Robotic controller and robotic system

Abstract

A robot controller (400) controls an action of a robot (100), and includes a circuit and a storage device that stores target data representing a target arrangement state of a traveling device (200) capable of supporting and moving at least one of the robot (100) and an object handled by the robot (100). The circuit is configured to output an input image in which a measurement position of the arrangement state of the traveling device (200) is represented together with an image of the traveling device (200) to a display device (320), accept measurement data of the arrangement state, and determine whether the arrangement state is abnormal by comparing the measurement data and the target data.

Description

[0001] Cross-referencing of related applications

[0002] This application claims the right of preference to Japanese Patent Application No. 2020-110822, filed with the Japan Patent Office on June 26, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to robot controllers and robot systems. Background Technology

[0004] To date, industrial robots have been deployed and used in various locations. For example, Patent Document 1 discloses a technique for detecting misplacement, such as loose bolts, in the placement and securing of a portable robot. The robot controller in Patent Document 1 pre-stores speed feedback signals of a robot placed in a non-misplaced state when it moves along a specific trajectory model. The robot controller determines whether the robot has been misplaced by comparing the speed feedback signals of the robot placed in the workplace moving along the specific trajectory model with the pre-stored speed feedback signals.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 6-332513 Summary of the Invention

[0008] For example, sometimes a driving device associated with a robot, such as a robot or a mobile robot handling an object, is mounted on a supporting surface such as a floor. Since the robot controller in Patent Document 1 detects misalignment based on the robot's movements, it may fail to detect misalignment of the driving device relative to the supporting surface. Misalignment of the driving device, such as its position and posture, can potentially reduce its durability.

[0009] The purpose of this disclosure is to provide a robot controller and robot system for detecting improper placement of a driving device associated with a robot.

[0010] One aspect of this disclosure relates to a robot controller that controls the actions of a robot, and includes circuitry and a storage device that stores target data representing a target placement state of a driving device capable of supporting and moving at least one of the robot and an object handled by the robot. The circuitry is configured to perform: outputting an input image representing a measured position of the placement state of the driving device along with an image of the driving device to a display device; receiving the measurement data of the placement state; and comparing the measurement data with the target data to determine whether the placement state is abnormal. Attached Figure Description

[0011] Figure 1 A perspective view showing an example of the structure of a robot system according to an exemplary embodiment.

[0012] Figure 2 This is a block diagram illustrating an example of the structure of a robot controller according to an exemplary embodiment.

[0013] Figure 3 This is a perspective view showing an example of the structure of the driving device according to an exemplary embodiment.

[0014] Figure 4 This is a top view illustrating an example of the structure of the driving device according to an exemplary embodiment.

[0015] Figure 5 This is a side view illustrating an example of the structure of the driving device according to an exemplary embodiment.

[0016] Figure 6 This is a top view showing an example of the management position of the driving device according to an exemplary embodiment.

[0017] Figure 7 This is a block diagram illustrating an example of the functional structure of a robot controller according to an exemplary embodiment.

[0018] Figure 8 This is a diagram illustrating an example of an input screen for measurement data output by a robot controller according to an exemplary embodiment.

[0019] Figure 9 This is a diagram illustrating an example of an output screen showing the placement state of the driving device as output by the robot controller according to an exemplary embodiment.

[0020] Figure 10 This is an example of an output screen showing the history of the placement state of the driving device as output by the robot controller according to an exemplary embodiment.

[0021] Figure 11This is a flowchart illustrating an example of anomaly detection processing in a robot controller according to an exemplary embodiment.

[0022] Figure 12 This is a perspective view illustrating an example of the structure of vibration and sound in a driving device according to an exemplary embodiment of the measurement.

[0023] Figure 13 A perspective view showing a modified example of the driving device according to an exemplary embodiment. Detailed Implementation

[0024] Hereinafter, exemplary embodiments of the present application will be described with reference to the accompanying drawings. Furthermore, the exemplary embodiments described below are general or specific examples. Structural elements in the following exemplary embodiments that are not described in the independent claims representing the highest-level concept are described as arbitrary structural elements. The figures in the drawings are schematic diagrams and not strictly illustrative. Moreover, in the figures, substantially identical structural elements are sometimes labeled with the same symbol, and repeated descriptions are omitted or simplified. In this specification and the claims, the term "device" can mean not only a single device but also a system composed of multiple devices.

[0025] [Structure of a Robot System]

[0026] The structure of the robot system 1 according to the exemplary embodiment will be described. Figure 1 This is a perspective view illustrating an example of the structure of the robot system 1 according to an exemplary embodiment. Figure 1 As shown, the robot system 1 includes a robot 100, a driving device 200, an operation input device 300, and a robot controller 400.

[0027] Not limited to this, in this exemplary embodiment, robot 100 is an industrial robot and includes a robot arm 110 and a base 120. The base 120 supports the robot arm 110. The robot arm 110 has at least one joint and at least one degree of freedom. The robot arm 110 is configured such that an end-effector capable of applying force to an object is mounted at its tip. The robot arm 110 can freely change the position and orientation of the end-effector. Furthermore, although the robot arm 110 in this exemplary embodiment is a vertical multi-joint type, it is not limited to this and can be of any type, such as a horizontal multi-joint type, a polar coordinate type, a cylindrical coordinate type, or a rectangular coordinate type.

[0028] Not limited to this, in this exemplary embodiment, the traveling device 200 is configured to support and move the robot 100, specifically, to move the robot 100 linearly. The traveling device 200 is placed on and fixed to a horizontal support surface such as a floor surface. Furthermore, the position and orientation of the support surface on which the traveling device 200 is placed can be any position and orientation; for example, the support surface can be a horizontal surface above a ceiling, or an upright surface such as a wall.

[0029] The driving device 200 includes: a movable platform 210 that supports and moves the robot 100, a support platform 220 that movably supports the movable platform 210 and is fixed to a support surface, and a drive device 230 that moves the movable platform 210. The base 120 of the robot 100 is fixed to the movable platform 210.

[0030] The operation input device 300 includes an input device 310 and a prompting device 320. The input device 310 accepts various instructions, information, and data inputs and outputs them to the robot controller 400. For example, the input device 310 can accept input from user P of the robot system 1. For example, the input device 310 can connect to other machines to accept input from those machines. For example, the input device 310 may include known input methods such as levers, buttons, touchscreens, joysticks, motion capture, cameras, and microphones. For example, the input device 310 may include terminal devices such as teaching pendants (as teaching devices), smartphones, tablets, personal computers, and dedicated terminal devices. For example, when the robot 100 is controlled in a master-slave configuration, the input device 310 may include a master unit. For example, the master unit may be configured to perform the same or similar actions as the robot arm 110.

[0031] The prompting device 320 perceptibly prompts the user P with instructions, information, and data received from the robot controller 400, etc. For example, the prompting device 320 may include a display device such as a liquid crystal display (LCD) or an organic or inorganic EL display (EL display) for visual prompting. The prompting device 320 may include a sound output device such as a speaker for auditory prompting. The prompting device 320 may be configured to provide tactile prompting. The prompting device 320 is an example of a display device.

[0032] [Structure of the robot controller]

[0033] The robot controller 400 controls the movements of the robot 100 and the driving device 200. The robot controller 400 processes instructions, information, and data input via the input device 310 of the operation input device 300. The robot controller 400 may be configured to connect to an external machine and receive and process inputs such as instructions, information, and data from that machine.

[0034] For example, the robot controller 400 controls the movements of the robot 100 and the driving device 200 according to the aforementioned instructions, information, and data. The robot controller 400 controls the supply of power and other resources to the robot 100 and the driving device 200. The robot controller 400 manages information used to manage the robot 100 and the driving device 200.

[0035] The robot controller 400 outputs various instructions, information, and data to the operation input device 300. For example, the robot controller 400 causes the prompting device 320 to provide visual, auditory, or both visual and auditory prompts for various instructions, information, and data. The robot controller 400 can output images for operating the robot 100 and the driving device 200, images indicating the status of the robot 100 and the driving device 200, and images for managing the robot 100 and the driving device 200.

