Management device, network system, and method for managing action programs of robots

Abstract

A technology for reliably preventing an unintended accident due to an unacknowledged action program is sought. A management device (70) has: a data acquisition section (62) that acquires change information indicating a change applied to an action program and execution information indicating that the action program was executed in order to cause a robot (20) to act; an input reception section (64) that receives input of acknowledging the change information acquired by the data acquisition section (62); an acknowledgment determination section (66) that, when the data acquisition section (62) acquires the execution information, determines whether the change information of the action program being executed is acknowledged; and a procedure execution section (68) that, in a case where the acknowledgment determination section (66) determines that the change information is not acknowledged, executes a predetermined accident prevention procedure.

Description

Technical Field

[0001] This disclosure relates to a management device, network system, and method for managing the motion programs of a robot. Background Technology

[0002] A program correction device is known to supply the correction part to the robot control device when the robot's motion program is corrected (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-016488 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the past, procedures were sometimes executed without the manager's approval of any modifications. In such cases, a reliable technology is needed to prevent unforeseen accidents caused by unapproved procedures.

[0008] Methods for solving problems

[0009] In one aspect of this disclosure, a management device for managing the motion program of a robot comprises: a data acquisition unit that acquires change information indicating a change applied to the motion program and execution information indicating that the motion program has been executed in order to make the robot move; an input acceptance unit that accepts and approves the input of the change information acquired by the data acquisition unit; an approval determination unit that determines whether the change information of the currently executed motion program is approved when the data acquisition unit acquires the execution information; and a process execution unit that executes a predetermined accident prevention process if the approval determination unit determines that the change information is not approved.

[0010] In other embodiments of this disclosure, the method for managing robot motion programs obtains change information indicating changes applied to the motion program and execution information indicating that the motion program was executed to enable the robot to move. It accepts input of change information obtained by the approval data acquisition unit. When the execution information is obtained, it determines whether the change information of the currently executed motion program is approved. If it is determined that the change information is not approved, a predetermined accident prevention procedure is executed.

[0011] Invention Effects

[0012] According to this disclosure, it is possible to quickly detect unapproved procedures being performed, and to prevent unforeseen accidents caused by such unapproved procedures from occurring. As a result, operational efficiency can be improved. Attached Figure Description

[0013] Figure 1 This is a block diagram of a network system according to one implementation method.

[0014] Figure 2 This is a diagram of a robot system according to one implementation method.

[0015] Figure 3 This is a flowchart illustrating an example of a method for managing the motion procedures of a robot.

[0016] Figure 4 This is a block diagram of a network system implemented in other ways. Detailed Implementation

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Furthermore, in the various embodiments described below, the same elements are labeled with the same symbols, and repeated descriptions are omitted. First, refer to... Figure 1 The following describes one embodiment of the network system 10. The network system 10 includes: a robot system 12, a security device 14, an external device 16, and a communication network 18.

[0018] Robot system 12 is an industrial robot system that performs prescribed operations on a workpiece. Prevention and maintenance device 14 obtains motion status data OD, which indicates the motion state of robot system 12, or an anomaly identification code CD, which indicates an anomaly of robot system 12, from robot system 12, and monitors for anomalies occurring in robot system 12 based on motion status data OD or anomaly identification code CD.

[0019] External device 16 is, for example, a desktop or portable PC, or a server or other computer. Communication network 18 is, for example, a LAN (internal network) or the Internet, connecting the robot system 12, the security device 14, and the external device 16 in a manner capable of mutual communication. As an example, the robot system 12 may be located in a first building with a work line, the security device 14 may be located in a second building different from the first building, and the external device 16 may be located in a third building different from the first and second buildings.

[0020] Figure 2 This represents an example of robot system 12. Robot system 12 includes: robot 20, sensor 22 ( Figure 1 ), control device 24, and teaching device 26. In Figure 2 In the example shown, robot 20 is a vertical multi-joint robot with: robot base 28, rotating body 30, lower arm 32, upper arm 34, wrist 36 and end effector 38.

[0021] The robot base 28 is fixed to the floor of the work line. The rotating body 30 is mounted on the robot base 28 in a manner that allows it to rotate about a vertical axis. The lower arm 32 is mounted on the rotating body 30 in a manner that allows it to rotate about a horizontal axis, and the upper arm 34 is mounted on the front end of the lower arm 32 in a manner that allows it to rotate.

[0022] The wrist portion 36 is disposed at the front end of the upper arm portion 34 in a manner that allows it to rotate about two mutually orthogonal axes. The end effector 38 is detachably mounted at the front end of the wrist portion 36 (so-called wrist flange). The end effector 38 is, for example, a robot, a cutting tool, or a welding torch, and performs a prescribed operation on the workpiece (workpiece handling, cutting, or welding, etc.).

[0023] Servo motors 40 are installed in each component of robot 20 (robot base 28, rotating body 30, lower arm 32, upper arm 34, wrist 36). Figure 1 The servo motor 40 drives the movable components of the robot 20 (rotor 30, lower arm 32, upper arm 34, and wrist 36) according to the instructions from the control device 24.

[0024] Sensor 22 detects motion state data OD of robot system 12. Motion state data OD includes, for example, the rotational position, rotational speed, rotational acceleration, current value, and load torque of servo motor 40, the external force applied to robot 20, and the battery voltage used to operate control device 24 (or an encoder installed on servo motor 40). Sensor 22 supplies the detected motion state data OD to control device 24.

