance on a single robot at a time reduces labor time, a function indicating the order of robots to be inspected and maintained is useful when multiple robots are involved. In this regard, since the preventive maintenance system 10 of this embodiment can identify and display the inspection items corresponding to the robots displayed in the priority list, the time required to master the different inspection items for each robot type can be significantly reduced when inspecting multiple robots 40. Through the preventive maintenance system 10 of this embodiment, high efficiency in inspection and maintenance of production sites managing multiple robots can be achieved.

[0054] In addition, in this embodiment, the inspection item notification unit 32 has a verification function that allows input of whether the inspection has been completed.

[0055] This allows for the rapid recording of completed inspections, and the overview function allows users to confirm whether an inspection has been completed by item.

[0056] In addition, in this embodiment, the inspection item notification unit 32 has a verification function that allows input of maintenance completion.

[0057] This allows for the rapid recording of completed maintenance information, and the overview function allows users to confirm whether maintenance is complete by selecting specific items.

[0058] In addition, in this embodiment, the inspection item notification unit 32 has the following function: to set the robot 40 that has been inspected and the inspection items as objects for re-inspection or objects for priority calculation, either manually or automatically.

[0059] Therefore, since the objects to be re-inspected after inspection can be displayed in the priority list and inspection items, the situation of inspection only being carried out once can be avoided.

[0060] In addition, in this embodiment, after a certain period of time, the inspection item notification unit 32 automatically sets the robot 40 that has been inspected and the inspection items as objects to be inspected again or objects to be prioritized.

[0061] Therefore, after a certain period of time, the inspected robot 40 or the inspected item will be added back to the list of inspection objects and become the object of inspection priority calculation. The inspected robot 40 and the inspected item will be forcibly returned to the inspection list and become the object of inspection priority calculation again.

[0062] In addition, in this embodiment, the priority calculation processing unit 21 calculates the priority in units of robots 40, and the checklist notification unit 31 displays a priority list based on the priority order.

[0063] Therefore, since priority is displayed in units of 40 robots, the robots 40 that need to be checked can be easily and quickly identified from the priority list.

[0064] In addition, in this embodiment, the priority calculation processing unit 21 determines the priority based on the life data of the reducer constituting the robot 40 and the amount of shaft movement.

[0065] Therefore, priority can be determined based on the life data of the reducer and the amount of shaft movement.

[0066] In the above embodiment, although the priority calculation processing unit 21 calculates the priority in units of robots 40, it is not limited to this structure. Next, variations of the priority calculation method will be described. Furthermore, in the following description, structures that are common to or the same as those in the above embodiment will sometimes be given the same reference numerals and their descriptions will be omitted.

[0067] In the modified example, the priority calculation processing unit 21 calculates the priority for each element of the robot 40 and displays the priority order. Figure 2 In the example, the priority calculation processing unit 21 calculates the priority according to the first axis 45, the second axis 46, and the third axis 47 of the robot 40.

[0068] The priority calculation processing unit 21 calculates the priority of the first axis 45 based on factors such as the lifespan data of the reducer 45a and the amount of movement of each axis. The priorities of the second axis 46 and the third axis 47 are calculated in the same way. Furthermore, the priority is determined for each axis of the different robots 40.

[0069] Therefore, priority is determined for all axes of the robot 40 to be inspected, on an axis-by-axis basis. Then, based on the priority determined by the priority calculation processing unit 21, a priority list for axis units is generated. In this priority list, for example, robot C-axis 1, robot C-axis 3, and robot B-axis 2 are displayed in descending order of priority.

[0070] In the aforementioned modified example, the priority calculation processing unit 21 calculates the priority for each element constituting the robot 40, and the checklist notification unit 31 displays the priority list for each element constituting the robot 40. Therefore, since the priority is displayed for each element constituting the robot 40, the elements of the robot 40 that need to be checked can be easily and quickly identified.

[0071] Furthermore, in the modified example, the elements constituting robot 40 are axes such as the first axis 45, the second axis 46, and the third axis 47, with priority determined on an axis-by-axis basis. This allows for the management of priorities on an axis-by-axis basis.

[0072] Furthermore, in this modified example, although the priority is determined on a shaft-by-shaft basis, it can also be configured to calculate the priority and generate a priority list based on each element that constitutes the shaft, such as the reducer 45a, cable 45b, motor 45c, sensor 45d, etc.

[0073] Furthermore, this disclosure is not limited to the above-described implementations; variations and improvements made within the scope of achieving the purpose of this disclosure are included in this disclosure.

[0074] In the above embodiment, the robot 40 is connected to the preventive maintenance system 10 via the robot control device 41, but it is not limited to this and may not be connected to the preventive maintenance system 10. For robots not connected to the preventive maintenance system 10, priority can be calculated, for example, by inputting backup information of the robot into the priority calculation processing unit 21.