[0036] The robot controller 400 includes a computer. Furthermore, the robot controller 400 may include electrical circuits for controlling the power supplied to the robot 100 and the driving device 200, machines for controlling the power supplied to the robot 100 and the driving device 200 (such as pneumatic or hydraulic power), and machines for controlling the supply of substances such as cooling water and paint to the robot 100 and the driving device 200. Machines other than the computer may be installed independently of the robot controller 400.

[0037] For example, a computer includes processing circuitry or circuitry. The circuitry or circuitry may include processing circuitry. Processing circuitry or circuitry includes a processor and storage devices, etc. Processing circuitry or circuitry transmits and receives instructions, information, and data from other devices. Processing circuitry or circuitry receives input signals from various machines and outputs control signals to various controlled objects. The storage device of the processing circuitry or circuitry may include memory, storage, or both, for example, at least one of various storage devices such as volatile memory and non-volatile memory (e.g., semiconductor memory), hard disks, and SSDs (Solid State Drives). For example, the storage device of the processing circuitry or circuitry stores programs executed by the processing circuitry or circuitry, as well as various data, etc.

[0038] The processing circuit or its function can be implemented by a computer system consisting of a processor such as a CPU (Central Processing Unit), volatile memory such as RAM (Random Access Memory), and non-volatile memory such as ROM (Read-Only Memory). The computer system can use the CPU to execute programs stored in the ROM using RAM as its working area to implement the processing circuit or its function. Furthermore, some or all of the processing circuit or its function can be implemented by the aforementioned computer system, or by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the aforementioned computer system and hardware circuits. The robot controller 400 can execute each process through centralized control by a single computer, or through distributed control through the cooperation of multiple computers.

[0039] For example, the various functions of the robot controller 400 can be implemented using circuits such as LSI (Large Scale Integration) and system LSI. Multiple functions of the robot controller 400 can be individually implemented on a single chip, or partially or completely implemented on a single chip. The circuits can be multifunctional or dedicated circuits. As an LSI, it can utilize FPGA (Field Programmable Gate Array), which can be programmed after LSI manufacturing; a reconfigurable processor connecting and / or configuring the internal circuitry of the reconfigurable LSI; or an ASIC (Application Specific Integrated Circuit), which integrates multifunctional circuits for a specific purpose.

[0040] The robot controller 400 is connected to the robot 100, the driving device 200, and the operation input device 300 via wired or wireless communication. The communication between them can be any wired or wireless communication. Since, in this exemplary embodiment, the robot controller 400 controls the power supplied to the robot 100 and the driving device 200, it is connected to the robot 100 and the driving device 200 via wired communication.

[0041] An example of the structure of the robot controller 400 will be described. Figure 2 This is a block diagram illustrating an example of the structure of a robot controller 400 according to an exemplary embodiment. For example... Figure 2As shown, the robot controller 400 includes a CPU 400a, a ROM 400b, a RAM 400c, a memory I / F (interface) 400d, an input / output I / F 400e, and a drive I / F 400f. These are interconnected via a bus 400A. The robot controller 400 also includes a storage device 400g connected to the memory I / F 400d, an operation panel 400h connected to the input / output I / F 400e, an input / output circuit 400i connected to the input / output I / F 400e, and drive circuits 400j and 400k connected to the drive I / F 400f. In this exemplary embodiment, the robot controller 400 can be implemented using a combination of a computer system and hardware circuitry.

[0042] The memory I / F 400d controls the reading or writing (storage) of data on the storage device 400g. Not limited to this, in this exemplary embodiment, the storage device 400g is a memory. The storage device 400g can be a storage device built into the robot controller 400 or an external storage device. In the latter case, examples of the storage device 400g can be storage media such as flash memory, CD-ROM, CD-R, and DVD, as well as storage devices such as hard disks and SSDs.

[0043] The input / output I / O circuit 400e is an interface for communication with the operation panel 400h and the input / output circuit 400i, such as for signal transmission. The operation panel 400h is the operation panel equipped on the robot controller 400. The operation panel 400h is connected to the input device 310 and transmits and receives signals with it. For example, the operation panel 400h may include functions such as switching the robot 100's motion modes. The input / output circuit 400i is connected to various external devices of the robot controller 400 and transmits and receives signals with these devices. For example, the input / output circuit 400i may be connected to the measuring device 2 (described later), external machines 3, the prompting device 320, and various sensors.

[0044] The drive I / F 400f is an interface for communication with the drive circuits 400j and 400k, including signal transmission. The first drive circuit 400j controls the power supplied to the drive devices of each joint of the robot arm 110. For example, the drive device includes a servo motor as an electric motor to generate driving force. The first drive circuit 400j receives and processes detection signals from rotation sensors and current sensors included in the servo motor, and sends the obtained detection values ​​as feedback information to the CPU 400a, etc. The second drive circuit 400k controls the power supplied to the electric motor of the end effector 130 of the robot 100 and the travel motor 231 of the drive device 230 of the travel device 200, etc. For example, the aforementioned motors are servo motors. The second drive circuit 400k receives and processes detection signals from rotation sensors and current sensors included in each servo motor, and sends the obtained detection values ​​as feedback information to the CPU 400a, etc. Note that current sensors are not necessary in servo motors. Each drive circuit 400j and 400k can obtain the current detection results of the servo motor from other means, such as circuits that control the supply current to the servo motor.

[0045] [Structure of the driving mechanism]

[0046] The structure of the travel device 200 will be described. Figure 3 This is a perspective view showing an example of the structure of the driving device 200 according to an exemplary embodiment. Figure 4 This is a top view illustrating an example of the structure of the driving device 200 according to an exemplary embodiment. Figure 5 This is a side view illustrating an example of the structure of the driving device 200 according to an exemplary embodiment. Figures 3 to 5 As shown, the support platform 220 of the traveling device 200 movably supports the movable platform 210 in directions D1 and D2. Directions D1 and D2 are along the support surface on which the support platform 220 is disposed, and are opposite to each other. The support platform 220 includes: multiple base components 221, multiple support components 222 and 223, guide components 224 and 225, and auxiliary components 226.

[0047] Each base component 221 is disposed and fixed on the support surface of the support platform 220. Each base component 221 extends along the support surface and in a direction D3 perpendicular to direction D1. Direction D3 is opposite to direction D4. The multiple base components 221 are spaced apart and arranged parallel to each other in direction D1. Both ends of each base component 221 are fixed to jack bolts 221a embedded in the support surface, and the height relative to the support surface can be adjusted by rotating the nuts 221b of the jack bolts 221a.

[0048] In this specification and claims, "parallel" may include "perfectly parallel" and "substantially parallel". "Perpendicular" may include "perfectly perpendicular" and "substantially perpendicular".

[0049] Support members 222 and 223 are disposed on and fixed to a plurality of base members 221. Each support member 222 and 223 has a columnar shape. Each support member 222 and 223 has flange-shaped connecting portions 222a and 223a at both ends in its respective longitudinal direction. Each support member 222 and 223 has at least one connecting portion 222b and 223b on both sides in a direction intersecting its respective longitudinal direction.

[0050] In this exemplary embodiment, four first support members 222 are arranged in a row along direction D1 in the length direction, and adjacent first connecting portions 222a are connected to each other by bolts and nuts. Four second support members 223 are arranged in a row along direction D1 in the length direction, and adjacent first connecting portions 223a are connected to each other by bolts and nuts. The four first support members 222 and the four second support members 223 are arranged parallel to each other near the two ends of each base member 221 facing directions D3 and D4. Each second connecting portion 222b and each second connecting portion 223b is fixed to the base member 221 by bolts 222c and 223c. The vertical height of the four first support members 222 and the four second support members 223 can be adjusted by adjusting the vertical height of the base member 221.