[0025] The control device 24 controls the movements of the robot 20. Specifically, the control device 24 is a computer with a processor (CPU, GPU, etc.) and a storage unit (ROM, RAM, etc.). According to a pre-made motion program OP, it generates instructions for each servo motor 40 of the robot 20, causing each movable component of the robot 20 to move according to the instructions. As a result, the end effector 38 moves sequentially to multiple teach points TP specified by the motion program OP. k (k = 1, 2, 3, ...). Thus, the control device 24 moves the robot 20 according to the action program OP, causing the end effector 38 to move to the teaching point TP. k And the end effector 38 performs the specified operation on the workpiece.

[0026] In the motion program (OP), the motion parameters (PR) of robot 20 and the command statements (CM) that cause robot 20 to perform the specified actions are defined. The motion parameters (PR) may include, for example, multiple teach points (TP). k Position data (specifically, coordinates in the robot coordinate system), two teaching points TP k and TPk+1 The movement trajectory and speed between them.

[0027] The control device 24 is connected to the prevention and maintenance device 14 via the communication network 18 in a communicative manner. When the control device 24 (specifically, the processor) executes an action program OP to cause the robot 20 to move, it supplies execution information EI to the prevention and maintenance device 14. The execution information EI includes, for example, the program name NM of the executed action program OP, and the start time t1 and end time t2 of the action program OP. The program name NM can be any string, for example, assigned by the operator A1 of the robot system 12.

[0028] Furthermore, the control device 24 detects abnormalities in the robot system 12 based on the motion state data OD obtained by the sensor 22 when the robot 20 is moved according to the motion program OP. For example, if the value of the motion state data OD (rotational position, rotational speed, rotational acceleration, current value, load torque, external force or voltage, etc.) obtained from the sensor 22 exceeds a predetermined reference value, the control device 24 (specifically, the processor) determines that an abnormality has occurred in the robot system 12.

[0029] When the control device 24 detects an anomaly in the robot system 12, it sends an anomaly identification code (CD) identifying the anomaly to the prevention and maintenance device 14 via the communication network 18. The anomaly identification code (CD) is, for example, a string (so-called error code) and is assigned individually according to the various anomalies that may occur in the robot system 12 (malfunction of sensor 22, interference between robot 20 and surrounding objects, low battery voltage, etc.).

[0030] The teaching pendant 26 teaches the robot 20 to move. Specifically, the teaching pendant 26 is, for example, a portable computer such as a teach pendant or a tablet terminal device, and has: a processor (CPU, GPU, etc.), a storage unit (ROM, RAM), a display unit (LCD, OLED display, etc.), and an operation unit (buttons, touch sensors, etc.).

[0031] The teaching pendant 26 is communicatively connected to the control device 24, enabling the robot 20 to perform jogging actions via the control device 24 based on input from the operating unit. Operator A1 operates the operating unit of the teaching pendant 26 to teach the robot 20 a prescribed action, thereby creating a motion program OP0 for the robot 20 to perform the prescribed action. This creates the initial motion program OP0.

[0032] The teaching pendant 26 assigns initial version information VER0 to the created action program OP0. The version information VER0 is, for example, a string such as "VER.000". The teaching pendant 26 supplies the created action program OP0, along with program name NM, program creation time t3, and version information VER0, to the control device 24, and then to the prevention and security device 14 via the communication network 18.

[0033] On the other hand, operator A1 can operate the teaching pendant 26 to repeatedly apply changes CH to the created action program OP0. n As a change applied to action procedure OP0, CH n For example, it can change the characters or lines of the command statement CM, change the value of the action parameter PR (position data, movement speed, etc.), or add a new command statement CM or action parameter PR.

[0034] Each time the teaching device 26 is used, the first change CH1, the second change CH2, ... the nth change CH are applied. n At that time, the action procedure OP is updated from the initial action procedure OP0 to the action procedure OP1 after the first change CH1, the action procedure OP2 after the second change CH2, ... the nth change CH n The subsequent action procedure (OP) n .

[0035] More specifically, the teaching pendant 26 (processor) receives the nth change CH from the operator. n Input IPC n At that time, based on the input IPC n The operation program (OP) stored in the storage unit of the teaching pendant 26 at the current point in time. n-1 Apply changes to CH n Updated to ActionProgram OP n At this time, the teaching device 26 performs the modified operation procedure (OP). n Automatically assign new version information VER n (For example, if n=3, then the string "VER.003") is stored in the storage section of the teaching device 26.

[0036] Next, the teaching device 26 will represent the applied change CH. n Change information CHI n Supply to preventive maintenance device 14. Change information CHI n For example, including modified operation procedures (OPs). n Program name NM, change time t4, and version information VER n Additional information, including CH indicating the changes imposed.n Content changes, content data, CHD n .

[0037] As an example, the content data CHD was changed. n It can also include only the modified operation procedure (OP). n The part that is modified (or appended) (i.e., the command statement CM or action parameter PR that is modified or appended). As another example, the content data CHD is modified. n It can also include modified operation procedures (OPs). n The self (i.e., all command statements CM and action parameters PR).

[0038] Thus, the teaching device 26 changes CH n Apply to the action program OP n-1 And updated to ActionProgramming OP n Thus, the teaching robot 20's actions are controlled. The teaching device 26 applies a change to CH in each repetition. n At that time, the CHI information will be changed. n With the changed action procedure OP n Together, they are sent to control device 24. Control device 24 will then receive the operation program OP. n The change information is stored in the storage unit and transmitted via the communication network 18. n Send to the prevention and security device 14.