[0075] Furthermore, while the inspection item notification unit 32 is configured to have both a function to input "inspection completed" and a function to input "maintenance completed" in the above embodiment, it is not limited to this. It is also possible for at least one of the inspection list notification unit and the inspection item notification unit to have both a function to input "inspection completed" and a function to input "maintenance completed".

[0076] The following notes further disclose the above-described embodiments and variations.

[0077] (Postscript 1)

[0078] A preventive maintenance system (10) for monitoring and diagnosing a robot (40), wherein the preventive maintenance system (10) comprises:

[0079] Priority calculation processing unit (21) determines the priority of inspections of the plurality of robots (40) connected to the preventive maintenance system (10);

[0080] The checklist notification unit (31) displays a list of the priorities of the determined checks, i.e., a priority list.

[0081] The inspection item notification department (32) displays the inspection items corresponding to the robots (40) displayed in the priority list;

[0082] (Postscript 2)

[0083] In the aforementioned preventive maintenance system (10),

[0084] At least one of the checklist notification unit (31) and the check item notification unit (32) has a verification function that can input that the check has been completed.

[0085] (Note 3)

[0086] In the aforementioned preventive maintenance system (10),

[0087] At least one of the checklist notification unit (31) and the check item notification unit (32) has the function of inputting and maintaining completed checks.

[0088] (Postscript 4)

[0089] In the aforementioned preventive maintenance system (10),

[0090] The inspection item notification unit (32) has the following function: to set the robot (40) and the inspection item that have been inspected as objects for re-inspection or objects for priority calculation, either manually or automatically.

[0091] (Note 5)

[0092] In the aforementioned preventive maintenance system (10),

[0093] After a certain period of time, the inspection item notification department (32) automatically sets the robot (40) and the inspection item that have been inspected as objects to be inspected again or objects to be prioritized.

[0094] (Note 6)

[0095] In the aforementioned preventive maintenance system (10),

[0096] The priority calculation processing unit (21) calculates the priority on a per-robot basis (40).

[0097] The checklist notification unit (21) displays the priority list based on the order of the priorities.

[0098] (Note 7)

[0099] In the aforementioned preventive maintenance system (10),

[0100] The priority calculation processing unit (21) calculates the priority for each element (45-47, 45a-45e, 46a-46e, 47a-47e) constituting the robot (40).

[0101] The checklist notification unit (31) displays a priority list according to each of the elements constituting the robot (40).

[0102] (Note 8)

[0103] In the aforementioned preventive maintenance system (10),

[0104] The elements constituting the robot (40) are axes (45, 46, 47).

[0105] (Note 9)

[0106] In the aforementioned preventive maintenance system (10),

[0107] The priority calculation processing unit (21) determines the priority based on the life data of the reducer constituting the robot (40) and the amount of shaft movement.

[0108] Explanation of reference numerals in the attached figures

[0109] 10. Preventive Maintenance System

[0110] 21 Priority Calculation and Processing Department

[0111] 31. Checklist Notification Department

[0112] 32 Inspection Project Notification Department

[0113] 40 robots

[0114] 41. Robot control device.

Claims

1. A preventive maintenance system for monitoring and diagnosing robots, characterized in that, The preventive maintenance system includes: A priority calculation and processing unit determines the priority of inspections for the multiple robots. The checklist notification unit displays a list of checks whose priorities have been determined, i.e., a priority list. The inspection item notification department displays the inspection items corresponding to the robots displayed in the priority list.

2. The preventive maintenance system according to claim 1, characterized in that, At least one of the checklist notification unit and the check item notification unit has a verification function that allows the user to input that a check has been completed.

3. The preventive maintenance system according to claim 2, characterized in that, At least one of the checklist notification department and the check item notification department has the function of inputting and maintaining completed checks.

4. The preventive maintenance system according to any one of claims 1 to 3, characterized in that, The inspection item notification department has the following functions: to manually or automatically designate the completed robot and the inspection item as objects for re-inspection or objects for priority calculation.

5. The preventive maintenance system according to claim 4, characterized in that, After a certain period of time, the inspection item notification department will automatically set the robot and the inspection item that have been inspected as objects for re-inspection or objects for priority calculation.

6. The preventive maintenance system according to any one of claims 1 to 5, characterized in that, The priority calculation and processing unit calculates the priority on a per-robot basis. The checklist notification displays a priority list based on the order of the priorities.

7. The preventive maintenance system according to any one of claims 1 to 4, characterized in that, The priority calculation processing unit calculates the priority for each element that constitutes the robot. The checklist notification unit displays the priority list according to each of the elements that constitute the robot.

8. The preventive maintenance system according to claim 7, characterized in that, The element that constitutes the robot is the axis.

9. The preventive maintenance system according to any one of claims 1 to 8, characterized in that, The priority calculation and processing unit determines the priority based on the lifespan data of the reducer constituting the robot and the amount of axis movement.

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