[0051] A first guide member 224 is disposed and fixed to four first support members 222, and extends in direction D1 within the area of ​​the four first support members 222. A second guide member 225 is disposed and fixed to four second support members 223 parallel to the first guide member 224, and extends in direction D1 within the area of ​​the four second support members 223. Guide members 224 and 225 have a rectangular columnar shape and provide a smooth guide surface extending in direction D1.

[0052] The auxiliary component 226 is arranged parallel to and fixed to the four first support components 222, and extends in direction D1 within the range of the four first support components 222. The auxiliary component 226 is arranged spaced apart from the first guide components 224 in direction D4. For example, the auxiliary component 226 is configured to engage with the drive body of the drive device 230 disposed between the auxiliary component 226 and the first guide components 224.

[0053] The movable stage 210 includes a main body 211 and sliding members 212 and 213 supporting the main body 211. The main body 211 extends across guide members 224 and 225 in directions D3 and D4. The main body 211 includes an upwardly projecting mounting portion 211a, which is configured as a base 120 for mounting the robot 100.

[0054] Sliding members 212 and 213 have a columnar shape extending in direction D1 and are fixed to the body 211. The first sliding member 212 engages with the upper surface of the first guide member 224 and its side facing direction D4. The second sliding member 213 engages with the upper surface of the second guide member 225 and its side facing direction D3. Sliding members 212 and 213 respectively restrict the movement of the body 211 in directions D3 and D4 on the guide members 224 and 225 and slidably support the body 211 from below in directions D1 and D2.

[0055] A drive unit 230 is disposed on the main body 211. The drive unit 230 includes a travel motor 231 and a drive mechanism 232. In this exemplary embodiment, the travel motor 231 is a servo motor. The drive mechanism 232 converts the rotational driving force of the travel motor 231 into a driving force that moves the main body 211 relative to the support platform 220 in directions D1 and D2. The drive mechanism 232 includes a drive body that rotates via the travel motor 231. The drive body is configured to engage with the auxiliary member 226 on its outer peripheral surface and move relative to the auxiliary member 226 in directions D1 and D2 by rotation. For example, the drive mechanism 232 may have a rack and pinion structure including a drive body as a gear and a rack formed on the auxiliary member 226, or a ball screw structure including a drive body as a nut and a screw shaft formed on the auxiliary member 226, etc.

[0056] The aforementioned travel device 200 is a track-type travel device with guide members 224 and 225 serving as a track for moving the movable platform 210. However, the travel device 200 is not limited to a track-type travel device and can be any travel device capable of moving the robot 100 and mounted on a support surface, etc.

[0057] The movement and load of the robot 100 on the traveling device 200 can be affected by the placement state of the traveling device 200. The load on the traveling device 200 when the robot 100 is moving can be affected by the placement state of the traveling device 200. If the robot 100 and the traveling device 200 continue to be used when the placement state of the traveling device 200 is abnormal, the durability of the robot 100 and the traveling device 200 will be reduced. Therefore, the placement state of the traveling device 200 is managed.

[0058] For example, when arranging the travel device 200, position management, posture management, or both position and posture management of the travel device 200 can be implemented. In this exemplary embodiment, as an example of position and posture management, horizontal management including height management and tilt management of the travel device 200 can be implemented. However, this is not a limitation; in this exemplary embodiment, horizontal management of the upper surfaces of the guide members 224 and 225 and the upper surface of the body 211 of the movable platform 210 can also be implemented. The objects of position and posture management can be determined according to the structure of the travel device 200.

[0059] For example, such as Figure 6 As shown, position and posture management can be implemented at the positions corresponding to the base component 221 on the upper surfaces of guide components 224 and 225. Figure 6 This is a top view illustrating an example of the management position of the driving device 200 according to an exemplary embodiment. For example, the position corresponding to the base component 221 could be the position where, in a top-down view, the center lines (dashed lines) of the guide components 224 and 225 intersect with the center line (dashed line) of the base component 221. This position is where the guide components 224 and 225 are supported by the base component 221. Figure 6 In the example, the eight points PA1 to PA8 on the upper surface of the first guide component 224 and the eight points PB1 to PB8 on the upper surface of the second guide component 225 are points for position and posture management.

[0060] In the main body 211, position and posture management can be performed at the corner positions of the upper surface of the mounting part 211a. The upper surface of the mounting part 211a is the surface on which the base 120 of the robot 100 is mounted. For example, position and posture management can be performed at the four corner positions of the upper surface of the mounting part 211a. Figure 6 In the example, the four points PC1 to PC4 at the four corners of the upper surface of the mounting part 211a are the points for position and posture management.

[0061] For example, for each of the height management points PA1 to PA8, PB1 to PB8, and PC1 to PC4, a target value and / or target range of the height measurement obtained from leveling can be preset. In the following text, target value and / or target range refers to target value, target range, or both. The travel device 200 is positioned such that the respective height measurement values ​​of points PA1 to PA8, PB1 to PB8, and PC1 to PC4 satisfy the target value and / or target range.

[0062] For example, for each pair of adjacent points among points PA1 to PA8, PB1 to PB8, and PC1 to PC4 in the tilt management system, a target value and / or target range for the tilt amount based on the difference in the measured height of the two points can be preset. The driving device 200 is positioned such that the tilt amount of each pair among points PA1 to PA8, PB1 to PB8, and PC1 to PC4 meets the target value and / or target range. For example, the aforementioned pair may be a pair of adjacent points in direction D1 or D2, a pair of adjacent points in direction D3 or D4, and a pair of adjacent points in a direction that tilts and intersects with directions D1, D2, D3, or D4, etc.

[0063] [Functional Structure of Robot Controller]

[0064] The functional structure of the robot controller 400 is described. Figure 7 This is a block diagram illustrating an example of the functional structure of a robot controller 400 according to an exemplary embodiment. For example... Figure 7 As shown, the robot controller 400 includes a motion control unit 410 and a management unit 420 as functional structural elements. Furthermore, the motion control unit 410 includes an operation information processing unit 411, a first motion command unit 412, a second motion command unit 413, a robot control unit 414, a travel control unit 415, and a first storage unit 419 as functional structural elements. The management unit 420 includes a management information processing unit 421, a conversion unit 422, a determination unit 423, a first image output unit 424, a second image output unit 425, a specification unit 426, and a second storage unit 429 as functional structural elements.

[0065] The functions of storage units 419 and 429 are implemented through the storage device of the robot controller 400, for example, through... Figure 2 This is achieved through ROM 400b, storage device 400g, or both ROM 400b and storage device 400g. The functions of the functional structural elements of the motion control unit 410 and management unit 420, other than storage units 419 and 429, are implemented by the processor of the robot controller 400, for example, through... Figure 2 This is achieved using CPU 400a, etc. The computer storage device and storage device 400g of the robot controller 400 are examples of the robot controller's storage device. Part or all of the robot controller's storage device may be included in the robot controller's processing circuitry or circuitry.

[0066] The first storage unit 419 can store and retrieve various types of information. For example, the first storage unit 419 can store programs and various data. For example, the first storage unit 419 can store programs, data, and information used to make the robot 100 and the driving device 200 perform actions. For example, the first storage unit 419 can store teaching data for the robot 100 to perform actions automatically and autonomously.

[0067] The operation information processing unit 411 processes information input to the robot controller 400 in either the operation mode or the management mode. The operation mode is a control mode of the robot controller 400 that implements control to move the robot 100 and the driving device 200. The management mode is a control mode of the robot controller 400 that implements control to manage the placement state of the driving device 200. The operation information processing unit 411, according to the execution instructions of the operation mode received from the input device 310 of the operation input device 300, causes the motion control unit 410 to operate in the operation mode.

[0068] The operation information processing unit 411 processes the instructions, information, and data received from the input device 310 and outputs them to the corresponding components. For example, the operation information processing unit 411 outputs instructions, information, and data related to the actions of the robot 100 to the first action command unit 412, outputs instructions, information, and data related to the actions of the driving device 200 to the second action command unit 413, and stores information and data of the robot 100 and the driving device 200 in the first storage unit 419.