[0039] As described above, in this embodiment, the control device 24 and the teaching device 26 are directly or indirectly connected to the robot 20 and the prevention and security device 14, communicating with each other while transmitting execution information EI and change information CHI. n The information is supplied to the prevention and maintenance device 14. Therefore, the control device 24 and the teaching device 26 constitute a system for transmitting execution information EI and change information CHI. n Communication equipment 42 supplied to the prevention and security device 14 Figure 1 ).

[0040] The security device 14 is a computer (PC or server, etc.) having a processor 50, a storage unit 52, an I / O interface 54, an input device 56, and a display device 58. The processor 50 has a CPU or GPU, etc., and is connected to the storage unit 52, the I / O interface 54, the input device 56, and the display device 58 in a communicative manner via a bus 60.

[0041] The storage unit 52 includes RAM or ROM, which temporarily or permanently stores various data used in the computational processing performed by the processor 50, as well as various data generated during the computational processing. The I / O interface 54 includes, for example, an Ethernet port, a USB port, a fiber optic connector, or an HDMI terminal, and communicates with other devices via wired or wireless means under instructions from the processor 50. The I / O interface 54 is connected to the communication network 18.

[0042] The input device 56 includes a keyboard, mouse, or touch panel, etc., for accepting data input from the operator. The display device 58 includes a liquid crystal display or an organic EL display, etc., for displaying various data. The input device 56 and the display device 58 can be disposed separately from the housing of the security device 14, or they can be integrally assembled into the housing of the security device 14.

[0043] The processor 50 obtains the aforementioned motion status data OD or anomaly identification code CD from the communication device 42 (specifically, the control device 24) via the communication network 18, and detects anomalies in the robot system 12 based on the motion status data OD or the anomaly identification code CD.

[0044] As an example, when the processor 50 receives the exception identification code CD from the control device 24, it can detect that an exception identified by the exception identification code CD has occurred in the robot system 12. As another example, when the processor 50 obtains the motion state data OD, it can detect the exception based on the motion state data OD using the same exception detection method as the control device 24 described above.

[0045] As another example, the processor 50 can also detect anomalies in the robot system 12 by applying the acquired motion state data OD to a learning model LM constructed through machine learning. The learning model LM represents the correlation between the motion state data OD (e.g., external force) and anomalies generated in the robot system 12 (e.g., interference between the robot 20 and surrounding objects). For example, it can be constructed by repeatedly feeding the motion state data OD and a learning dataset representing the determination data of whether or not anomalies exist to a machine learning device (e.g., supervised learning).

[0046] The processor 50 sequentially inputs motion state data (OD) continuously obtained from the robot system 12 into the learning model LM. If an anomaly exists that is highly correlated with the changes in the input motion state data (OD) within a specified period, the learning model LM identifies and outputs the anomaly. In this way, the processor 50 can use the learning model LM to detect anomalies generated in the robot system 12.

[0047] By using the learning model LM, the processor 50 can predict component failures in the robot system 12 due to anomalies. Furthermore, the processor 50 can also be configured to perform the functions of the aforementioned machine learning device. In this way, the processor 50 detects anomalies in the robot system 12 based on motion state data OD or anomaly identification code CD.

[0048] On the other hand, when the processor 50 obtains the initial action program OP0 created by the teaching device 26 via the communication network 18, it generates an approval image AIM0 for acknowledging the action program OP0 and displays it on the display device 58. For example, the approval image AIM0 includes an approval button image.

[0049] The operator A2 (e.g., the line designer) of the prevention and maintenance device 14 operates the input device 56 and clicks the approval button image within the approval image AIM0 on the image, thereby providing the input IPa0 of the approval action procedure OP0 to the processor 50. Based on the input IPa0, the processor 50 assigns an approval flag F1, indicating approval completion, as supplementary information to the action procedure OP0. Further details regarding the approval flag F1 will be described later.

[0050] Processor 50 management operation procedure (OP). See below for reference. Figure 3 This section explains the methods for managing operation procedures (OPs). Figure 3 The process shown begins when the processor 50 receives an action start command from operator A2, the host controller, or the computer program.

[0051] In step S1, the processor 50 determines whether the change information CHI has been obtained. n Specifically, as mentioned above, if CH is changed... n Applied to the action program OP n-1 Then the processor 50 obtains the change information CHI from the communication device 42 through the communication network 18. n Processor 50 will apply the change CH each time. n Multiple change information obtained at that time CHI n The Change History Data (HIS) is stored sequentially in storage unit 52. Further details regarding the Change History Data (HIS) will be described later.

[0052] Thus, in this embodiment, the processor 50 acts as the processor for obtaining change information CHI. n Data Acquisition Department 62 ( Figure 1 The processor 50 performs its function after receiving the change information CHI. n If the condition is met, proceed to step S2. On the other hand, if no change information CHI is obtained... n If the condition is not met, proceed to step S5.

[0053] In step S2, processor 50 generates CHI information to acknowledge the most recently acquired change. n AIM's acknowledged image n The image is displayed on display device 58. For example, the image AIM is recognized. n Similar to the aforementioned approval image AIM0, it includes an approval button image. Operator A2 clicks the approval image AIM0 on the image via the operation input device 56. n The image of the "Accept" button inside allows you to acknowledge the change information. n Input IPa n 50 is given to the processor.