[0069] The first motion command unit 412 generates motion commands for the robot 100, specifically the robot arm 110 and the end effector 130, to perform actions based on commands, information, and data associated with the robot 100's actions, and outputs them to the robot control unit 414. For example, the robot 100 can perform actions in automatic operation mode, manual operation mode, and modified automatic operation mode.

[0070] In automatic operation mode, robot 100 automatically and autonomously executes predetermined actions. First motion instruction unit 412 uses the predetermined motion information stored in first storage unit 419 and generates motion instructions, i.e., automatic motion instructions, to enable robot 100 to perform actions automatically, according to a program. The predetermined motion information may include information such as the position, posture, state, and sequence of various parts of robot 100, and may include, for example, pre-set data and teaching data.

[0071] In manual operation mode, the robot 100 performs actions according to the operation input to the input device 310 by the user P. The first motion instruction unit 412 generates motion instructions, i.e., manual motion instructions, for instructing the robot arm 110 and the end effector 130 to perform actions corresponding to the operation instructions received from the input device 310. The operation instructions are instructions corresponding to the control operations that are input to the input device 310 for the purpose of manually operating the robot 100.

[0072] In the automatic mode, the robot 100 automatically and autonomously executes predetermined actions. During the execution of these actions, it accepts input from user P via the input device 310, and performs actions according to the control operation to replace the automatic actions being executed. Similar to the automatic operation mode, the first motion command unit 412 generates automatic motion commands and outputs them to the robot control unit 414. When the robot 100 receives an operation command from the input device 310 during its operation, the first motion command unit 412 generates a manual motion command corresponding to the operation command and outputs the manual motion command to the robot control unit 414, replacing the automatic motion command.

[0073] The robot control unit 414 executes control to drive the drive devices of various parts of the robot 100 according to the action commands received from the first action command unit 412. For example, the robot control unit 414 determines the current value of the servo motors of the drive devices of the joints of the robot arm 110 and controls the current supply. The robot control unit 414 determines the current value of the servo motors of the drive devices of the end effector 130 and controls the current supply. In the control of the servo motors, the robot control unit 414 can use the rotation amount and current value of the servo motors as feedback information. Part of the function of the robot control unit 414 can be implemented by the drive circuits 400j and 400k.

[0074] The second motion command unit 413 generates motion commands for the driving device 200, specifically the driving motor 231, to move based on commands, information, and data associated with the movement of the driving device 200, and outputs them to the driving control unit 415. For example, the second motion command unit 413 may be configured, similar to the robot 100, to generate motion commands for the driving device 200 corresponding to the automatic operation mode, manual operation mode, and modified automatic operation mode.

[0075] The driving control unit 415 executes control to drive the travel motor 231 according to the action command received from the second action command unit 413. For example, the driving control unit 415 determines the current value supplied to the travel motor 231 and controls the current supply. The driving control unit 415 can use the rotation amount of the travel motor 231 and the current value as feedback information. Part of the function of the driving control unit 415 can be implemented by the second drive circuit 400k.

[0076] The second storage unit 429 can store and retrieve various types of information. For example, the second storage unit 429 stores information and data related to the installation status of the driving device 200. For example, the second storage unit 429 can store information about the positions of measuring points on the driving device 200 used to check the installation status of the driving device 200. The second storage unit 429 stores data of images prompted by the prompting device 320, etc., to input information and data related to the installation status of the driving device 200. The second storage unit 429 stores data of images prompted by the prompting device 320, etc., to output the installation status of the driving device 200.

[0077] For example, data related to the placement state of the driving device 200 may include position and orientation data of the driving device 200, current data of the driving device 200, or both position and orientation data and current data; in this exemplary embodiment, both are included. Position and orientation data may include the position of the driving device 200, the orientation of the driving device 200, or both the position and orientation of the driving device 200; in this exemplary embodiment, both are included. Furthermore, in this exemplary embodiment, the position of the driving device 200 includes its height, and the orientation of the driving device 200 includes its tilt.

[0078] The height of the traveling device 200 may include the height of the upper surfaces of the guide members 224 and 225 of the support platform 220, and the height of the upper surface of the body 211 of the movable platform 210, etc. For example, the above height may be... Figure 6 The heights of points PA1 to PA8, PB1 to PB8, and PC1 to PC4 are shown. The tilt of the travel device 200 may include the tilt of the upper surface of the guide member 224 itself, the tilt of the upper surface of the guide member 225 itself, the tilt between the upper surfaces of the guide member 224 and the guide member 225, and the tilt of the body 211. For example, the above tilt may be based on... Figure 6 The tilt amount of the difference in height between two adjacent points among points PA1 to PA8, points PB1 to PB8, and points PC1 to PC4.

[0079] The current data includes the current value of the travel motor 231 of the travel device 200. Furthermore, the current data may include the rotational amount of the travel motor 231 at each current value. That is, the current data may correlate the current value of the travel motor 231 and the corresponding rotational amount of the travel motor 231. Using the rotational amount of the travel motor 231, the position of the support platform 220 on the travel device 200 can be detected. Thus, the current value of the travel motor 231 and the corresponding position of the support platform 220 can be correlated.

[0080] For example, the second storage unit 429 stores position and orientation data, current data, or measurement data related to both position and orientation data and current data, as well as target data. The measurement data is the result of measuring the position and orientation data and the current data, acquired by the robot controller 400. Hereinafter, the measurement data of the position and orientation data will also be referred to as "position and orientation measurement data," and the measurement data of the current data will also be referred to as "current measurement data." The second storage unit 429 can store the measurement data in a time sequence as historical data, wherein the historical data includes, in association, the measurement data of the position and orientation data and the current data, and historical information including the measurement time and date or the acquisition time and date of the measurement data.

[0081] For example, the measurement data can be input by user P or others using input device 310. The measurement data can also be input from the measuring device 2 connected to the robot controller 400. For example, the measuring device 2 can be a leveling machine for measuring the height of the travel device 200, or an ammeter for measuring the current value of the travel motor 231. The measurement data can also be input from an external machine 3 other than the measuring device 2 connected to the robot controller 400. The external machine 3 can be any machine capable of outputting data to the robot controller 400. For example, the external machine 3 can be a multi-functional input device such as a numeric keypad, a smart device such as a computer, a smartphone or tablet, a storage medium such as flash memory, or a storage device such as a hard drive or SSD. For example, measurement data including a large amount of data can be input to the robot controller 400 from both the measuring device 2 and the external machine 3, or it can be input at any time.

[0082] The target data refers to the position and orientation data and current data of the driving device 200 when it is in a normal installation state. In other words, the target data are the position and orientation data and current data that enable the driving device 200 to be in a normal installation state, and correspond to the normal installation state of the driving device 200. The target data includes target values ​​and / or target ranges for position and orientation data, and target values ​​and / or target ranges for current data. For example, the target values ​​and target ranges for position and orientation data can be the target values ​​and target ranges for the position and orientation of the driving device 200. The target values ​​and target ranges for current data can be the target values ​​and target ranges for current values, and the target values ​​and target ranges for the temporal changes in current values, i.e., the actions.

[0083] The management information processing unit 421 processes the information input to the robot controller 400 in management mode. The management information processing unit 421 causes the management unit 420 to operate in management mode according to the execution instructions of management mode received from the input device 310.

[0084] For example, when the management information processing unit 421 receives an instruction from the input device 310, the measuring device 2, and the external machine 3, requesting the input of measurement data using the device, it outputs the instruction to the first image output unit 424.

[0085] The management information processing unit 421 receives measurement data input from the input device 310, the measuring device 2, and the external machine 3, and outputs the measurement data to the conversion unit 422.

[0086] When the management information processing unit 421 receives an instruction from the input device 310 or the like that requests the output of the installation status of the driving device 200, it outputs the instruction to the determination unit 423 and the second image output unit 425.

[0087] The management information processing unit 421 receives a command from the input device 310, etc., requesting the measurement of current data. The management information processing unit 421 outputs this command to the operation information processing unit 411. The operation information processing unit 411 outputs a command to perform the current data measurement action to the second action command unit 413. Based on the measurement action information stored in the first storage unit 419, the second action command unit 413 outputs an automatic action command to the driving control unit 415, causing the driving device 200 to automatically perform the measurement action. The driving control unit 415 executes control to drive the driving motor 231 according to this automatic action command. This is not limited to this; for example, the measurement action could be an action to drive the driving motor 231 at a predetermined output, such as maximum output, for a predetermined time. The driving control unit 415 outputs time-series data of the current values ​​obtained from the driving motor 231 to the management information processing unit 421. The management information processing unit 421 outputs this data to the conversion unit 422.

[0088] When the first image output unit 424 receives an instruction from the management information processing unit 421 requesting the input of measurement data, it reads the image data stored in the second storage unit 429 and generates input image data for the measurement data. The first image output unit 424 outputs this image data to the corresponding device via the specifying unit 426. If the instruction is from the input device 310, the first image output unit 424 sends the input image data and displays it on the prompting device 320. If the instruction is from the measuring device 2, the first image output unit 424 can also send and display the input image data on the measuring device 2. If the instruction is from an external machine 3, the first image output unit 424 can also send and display the input image data on the external machine 3.

[0089] For example, the first image output unit 424 can make Figure 8 The input of measurement data as shown is displayed on the prompting device 320 via a screen IS. Figure 8This diagram illustrates an example of an input screen for measurement data output by the robot controller 400 according to an exemplary embodiment. The input screen IS is an example of a screen for inputting height measurement data within position and posture measurement data, and includes an image of the driving device 200 showing the positions of each measurement point. For example, when user P operates the input device 310 and selects any one of the measurement points PA1 to PA8, PB1 to PB8, and PC1 to PC4 on the input screen IS using pointer IA, the input field IB for the measurement value of that measurement point is displayed. User P can input the measurement value in the input field IB. The input measurement value is sent to the management information processing unit 421. Furthermore, the measurement data input screen is not limited to a height measurement data input screen; it can be a screen that can input tilt amount, current value, or both tilt amount and current value, in addition to height measurement data.

[0090] The specification unit 426 specifies the scale of acceptable measurement data corresponding to the type of measurement data via the measurement data input screen. Information about the scale of the measurement data corresponding to the type of measurement data is stored in the second storage unit 429, and the specification unit 426 can use the scale information stored in the second storage unit 429. For example, the specification unit 426 specifies the unit of measurement data and the number of digits of measurement data that can be input using that unit, as the aforementioned scale. For example, the specification unit 426 specifies the number of digits below the decimal point, such as the hundredths place and the tenths place, as the predetermined number of digits of measurement data. The specification unit 426 sends image data reflecting the specification result from the input image data received from the first image output unit 424 to a corresponding device such as the prompting device 320. Furthermore, the specification unit 426 sends the specification result to the measurement data input device such as the input device 310. Thus, the scale of input measurement data is specified in both the measurement data input screen and the measurement data input device. For example, in... Figure 6 In the input screen IS, the specification unit 426 specifies the unit of height as "mm" and specifies the number of decimal places that can be input in the unit "mm" as "1".

[0091] The conversion unit 422 converts the format of the measurement data received by the management information processing unit 421 from the input device 310, the measuring device 2, and the external machine 3 into a format corresponding to the processing of the management unit 420 and outputs it. Specifically, the conversion unit 422 converts the format of the measurement data into a format corresponding to the processing of the determination unit 423. The conversion unit 422 outputs the converted data to the determination unit 423, stores the converted data in the second storage unit 429, or outputs the converted data to the determination unit 423 and stores it in the second storage unit 429. The conversion unit 422 can store the converted data in the second storage unit 429 in association with the historical information of the data.

[0092] For example, the format of measurement data sent from input device 310, measuring device 2, and external machine 3 may be text data such as numerical values, or a format inherent to each device. The conversion unit 422 converts this formatted measurement data into data in a format that the determination unit 423 can process. Thus, the robot controller 400 can receive and process measurement data input from various devices. Furthermore, the conversion unit 422 may be configured to convert the format of current measurement data received by the management information processing unit 421 from the driving control unit 415.

[0093] The determination unit 423 compares the converted measurement data received from the conversion unit 422 with the target data stored in the second storage unit 429 to determine whether there is any abnormality in the placement state of the driving device 200. The determination unit 423 outputs the determination result to the second image output unit 425, outputs and stores the determination result in the second storage unit 429, or outputs the determination result to the second image output unit 425 and stores it in the second storage unit 429. The determination unit 423 can store the determination result in the second storage unit 429 in association with historical information of the measurement data.

[0094] For example, the determination unit 423 can determine that the placement state is abnormal if at least one of the two cases, namely the first case and the second case, occurs. The first case is that the converted position and posture measurement data does not meet the target data of the position and posture data, and the second case is that the converted current measurement data does not meet the target data of the current data.

[0095] Not limited to this, in this exemplary embodiment, the determining unit 423 determines that the installation state is normal if neither the first nor the second incident occurs, and determines that the installation state is abnormal otherwise. For example, when there are measurement errors or input errors in the measurement data, sometimes even if the installation state is abnormal, the first incident will not occur, but the second incident may occur because the current measurement data does not meet the target data. When the drive motor 231 itself is abnormal, sometimes even if the installation state is abnormal, the second incident will not occur, but the first incident may occur because the position and posture measurement data does not meet the target data. This improves the accuracy of determining that the installation state is normal.

[0096] Furthermore, the determining unit 423 may be configured to determine whether there is an abnormality in the placement state using only one of the position and posture measurement data and the current measurement data. In this case, the determining unit 423 may determine that the placement state is normal if the position and posture measurement data meets the target data, or it may determine that the placement state is normal if the current measurement data meets the target data.

[0097] Position and posture measurement data meeting the target data can mean that the position and posture of the measurement data are consistent with the target value, above the target value, or below the target value. Alternatively, position and posture measurement data meeting the target data can mean that the position and posture of the measurement data fall within the target range.

[0098] Meeting the target data for current measurement can mean that the current value meets the target data. For example, meeting the target data for current can mean that a specific value, such as the maximum or minimum value of the current, meets the target data. For example, the specific value is the same as the target value, above the target value, or below the target value. For example, meeting the target data for current can mean that the current value, a specific value of the current, or both the current value and the specific value fall within the allowable range of the target, i.e., within the target range.

[0099] For example, current measurement data meeting the target data can mean that the current value's behavior meets the target data. For example, the current value's behavior meeting the target data can mean that the current value's behavior is consistent with the target behavior, the current value's behavior falls within the target's allowable range, or the difference between the current value's behavior and the target behavior falls within a predetermined allowable range. For example, the current value's behavior meeting the target data can mean that the current value's waveform over time is consistent with the target waveform, the current value's waveform over time falls within the target's allowable range of waveform changes, or the difference between the current value's waveform over time and the target waveform falls within a predetermined allowable range.

[0100] When the second image output unit 425 receives an instruction from the management information processing unit 421 requesting the output of the installation status of the driving device 200, it reads the image data stored in the second storage unit 429 and generates output image data for the installation status. The second image output unit 425 outputs this image data to the corresponding device. If the instruction is from the input device 310, the second image output unit 425 sends and displays the output image data on the prompting device 320. If the instruction is from the measuring device 2 or the external machine 3, the second image output unit 425 can also send and display the output image data on the measuring device 2 or the external machine 3.