[0054] In step S3, the processor 50 determines whether the acknowledgment of the change information CHI has been accepted. n Input IPa n The processor 50 receives input IPa via the input device 56. n If the condition is met, proceed to step S4. On the other hand, if the input IPa is not accepted... n If the condition is not met, proceed to step S5. Thus, in this embodiment, the processor 50 acts as the acceptor of the change information CHI. n Input IPa n Input Acceptance Department 64 ( Figure 1 To fulfill its function.

[0055] In step S4, processor 50 executes the process to acknowledge the most recently acquired change information CHI. n The process. For example, processor 50 assigns an approval flag F1, indicating completion of approval, as the most recent change information CHI. n The accompanying information, the most recent change information CHI n The change history data (HIS) is stored in storage unit 52. Table 1 below shows an example of the change history data (HIS) stored in storage unit 52.

[0056] [Table 1]

[0057] PRG-XYZ001 VER.003 2021 / 10 / 5 <![CDATA[CHD3]]> × PRG-XYZ001 VER.002 2021 / 8 / 30 <![CDATA[CHD2]]> 〇 PRG-XYZ001 VER.001 2021 / 8 / 15 <![CDATA[CHD1]]> 〇 PRG-XYZ001 VER.000 2021 / 6 / 1 <![CDATA[OP0]]> 〇

[0058] Table 1 schematically illustrates the data structure of the Change History Data (HIS). The example shown in Table 1 represents the action procedure (OP) with the program name NM "PRG-XYZ001". n The change history data HIS is stored in a way that links "version information", "time", "stored data" and "acknowledgment flags".

[0059] For example, the line with "Version Information" as "VER.000" corresponds to the initial action program OP0. As "Time", it records the creation time t3 of the initial action program OP0. As "Stored Data", it stores the action program OP0 itself (i.e., all command statements CM and action parameters PR).

[0060] On the other hand, the line with "Version Information" as "VER.001" corresponds to the change information CHI1 that indicates the first change CH1. As "Time", the change time t4 when the change CH1 was applied is recorded. As "Stored Data", the change content data CHD1 (changed part or changed action procedure OP1) is stored.

[0061] Additionally, a "0" in the "Acceptance Flag" column indicates that the acceptance flag F1, signifying acceptance completion, has been assigned. Conversely, an "×" in the "Acceptance Flag" column indicates that the acceptance flag F1 has not been assigned (or, it has been assigned a flag indicating non-acceptance). For example, in the example in Table 1, the change information CHI1, which corresponds to "VER.001" and represents the first change CH1, is assigned the acceptance flag F1 ("Acceptance Flag" = "0"), thus indicating that the change information CHI1 has been accepted by operator A2.

[0062] On the other hand, for the change information CHI3 corresponding to "VER.003" and representing the third change CH3, no approval flag F1 ("approval flag" = "×") was assigned, therefore, it indicates that the change information CHI3 was not approved by operator A2. Processor 50 processes each change information CHI stored in the change history data HIS. n (And the initial action procedure OP0) refers to the presence or absence of the approval flag F1 (“〇” or “×”) to determine each change information CHI. n (And whether the initial action procedure OP0) is recognized.

[0063] In step S5, the processor 50 determines whether execution information EI has been obtained. Specifically, as described above, when the control device 24 executes the operation program OP, the processor 50 functions as a data acquisition unit 62, acquiring execution information EI from the control device 24 via the communication network 18. If the processor 50 has obtained execution information EI, it determines that it has obtained it and proceeds to step S6; otherwise, if it has not obtained execution information EI, it determines that it has obtained it and proceeds to step S8.

[0064] In step S6, the processor 50 determines the currently executing action program OP. n Change information CHI n Whether it is recognized. Specifically, processor 50 refers to the action program OP contained in the most recently acquired execution information EI.n The program name NM is obtained from the storage unit 52, and the operation program OP with the program name NM is retrieved. n HIS change history data.

[0065] Then, processor 50 retrieves the most recent change information (CHI) from the change history data (HIS). n For example, processor 50 can retrieve version information VER from the Change History Data (HIS). n Or retrieve the most recent change information CHI at time t4. n For example, in the case of Table 1, the processor 50 can retrieve the change information CHI3, which indicates the third change CH3 with "Version Information" as "VER.003" and "Time" as "2021 / 10 / 5", as the most recently obtained change information.

[0066] Then, the processor 50 refers to the "acceptance flag" of the most recently retrieved change information CHI3 to determine whether the change information CHI3 is accepted. In the example in Table 1, the "acceptance flag" of the change information CHI3 is "×", therefore, the processor 50 determines no in step S6. On the other hand, if the "acceptance flag" of the change information CHI3 is "〇", the processor 50 determines yes. If the processor 50 determines no in step S6, it proceeds to step S7; otherwise, if it determines yes, it proceeds to step S8.

[0067] In this way, the processor 50 identifies the currently executing action program OP based on the execution information EI. n Determine the OP (operation program) currently executing the action. n Change information CHI n Whether it is approved. Therefore, in this embodiment, the processor 50 acts as the operator (OP) to determine the currently executing action program. n Change information CHI n Recognition determination section 66 (whether it is recognized) Figure 1 To fulfill its function.

[0068] In step S7, the processor 50 executes the accident prevention procedure AP. As an example of the accident prevention procedure AP, the processor 50 generates an alarm signal AL. For instance, the processor 50 generates an alarm signal AL that displays an image showing the text "An unapproved action procedure is being executed in the robot system of the production line. Please confirm whether it can be urgently approved." The processor 50 then causes the display device 58 to display the generated alarm signal AL. Thus, the operator A2 can visually identify that an unapproved action procedure OP is being executed in the robot system 12. n .