[0101] When the instruction above requests the output of the placement state related to the input measurement data, the second image output unit 425 outputs output image data reflecting the determination result of the determination unit 423. For example, the second image output unit 425 can make... Figure 9 The output of the placement state shown is displayed on the prompting device 320 using the screen OSA. Figure 9 This diagram illustrates an example of an output screen (OSA) showing the placement status of the driving device 200 as output by the robot controller 400 according to an exemplary embodiment. The OSA includes: an image of the driving device 200 including the positions of each measurement point; a determination result regarding whether there are any abnormalities in the measured values ​​and current values ​​at each measurement point; and a determination result regarding whether there are any abnormalities in the placement status. For example, "OK" indicates no abnormality, and "NG" indicates an abnormality. Since the determination results regarding whether there are any abnormalities in the measured values ​​and current values ​​at each measurement point are displayed, the user P can accurately identify the cause of the abnormality and take appropriate action. Furthermore, the OSA may display the measured values ​​in addition to or in addition to the determination results regarding whether there are any abnormalities.

[0102] Furthermore, the determination result of whether the current value is abnormal can be output and displayed corresponding to the position of the support platform 220. For example, the position of the support platform 220 can be detected based on the rotation amount of the travel motor 231, and the determination result of whether the current value of the support platform 220 is abnormal at the time point when it passes through the predetermined measurement points PA1 to PA8 can be output.

[0103] When the aforementioned instruction requests the output of historical data on the placement status stored in the second storage unit 429, the second image output unit 425 outputs output image data reflecting the historical data. For example, the second image output unit 425 can make... Figure 10 The historical output of the placement status as shown is displayed on the prompting device 320 using the screen ОSB. Figure 10This diagram illustrates an example of an output screen (OSB) showing the history of the placement status of the driving device 200 output by the robot controller 400 according to an exemplary embodiment. The OSB includes: an image of the driving device 200 including the positions of each measurement point, the measurement date of each measurement data, the determination results regarding whether there are any abnormalities at each measurement point and with the current value, and the determination results regarding whether there are any abnormalities in the placement status. Since the history of the determination results regarding whether there are any abnormalities at each measurement point and with the current value is displayed, the user P can accurately identify the cause of the abnormality and take appropriate action. Furthermore, the OSB may display measurement values ​​in addition to or in addition to the determination results regarding whether there are any abnormalities. The determination results regarding whether there are any abnormalities in the current value may be displayed corresponding to the position of the support platform 220.

[0104] [The actions of the robot system]

[0105] The operation of the robot system 1 according to the exemplary embodiment in management mode will be described. Specifically, the robot controller 400 receives measurement data via the operation input device 300 and determines whether there is any abnormality in the placement state of the driving device 200 based on the measurement data. Figure 11 This is a flowchart illustrating an example of the anomaly detection processing of the robot controller 400 according to an exemplary embodiment.

[0106] like Figure 11 As shown, in step S1, user P inputs an instruction to execute the management mode and an instruction to determine the placement state of the driving device 200 using input measurement data to the input device 310 of the operation input device 300. When the robot controller 400 receives the above instructions from the operation input device 300, it begins control in the management mode.

[0107] Next, in step S2, the robot controller 400 sends the image data requiring input of position and pose measurement data to the operation input device 300, and the prompting device 320 of the operation input device 300 displays the image data. For example, the prompting device 320 displays... Figure 8 The input screen IS. User P uses input device 310 to input the measurement values ​​of each measurement point on the input screen IS. Robot controller 400 receives the measurement data of each measurement point, i.e., position and posture measurement data, sent from the operation input device 300.

[0108] Next, in step S3, the robot controller 400 sends the image data requesting current measurement data to the operation input device 300, and the prompting device 320 displays the image data on the screen. User P inputs the instruction to perform current data measurement to the input device 310. When the robot controller 400 receives this instruction, it causes the driving device 200 to autonomously perform the current data measurement action. The robot controller 400 obtains the current value data of the driving motor 231 of the driving device 200 during the measurement action, i.e., the current measurement data.

[0109] Next, in step S4, the robot controller 400 compares the position and posture measurement data obtained in step S2 with the target data of the position and posture data stored in the second storage unit 429.

[0110] Next, in step S5, if the position and posture measurement data meet the target data (yes in step S5), the robot controller 400 proceeds to step S6; if the position and posture measurement data do not meet the target data (no in step S5), it proceeds to step S7.

[0111] In step S7, the robot controller 400 determines that the placement status of the driving device 200 is abnormal and proceeds to step S11.

[0112] In step S6, the robot controller 400 compares the current measurement data obtained in step S3 with the target data of the current data stored in the second storage unit 429.

[0113] Next, in step S8, the robot controller 400 proceeds to step S9 if the current measurement data meets the target data (yes in step S8), and proceeds to step S10 if the current measurement data does not meet the target data (no in step S8).

[0114] In step S9, the robot controller 400 determines that the placement of the driving device 200 is normal and proceeds to step S11.

[0115] In step S10, the robot controller 400 determines that the placement status of the driving device 200 is abnormal and proceeds to step S11.

[0116] In step S11, the robot controller 400 sends image data representing the determination result to the operation input device 300, and the prompting device 320 displays the image data on a screen. For example, the prompting device 320 displays... Figure 9 The output uses OSA (Optical Screen Alignment).

[0117] Through steps S1 to S11, user P uses the operation input device 300 of robot 100 to input measurement data to the robot controller 400 of robot 100. The robot controller 400 can use the input measurement data to detect whether there is any abnormality in the placement status of the driving device 200.

[0118] Furthermore, when the measurement data is input using the measuring device 2 or the external machine 3, the robot controller 400 can perform the image display processing and position / pose measurement data acquisition processing in step S2 on the measuring device 2 or the external machine 3. The robot controller 400 can perform the image display processing and current measurement data acquisition processing in step S3 on the measuring device 2 or the external machine 3. The robot controller 400 can perform the image display processing in step S11 on the measuring device 2 or the external machine 3.

[0119] The robot controller 400 may be configured to determine whether there is any abnormality in the placement state of the driving device 200 corresponding to the measurement data by comparing the measurement data stored in the second storage unit 429 with the target data.

[0120] (Other implementation methods)

[0121] The exemplary embodiments of this disclosure have been described above, but this disclosure is not limited to the exemplary embodiments described above. That is, various modifications and improvements can be made within the scope of this disclosure. For example, various modifications implemented in the exemplary embodiments, as well as forms constructed by combining the constituent elements of different exemplary embodiments, are also covered within the scope of this disclosure.

[0122] For example, in an exemplary embodiment, the robot controller 400 uses position and posture measurement data of the driving device 200 and current measurement data of the driving motor 231 to determine whether there is any abnormality in the placement state of the driving device 200, but is not limited thereto.

[0123] For example, the robot controller 400 may be configured to determine whether there is any abnormality in the placement state of the driving device 200 by comparing the measured vibration data of the driving device 200 with target data. The measured vibration data includes vibration measurement data that includes the measurement results of the vibrations generated by the driving device 200.

[0124] For example, the robot controller 400 may be configured to determine whether there is any abnormality in the placement state of the driving device 200 by comparing the measured sound data of the driving device 200 with target data. The measured sound data includes sound measurement data, including the measurement results of the noise generated by the driving device 200.

[0125] Vibrations and noise generated by the driving device 200 can be transmitted through Figure 12 The vibration detection device 501 and the sound detection device 502 shown are used for detection. The vibration detection device 501 and the sound detection device 502 can be configured to output the detection signal to the robot controller 400. Figure 12 This is a perspective view showing an example of a structure for measuring vibration and sound in a driving device 200 according to an exemplary embodiment.

[0126] like Figure 12 As shown, the vibration detection device 501 can be disposed at both ends of the first guide member 224 in direction D1 and at both ends of the second guide member 225 in direction D1. The vibration detection device 501 can also be disposed between the aforementioned two ends. Examples of the vibration detection device 501 include accelerometers and strain sensors. When the vibration detection device 501 is an accelerometer, it can detect acceleration in at least one of the following axes: the axial direction of direction D1, the axial direction of direction D3, and the axial direction perpendicular to directions D1 and D3, as vibration measurement data. The target data for the vibration data can be a target value and / or a target range of acceleration, and a target value and a target range of the time-series change in acceleration, i.e., the action.