[0069] Furthermore, the processor 50 can also supply the generated alarm signal AL to the communication device 42 via the communication network 18. In this case, the control device 24 or the teaching device 26 can also display the acquired alarm signal AL on the display device installed on the control device 24 or the teaching device 26. In this case, it is also possible to notify the operator A1 of the work line that an unapproved action procedure OP is being executed. n .

[0070] Additionally, the processor 50 can also send the generated alarm signal AL to the external device 16 via the communication network 18, for example, via email. In this case, it is also possible to notify the operator A3 (e.g., the production line manager) of the external device 16 that an unauthorized action procedure (OP) is being performed. n .

[0071] Additionally, the processor 50 can repeatedly output the generated alarm signal AL to the display device 58, communication device 42, or external device 16, thereby repeatedly notifying operators A1, A2, or A3. The timing of outputting the alarm signal AL to the display device 58, communication device 42, or external device 16 (e.g., every hour) can be arbitrarily determined by operator A2. According to this structure, operators A1, A2, or A3 can be reliably notified that an unapproved action procedure (OP) is being executed. n .

[0072] Furthermore, the security device 14 can also be configured such that operator A2 can arbitrarily set whether to output an alarm signal AL to the communication device 42 or the external device 16. With this configuration, the function of arbitrarily enabling / disabling the notification alarm signal AL can be enabled / disabled depending on the situation. Additionally, the processor 50 can also generate the alarm signal AL as sound data. In this case, the processor 50 can also output the alarm signal AL as sound through a speaker (not shown) installed on the security device 14, the communication device 42, or the external device 16.

[0073] As another example of the accident prevention process AP, the processor 50 can also stop the robot 20. Specifically, the processor 50 sends an emergency stop command to the control device 24 via the communication network 18 to stop the robot 20. Based on the emergency stop command, the control device 24 stops the servo motor 40 of the robot 20, thus stopping the robot 20.

[0074] As another example of the accident prevention process AP, the processor 50 can also cause the robot 20 to perform a retreat action. Specifically, the processor 50 sends a retreat command to the control device 24 via the communication network 18, instructing the robot 20 to retreat. According to the retreat command, the control device 24 causes the robot 20 to retreat along a predetermined retreat path to a predetermined retreat position.

[0075] As described above, processor 50 determines that the information is a change message CHI. n If the error is not detected (i.e., determined to be negative in step S6), the accident prevention process AP (generation of alarm signal AL, emergency stop or retreat action of robot 20, etc.) is executed in step S7. Therefore, in this embodiment, the processor 50 serves as the process execution unit 68 that executes the accident prevention process AP. Figure 1 The processor 50 then proceeds to step S8 after step S7.

[0076] In step S8, the processor 50 determines whether an action termination command has been received from operator A2, the host controller, or the computer program. If the processor 50 receives an action termination command, it determines that it has, and terminates the operation. Figure 3 The process shown, on the other hand, determines no if no action end instruction is received, and returns to step S1.

[0077] As described above, in this embodiment, the processor 50 functions as a data acquisition unit 62, an input acceptance unit 64, an acceptance determination unit 66, and a process execution unit 68, and stores change information CHI. n The HIS storage department collaborates with the change history data management operation procedure OP to manage the data. n .

[0078] Therefore, in this embodiment, the processor 50 (data acquisition unit 62, input acceptance unit 64, approval determination unit 66, and process execution unit 68) and the storage unit 52 constitute a management operation program (OP). n Management device 70 ( Figure 1 That is, in this embodiment, the management device 70 is installed on the prevention and security device 14.

[0079] In the management device 70, the data acquisition unit 62 acquires the change information CHI. n And execute information EI, enter the acceptance department 64 to accept and acknowledge change information CHI n Input IPa n The judgment department 66 acknowledges the execution of the operational procedure (OP). n Change information CHI n Whether it is recognized or not, the process execution department 68 determines it as a change information CHI n Accident prevention procedure (AP) is performed without prior approval.

[0080] Based on this structure, it is possible to quickly detect unapproved operation procedures (OPs) that are being executed. n This can prevent unapproved operation procedures from being used by the OP. nThis prevents unforeseen accidents (such as the production line stopping due to robot 20 malfunction or interference with surrounding objects) from occurring. As a result, work efficiency can be improved.

[0081] Furthermore, in the management device 70, the process execution unit 68 generates an alarm signal AL as an example of the accident prevention process AP. Based on this structure, it is possible to reliably notify the operator A2 that an unapproved action procedure OP is being executed in the robot system 12. n .

[0082] In addition, the execution information (EI) may also include the version information (VER) mentioned above. n Either time t1 or t4, is used to determine the action program (OP) currently being executed. n In this case, the processor 50 can also, in step S6 above, include the version information VER contained in the most recently acquired execution information EI. n Alternatively, compare the times t1 and t4 with the change history data HIS (Table 1) stored in the storage unit 52, and retrieve the version information VER from the change history data HIS. n Or the change information CHI corresponding to times t1 and t4 n Processor 50 retrieves the change information CHI by referring to it. n The recognition flag F1 can determine the change information CHI n Whether it is recognized.

[0083] Next, refer to Figure 4 The other functions of the security device 14 will be explained. As described above, the processor 50 operates according to the operation program OP. n During execution, the robot system 12 detects abnormalities by providing motion status data (OD) or anomaly identification code (CD). Such abnormalities may arise from the executed motion program (OP). n It arises from inappropriateness.

[0084] Therefore, the following situation exists: When an anomaly is detected, operators A1 and A2 discard the most recent change CH. n The subsequent action procedure (OP) n To restore the most recent change CH stored in the aforementioned change history data HIS n The first change CH m The action program OP after (m < n) m Therefore, in this embodiment, the processor 50 also functions as a program recovery unit 72, restoring past operation programs (OPs). m .

[0085] As an example, when the processor 50 detects an anomaly, it generates multiple change information CHIs stored in the Change History Data (HIS). n One of the selected images (SIM) is displayed on the display device 58. The selected image (SIM) contains images of change history data (HIS) as shown in Table 1. Operator A2 can click on a change information (CHI) on the image from the change history data (HIS) displayed on the selected image (SIM) via the operation input device 56. m (Specifically, you can choose from "Version Information", "Time", or "Stored Data").

[0086] Processor 50 functions as input receiving unit 64, receiving changes (CH) selected from change history data HIS via input device 56. m Change information CHI m Input IPs. For example, in the case of the example in Table 1, the action procedure OP as prior to the most recent change CH3. m There is an initial action procedure OP0, an action procedure OP1 after the first change CH1, and an action procedure OP2 after the second change CH2.

[0087] In this case, when operator A2 selects the change information CHI2 (i.e., version information "VER.002") representing the second change CH2 from the change history data HIS, processor 50 restores the action procedure OP2 after the change CH2 based on the change history data HIS.

[0088] As an example, in the change information CHI n Includes changed content data CHD n If there is only a changed part (i.e., a changed or added command statement CM or action parameter PR), the processor 50 can restore the action program OP2 after changing CH2 based on the action program OP0 stored as "VER.000" in Table 1, the changed content data CHD1 (i.e., the changed part of CH1) stored as "VER.001" in "VER.001" in "VER.002 ...

[0089] As another example, in changing content data CHD n With modified action procedure (OP) n In the case of itself (i.e., all command statements CM and action parameters PR), the processor 50 can restore the action program OP2 by reading the "stored data" as "VER.002".

[0090] In this way, processor 50 restores the most recent change CH based on the change history data HIS. n The first change CH m The subsequent action procedure (OP) m Therefore, in this embodiment, the processor 50 serves as the recovery operation program OP. m The program recovery unit 72 functions. Furthermore, the processor 50 will restore the operation program OP. m It is supplied to the communication device 42 (e.g., control device 24) via the communication network 18.

[0091] Furthermore, if operator A2 selects the initial action program OP0: "VER.000", the processor 50 can restore the action program OP0 stored as "VER.000" by reading the "stored data". As described above, in this embodiment, the processor 50 (data acquisition unit 62, input acceptance unit 64, approval determination unit 66, process execution unit 68, program restoration unit 72) and the storage unit 52 constitute the management action program OP0. n Management device 80 ( Figure 1 ).

[0092] In the management device 80, the storage unit 52 will repeatedly apply changes to CH each time. n Multiple change information CHI obtained by the data acquisition unit 62 at that time n The change history data HST (Table 1) is stored (step S1 above). The program recovery unit 72 recovers the most recent change CH based on the change history data HST. n The first change CH m The subsequent action procedure (OP) m .

[0093] Based on this structure, by implementing the most recent change CH n The subsequent action procedure (OP) n In the event of an anomaly in robot system 12, the previous operation program is restored. m For example, by following the restored action procedure (OP). m By inducing robot 20 to move, it is possible to test whether the abnormality can be eliminated. As a result, the likelihood of continuing operations on the production line can be increased, thus improving work efficiency.

[0094] Furthermore, in the management device 80, the input receiving unit 64 receives input IPs that select a change information CHI2 from the change history data HST, and the program restoration unit 72 restores the action procedure OP2 after the change CH2 based on the input IPs received by the input receiving unit 64. According to this structure, operator A2 can arbitrarily select the action procedure OP to be restored. m .

[0095] In addition, the processor 50 can also display only the acknowledgment of completed change information CHI in the selected image SIM mentioned above. m (Or, acknowledge the completion of the initial action procedure OP0). Specifically, when the processor 50 detects an anomaly, it refers to the most recent change CH in the change history data HIS stored in the storage unit 52. n The first change CH m Change information CHI m The various recognition marks F1.

[0096] Furthermore, processor 50 generates change information CHI that is only marked with the approval flag F1. m (And the initial action procedure OP0) selection image SIM. For example, in the case of the example in Table 1, the processor 50 generates a selection image SIM that only displays the initial action procedure OP0 (version information: "VER.000"), change information CHI1 (version information: "VER.001"), and change information CHI2 (version information: "VER.002") which are given the approval flag F1.

[0097] Furthermore, the processor 50 functions as an input receiving unit 64, receiving input IPs that select the action procedure OP0, change information CHI1, or change information CHI2 displayed on the selection image SIM. Based on this structure, operator A2 can immediately identify previously recognized change information CHI. m (Or the initial action procedure OP0), which can recognize the completed change information CHI. m (Or select the change information to be restored in the initial action procedure OP0).