[0127] A sound detection device 502 may be disposed on the support platform 220. The sound detection device 502 may be disposed near each of the sliding members 212 and 213. Examples of the sound detection device 502 include a noise meter and a microphone. The sound detection device 502 may be configured to detect at least the intensity and direction of the sound, as sound measurement data. The target data of the sound data may be a target value and / or target range of sound intensity, and a target value and target range of the time-series change of sound intensity, i.e., the movement.

[0128] The robot controller 400 can be configured to determine whether the placement state of the driving device 200 is abnormal using at least one measurement data selected from the group consisting of position and posture measurement data, current measurement data, vibration measurement data, and sound measurement data. The robot controller 400 can accept at least one measurement data from the group consisting of position and posture measurement data, current measurement data, vibration measurement data, and sound measurement data. If at least one of the accepted measurement data does not meet the target data, the robot controller 400 determines that the placement state is abnormal. The robot controller 400 can determine that the placement state is normal if all at least one of the accepted measurement data meets the target data.

[0129] In an exemplary embodiment, the robot controller 400 is configured to use height data (i.e., position data) and tilt data (i.e., posture data) of the driving device 200 in the height direction as position and posture data of the driving device 200, but the position and posture data are not limited thereto. The position data contained in the position and posture data may include position data of any part of the driving device 200, which may include position in any direction in three-dimensional space. This position may be the absolute position of the object part of the driving device 200 itself, or the relative position of the driving device 200 relative to other object parts. The posture data may include posture data of any part of the driving device 200, which may include orientation in any direction, such as posture angle, in three-dimensional space. This posture may be the absolute posture of the object part of the driving device 200 itself, or the relative posture of the driving device 200 relative to other object parts.

[0130] In an exemplary embodiment, the robot controller 400 may be configured to control the operation of the driving device 200, but the operation of the driving device 200 may be controlled by a control device other than the robot controller 400. In this case, the robot controller 400 may be configured to output instructions to the control device to cause the driving device 200 to perform actions for measuring current data.

[0131] In an exemplary embodiment, the driving device used to determine whether the robot controller 400 is in an abnormal position is a driving device 200 capable of supporting and moving the robot 100, but it is not limited to this. The driving device used to determine whether the robot controller 400 is in an abnormal position can be any driving device associated with the robot 100. For example, the driving device can be a driving device capable of supporting and moving an object handled by the robot 100, or a driving device capable of supporting and moving both the object and the robot 100. Such a driving device is configured relative to and associated with the robot 100.

[0132] For example, the driving device can be Figure 13 The NC (Numerical Control) positioning device 600 shown in the image. Figure 13 This is a perspective view illustrating a modified example of the driving device according to an exemplary embodiment. For example... Figure 13As shown, the NC positioner 600 can hold the object W being handled by the robot 100 and move the object W along the three vertical axes of X, Y, and Z. For example, the object W can be the workpiece of the robot 100, as well as equipment and devices used to act on the workpiece. For example, in the case of use in an automobile manufacturing production line, the workpiece can be the car body, and the equipment and devices can be equipment and devices for holding components.

[0133] The NC positioner 600 operates under computer control and is controlled in a manner that links its movements with those of the robot 100 and changes the position of the object W. The robot controller 400 may be configured to control the movements of the NC positioner 600 together with the robot 100, or it may be configured to output motion information representing the movements of the robot 100 to other control devices that control the movements of the NC positioner 600.

[0134] The NC positioning device 600 includes a holding part 601 for an object W. When disposed on a horizontal support surface, the NC positioning device 600 can move the holding part 601 in the horizontal direction (X-axis and Y-axis) and the vertical direction (Z-axis). The NC positioning device 600 includes: a first moving device 605 that slides the holding part 601 relative to a first support part 602 in the Y-axis; a second moving device 606 that slides the first support part 602 relative to a second support part 603 in the Z-axis; and a third moving device 607 that slides the second support part 603 relative to a third support part 604 in the X-axis. The third support part 604 is disposed on the support surface.

[0135] The position and posture management of the NC positioner 600 may include posture management of the holding part 601, posture management of the first support part 602, and position and posture management of the support parts 603 and 604.

[0136] The posture management of the holding part 601 may include tilt management of the upper surface of the holding part 601, etc. The posture management of the first support part 602 may include tilt management of the upper surface of the first support part 602, etc. The position management of the second support part 603 includes height management of the upper surface of the second support part 603, and the posture management of the second support part 603 may include tilt management of the upper surface and sides of the second support part 603, etc. The position management of the third support part 604 includes height management of the upper surface of the third support part 604, and the posture management of the third support part 604 may include tilt management of the upper surface of the third support part 604, etc.

[0137] The moving devices 605 to 607 include servo motors as electrical motors for moving the holding part 601 and the support parts 602 and 603. The robot controller 400 can use the current value of the servo motors to determine whether there is any abnormality in the placement state of the NC positioner 600.

[0138] The NC positioner 600 may have a vibration detection device in at least one of the support parts 602 to 604. The robot controller 400 may use the detection results of the vibration detection device to manage the placement status of the NC positioner 600.

[0139] The NC positioner 600 may have at least one of the mobile devices 605 to 607 equipped with a sound detection device. The robot controller 400 may use the detection results of the sound detection device as a management object for the placement status of the NC positioner 600.

[0140] The robot controller 400 compares the target data and measurement data of each managed object to determine whether there is any abnormality in the placement status of the NC positioner 600.

[0141] Examples of the technology disclosed herein are illustrated below. One aspect of this disclosure relates to a robot controller that controls the actions of a robot, and includes circuitry and a storage device storing target data representing the placement state of a target of a driving device capable of supporting and moving at least one of the robot and an object handled by the robot. The circuitry is configured to: output an input image representing a measured position of the placement state of the driving device along with an image of the driving device to a display device; receive the measurement data of the placement state; and compare the measurement data with the target data to determine whether the placement state is abnormal. Alternatively, the storage device may be included in the circuitry or configured independently of the circuitry.

[0142] According to the above method, the driving device is a driving device associated with the robot. The robot controller can display an input image showing the measured position of the driving device's placement status along with an image of the driving device, receive measurement data of the placement status, and use target data stored in a storage device to determine whether there are any abnormalities in the measurement data. That is, the robot controller can detect improper placement of the driving device. The robot controller is configured for the robot being controlled. Therefore, when the user needs to confirm the placement status of the driving device associated with the robot, they can use the robot controller of that robot; for example, there is no need to retrieve the data of the driving device to be confirmed from the data of multiple driving devices associated with multiple robots. Thus, the placement status of the driving device to be confirmed can be reliably and easily determined.

[0143] In one aspect of the robot controller disclosed herein, the circuitry may be configured to store the measurement data as historical data in the storage device, wherein the historical data includes, in association, a history of the received measurement data and the measurement data itself.

[0144] As described above, the storage device stores historical measurement data. This allows the robot controller to use the historical data to detect any abnormalities in the placement of the driving device. By verifying the detection results and the historical data, the user can deduce the cause of the abnormality and quickly implement measures to resolve it.

[0145] In a robot controller according to one aspect of this disclosure, the circuit may be configured to receive at least one measurement data selected from the group consisting of position and posture measurement data, current measurement data, vibration measurement data, and sound measurement data, as the measurement data. The position and posture measurement data includes at least one measurement result of the position and posture of the driving device; the current measurement data includes a measurement result of the current of the motor driving the driving device; the vibration measurement data includes a measurement result of the vibration generated by the driving device; and the sound measurement data includes a measurement result of the noise generated by the driving device. The circuit may be configured to determine that the placement state is abnormal if at least one of the at least one measurement data does not meet the target data.

[0146] According to the above method, if the position and posture measurement data does not meet the target data, the position or posture of the driving device is abnormal, which may be caused by an abnormal placement state of the driving device. The robot controller can detect whether the placement state of the driving device is abnormal by detecting whether there are abnormalities in the position and posture measurement data. In addition, abnormalities in the position and posture of the driving device can cause excessive load on the moving robot, the object, or parts of the robot and the object within the driving device.