[0098] In addition, the processor 50 can also display only CHI change information that was not previously detected as anomaly in the selected image SIM mentioned above. m (Or the initial action program OP0). Specifically, the processor 50 in action program OP0... n When an anomaly is detected during execution, it is recorded in the Change History Data (HIS) stored in the storage unit 52 as part of the executed action program (OP). n Corresponding change information CHI n The accompanying information is assigned an exception flag F2 to indicate that an anomaly has been detected. Table 2 below shows an example of such change history data (HIS).

[0099] [Table 2]

[0100] PRG-XYZ001 VER.003 2021 / 10 / 5 <![CDATA[CHD3]]> × 〇 PRG-XYZ001 VER.002 2021 / 8 / 30 <![CDATA[CHD2]]> × × PRG-XYZ001 VER.001 2021 / 8 / 15 <![CDATA[CHD1]]> 〇 × PRG-XYZ001 VER.000 2021 / 6 / 1 <![CDATA[OP0]]> 〇 〇

[0101] In the example shown in Table 2, “〇” in the “Anomaly Flags” column indicates that the anomaly flag F2, which indicates that an anomaly has been detected, has been assigned. On the other hand, “×” in the “Anomaly Flags” column indicates that the anomaly flag F2 has not been assigned (or, the flag indicating that no anomaly has been detected has been assigned).

[0102] For example, in the example in Table 2, the change information CHI3, which corresponds to "VER.003" and represents the third change CH3, is assigned an exception flag F2 (i.e., the "exception flag" is "0"). Therefore, it indicates that an exception was detected during the execution of the action procedure OP3 after the change CH3.

[0103] On the other hand, for the change information CHI1 representing the first change CH1, no exception flag F2 was assigned (i.e., the "exception flag" is "×"), therefore, it indicates that no exception was detected during the execution of the action procedure OP1 after the change CH1. The processor 50 checks each change information CHI1 stored in the change history data HIS. n (And the initial action procedure OP0) refers to the presence or absence of the exception flag F2 (“〇” or “×”) to determine whether it is related to each change information CHI. n Corresponding Action Program (OP) n An abnormality was detected.

[0104] Processor 50 in action program OP n When an exception is detected during the execution of the program, the OP that is currently executing the action will... n Change information CHI n (Alternatively, the accompanying information from the initial action procedure OP0) assigns the exception flag F2. For example, the execution information EI includes version information VER. n In this case, processor 50 can also be in the action program OP. n When an exception is detected during the execution process, refer to the OP action procedure. n The execution information (EI) includes version information (VER). n As for the version information VER n Corresponding change information CHI n (Or the initial action procedure OP0) accompanying information, assigning the exception flag F2. In this way, the processor 50 can create change history data HIS as shown in Table 2.

[0105] Furthermore, the processor 50 only displays the change information CHI for which no abnormalities were detected in the selected image SIM mentioned above. m (Or the initial action procedure OP0). Specifically, the processor 50 refers to the change history data HIS stored in the storage unit 52, indicating the most recent change CH. nThe first change CH m Change information CHI m Each has its own exception flag F2.

[0106] Furthermore, processor 50 generates change information CHI that only displays cases where the exception flag F2 is not assigned. m (And the initial action procedure OP0) selection image SIM. For example, in the case of Table 2, the processor 50 detects an anomaly during the execution of the action procedure OP3 after the most recent change CH3, and assigns an anomaly flag F2 to the change information CHI3, which corresponds to "VER.003" and represents the third change CH3, in the change history data HIS.

[0107] In this case, the processor 50 refers to the exception flag F2 of the initial action program OP0 (version information "VER.000") before the most recent change CH3, the change information CHI1 (version information "VER.001") representing the first change CH1, and the change information CHI2 (version information "VER.002") representing the second change CH2 in the change history data HIS.

[0108] In the example in Table 2, no exception flag F2 was assigned to the change information CHI1 and CHI2. Therefore, the processor 50 generates a selection image SIM that only displays the change information CHI1 and CHI2. Furthermore, the processor 50 functions as an input receiving unit 64, receiving input IPs that select either the change information CHI1 or CHI2 displayed on the selection image SIM.

[0109] Based on this structure, operator A2 can immediately identify change information CHI for which anomalies were previously detected. m (Or the initial action procedure OP0), capable of detecting changes to CHI that have never been found to be abnormal. m (Or select the change information to be restored in the initial action procedure OP0).

[0110] In addition, the processor 50 can also combine the approval flag F1 with the exception flag F2 to extract the change information CHI displayed on the selected image SIM from the change history data HIS. m (Or the initial action procedure OP0). For example, processor 50 extracts change information CHI from change history data HIS that meets the conditions of being given an acceptance flag F1 and not being given an exception flag F2 (i.e., "acceptance flag" = "0" and "exception flag" = "×"). m (or the initial action procedure OP0).

[0111] For example, in the case of Table 2, processor 50 extracts change information CHI1 (version information: "VER.001") as information that meets the condition. Processor 50 generates a selection image SIM that only displays the extracted change information CHI1. Based on this structure, operator A2 can selectively restore the action procedure OP that meets multiple conditions such as whether there is approval and whether there is anomaly detection. m .

[0112] Furthermore, the processor 50 can also automatically restore the action program OP according to the predetermined condition CT without accepting the input IPs of the operator A2 for the selected image SIM. m For example, as a conditional CT, it is possible to determine the CH that represents a change more recent than the most recent one. n The first change CH m Change information CHI that has been given the approval flag F1 and not the exception flag F2 m The latest changes in information are subject to such conditions.