[0147] If the current measurement data does not meet the target data, there may be excessive load on the motor. Excessive load may be caused by an abnormal installation of the travel mechanism. The robot controller can detect abnormalities in the installation of the travel mechanism by monitoring the current measurement data.

[0148] If vibration measurement data does not meet the target data, abnormal vibrations may occur in the mobile robot, the object, or parts of the robot and the object within the driving device. These abnormal vibrations may be caused by an abnormal installation state of the driving device. The robot controller can detect any abnormalities in the installation state of the driving device by checking the vibration measurement data.

[0149] If the sound measurement data does not meet the target data, abnormal noise may be generated in the moving robot, the object, or parts of the robot and the object within the driving device. This abnormal noise may be caused by an abnormal placement of the driving device. The robot controller can detect any abnormalities in the placement of the driving device by checking the sound measurement data.

[0150] On the other hand, even when the installation status of the driving device is abnormal, the following situations may still occur. For example, there are cases where position and posture measurement data containing erroneous measurement results are received, but the position and posture measurement data still meets the target data; there are cases where the motor itself is malfunctioning, but the current measurement data still meets the target data; there are cases where the detection device, such as the vibration sensor, is malfunctioning, but the vibration measurement data still meets the target data; and there are cases where the detection device, such as the sound sensor, is malfunctioning, but the sound measurement data still meets the target data. The robot controller determines that the installation status of the driving device is normal only when all the received measurement data among the position and posture measurement data, current measurement data, vibration measurement data, and sound measurement data meet the target data, thus improving the accuracy of determining that the installation status is normal.

[0151] In one aspect of the robot controller disclosed herein, the circuitry may be configured to output an input image, representing the measurement position that accepts the measurement data and an image of the driving device, to the display device, and the storage device may store information about the measurement position and information about the image of the driving device.

[0152] Using the method described above, the robot controller displays images of the driving device and measurement positions to the user, and accepts measurement data input from the user. This allows the user to easily and reliably input measurement data.

[0153] In one aspect of the robot controller disclosed herein, the circuitry may be configured to define a scale for acceptable measurement data corresponding to the type of measurement data via the input image, and the storage device may store information about the scale of the measurement data.

[0154] Based on the above method, the robot controller specifies the input scale according to the type of measurement data. Thus, the user can input simple measurement data.

[0155] In one aspect of the robot controller disclosed herein, the circuit may be configured to output at least one of the measurement data and the determination result of whether the placement state is abnormal, and an output image representing the measurement position together with the image of the driving device, to the display device, and the storage device may store the information of the measurement position and the information of the image of the driving device.

[0156] According to the above method, the robot controller presents the user with the measurement data, the determination of whether there is an anomaly, or both the measurement data and the determination result, along with the image from the driving device. Thus, the user can easily visually identify the measurement data, the presence or absence of anomalies, or both.

[0157] In one aspect of the robot controller disclosed herein, the circuitry may be configured to convert the format of the measurement data received by the circuitry into a format corresponding to a process for determining whether there is an anomaly in the placement state.

[0158] According to the above method, the robot controller can accept measurement data in various formats and use this measurement data to detect any abnormalities in the placement of the driving device. For example, the robot controller can uniformly accept measurement data containing various data points and use this measurement data for determining whether any abnormalities exist.

[0159] In one aspect of the robot controller disclosed herein, the format of the measurement data received by the circuit may include at least one of a format set by the measuring device for measuring the placement state and a format in the form of text data.

[0160] According to the above method, the robot controller can uniformly receive measurement data containing various data from the measuring device through connection to the measuring device, and use the measurement data to detect whether there are any abnormalities in the placement status of the driving device. The robot controller can also uniformly receive text data containing various data from the measurement data, and use the text data to detect whether there are any abnormalities in the placement status of the driving device. This simplifies the processing of inputting measurement data into the robot controller.

[0161] The robot system disclosed herein comprises: a robot controller according to one aspect of the present disclosure; the robot controlled by the robot controller; and the driving device.

[0162] The same effect as that of the robot controller involved in one aspect of this disclosure can be obtained by the above method.

[0163] In one aspect of the robot system disclosed herein, the robot controller can control the movement of the driving device.

[0164] According to the above method, when the robot controller performs feedback control on the driving device, it can use the rotational speed and current value of the driving device's motor. The robot controller can use the information obtained during the control process of the driving device to determine whether there are any abnormalities in the placement state. That is, it is not necessary to set up a new machine to determine whether there are any abnormalities in the placement state.

[0165] The ordinal numbers, quantities, and other figures used above are illustrative examples for the purpose of specifically illustrating all the technologies of this disclosure, and this disclosure is not limited to the illustrative figures. The connecting relationships between the constituent elements are illustrative relationships for the purpose of specifically illustrating the technologies of this disclosure, and the connecting relationships for realizing the functions of this disclosure are not limited to these.

[0166] This disclosure is made in a manner that does not depart from its essential spirit and is practicable in various forms. The scope of this disclosure is defined by the appended claims rather than by the description. Therefore, illustrative embodiments and variations are exemplary rather than prescriptive examples. All modifications or equivalents of the claims and their scope are intended to be covered by the claims.

[0167] Explanation of reference numerals in the attached figures

[0168] 1 Robot System

[0169] 2 Measuring device

[0170] 3 External machines

[0171] 100 robots

[0172] 200 driving device

[0173] 231 travel motor

[0174] 300 Operation Input Device

[0175] 320 Notification Device (Display Device)

[0176] 400 Robot Controller

Claims

1. A robot controller that controls the actions of a robot. The robot controller includes circuitry and a storage device. The storage device stores target data, which represents the placement state of a target mobility device capable of supporting and moving at least one of the robot and the object handled by the robot. The circuit is configured to perform: The input, which represents the measured position of the placement state of the driving device together with the image of the driving device, is output to the display device as an image. Accept measurement data of the aforementioned placement state; as well as By comparing the measured data with the target data, it can be determined whether there are any abnormalities in the placement status. The circuit is configured to output an input image, which represents the measurement position that accepts the measurement data and the image of the driving device, to the display device. The storage device stores information about the measurement location and information about the image of the driving device.

2. The robot controller according to claim 1, wherein, The circuit is configured to store the measurement data as historical data in the storage device, wherein the historical data includes, in association, the history of the received measurement data and the measurement data itself.

3. The robot controller according to claim 1 or 2, wherein, The circuit is configured to receive at least one measurement data selected from the group consisting of position and posture measurement data, current measurement data, vibration measurement data, and sound measurement data, as the measurement data. The position and posture measurement data includes a measurement result of at least one of the position and posture of the driving device; the current measurement data includes a measurement result of the current of the motor driving the driving device; the vibration measurement data includes a measurement result of the vibration generated by the driving device; and the sound measurement data includes a measurement result of the noise generated by the driving device. The circuit is configured to determine that the placement state is abnormal if at least one of the at least one measurement data does not meet the target data.

4. The robot controller according to claim 1 or 2, wherein, The circuit is configured to define, via the input image, a scale for the acceptable measurement data corresponding to the type of measurement data. The storage device stores information about the scale used to measure the data.

5. The robot controller according to claim 1 or 2, wherein, The circuit is configured to output an image, representing at least one of the measurement data and the determination result of whether the placement state is abnormal, along with the measurement position and the image of the driving device, to the display device. The storage device stores information about the measurement location and information about the image of the driving device.

6. The robot controller according to claim 1 or 2, wherein, The circuit is configured to convert the format of the measurement data received by the circuit into a format corresponding to the process of determining whether there is an anomaly in the placement state.

7. The robot controller according to claim 6, wherein, The format of the measurement data received by the circuit includes at least one of the format set by the measuring device for measuring the placement state and the format of text data.

8. A robot system comprising: The robot controller according to any one of claims 1 to 7; The robot controlled by the robot controller; and The driving device.

9. The robot system according to claim 8, wherein, The robot controller controls the movements of the driving device.

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