[0113] When the processor 50 detects an anomaly, it does not generate a selected image SIM, but instead extracts the change information CHI that meets the conditional CT from the change history data HIS. m Furthermore, the processor 50 can automatically reconstruct and extract the change information CHI based on the change history data HIS. m Corresponding Action Program (OP) m It is supplied to the communication device 42 (e.g., control device 24) via the communication network 18.

[0114] Furthermore, in the above-described embodiments, the teaching device 26 may also transmit the acceptance request along with the aforementioned change information CHI. n Together, they are sent to the preventive maintenance device 14. This approval request is used to prompt operator A2 of the preventive maintenance device 14 to approve the change information CHI. n For example, data containing images (or sounds) that display text such as "A change has been made to the action procedure. Please acknowledge the change."

[0115] When the processor 50 of the security device 14 receives an approval request, it displays the image (or sound) contained in the approval request on the display device 58 (or outputs it through a speaker). Based on this structure, the operator A2 of the security device 14 can reliably identify the corresponding confirmation and approval procedure OP. n Changes Ch n .

[0116] In addition, the above-mentioned change information CHI n It can also include CH that has been changed. nOperator A1's identification information (ID number, etc.), reason for change, and change CH n The identification number (product number, etc.) of the teaching device 26 used is used as supplementary information. In this case, the processor 50 of the preventive maintenance device 14 can store this identification information and the reason for the change in the change history data HIS mentioned above.

[0117] Furthermore, in the above-described embodiment, the teaching device 26 is described as operating the program OP. n Assign version information VER n However, it is not limited to this; the processor 50 of the security device 14 can also control the operation program OP. n Assign version information VER n .

[0118] Specifically, when the teaching device 26 creates the initial operation program OP0, it supplies the created operation program OP0 along with accompanying information including the program name NM and the program creation time t3 to the security device 14 via the communication network 18. The processor 50 of the security device 14 assigns an initial version information VER0 (e.g., "VER.000") to the obtained operation program OP0 and stores it in the storage unit 52 as the aforementioned change history data HIS.

[0119] In addition, the teaching device 26 is used for the operation procedure OP. n-1 Apply changes to CH n And updated to ActionProgramming OP n At that time, it will include supplementary information such as the program name NM and the change time t4, as well as the change content data CHD. n Change information CHI n Supply to the prevention and maintenance device 14. Upon receiving change information CHI n At that time, the processor 50 of the preventive security device 14 processes the change information CHI. n Changes in CH representation n The subsequent action procedure (OP) n Give new version information VER n The change history data (HIS) is stored in storage unit 52.

[0120] Furthermore, Tables 1 and 2 above are examples that can display change information for any number of rows. n The change history data (HIS) can be stored in the change history data (HIS) in addition to "version information", "time", "stored data" and "approval flag" (or instead) any other parameters (such as the change reason mentioned above).

[0121] Furthermore, in the above-described embodiment, the processor 50 is referenced to the change information CHI. n Attached version information VER n Alternatively, at time t4, retrieve the most recently obtained change information from the change history data HIS (Heterograph System). n The situation described in step S6 has been described. However, it is not limited to this; it can also replace the version information VER. n Or change the time t4 (or something else) to change the information CHI. n The accompanying information can determine whether a change has been applied to CH. n Arbitrary information about the time sequence. For example, processor 50 can also process change information CHI. n The changes are numbered sequentially, and the most recent change information (CHI) can be retrieved using this number. n .

[0122] Furthermore, in the above embodiment, in step S4, the change information CHI is used as an acknowledgment. n The process involves processor 50 changing information CHI. n The accompanying information regarding the case where the recognition flag F1 is assigned has been described. However, it is not limited to this; the processor 50 can also perform operations capable of recognizing change information CHI. n Acknowledging the completion of any data processing, as evidence of acknowledging the change information CHI. n The process.

[0123] For example, processor 50 can also access change information CHI n Version information VER n Adding characters or symbols to indicate acceptance of completion (e.g., changing "VER.002" to "VER.002.AP") enables the identification of this change information. n To acknowledge completion.

[0124] In this case, in step S6, the processor 50 can determine the change information CHI by referring to the data processing performed in the approval process in step S4. n Whether it is approved. Additionally, change information CHI. n The execution information EI may be limited to the information executorized in the above embodiments, and may also include any other information.

[0125] Furthermore, in the above embodiments, the case where management devices 70 and 80 are installed in the security device 14 has been described. However, this is not a limitation; management devices 70 or 80 may also be installed in the communication device 42. For example, when management devices 70 or 80 are installed in the control device 24, the processor and storage unit of the control device 24 constitute management devices 70 or 80. The processor of the control device 24 executes... Figure 3 The process shown is used to manage the action program OP. In this case, when the processor of the control device 24 executes the action program OP, it generates execution information EI, which is determined to be true in step S5.

[0126] On the other hand, when the management device 70 or 80 is installed on the teaching pendant 26, the processor and storage unit of the teaching pendant 26 constitute the management device 70 or 80. The processor of the teaching pendant 26 executes... Figure 3 The process shown is used to manage the operation procedure (OP). In this case, the processor of the teaching device 26 processes the input IPc from the operator A1. n For Action Programs (OPs) n-1 Apply changes to CH n At that time, change information CHI is generated. n In step S1, it is determined that yes. The present disclosure has been described above through embodiments, but the above embodiments do not limit the scope of the invention to which patent protection is sought.

[0127] Symbol Explanation

[0128] 10. Network System

[0129] 12 Robotic Systems

[0130] 14. Preventive and security devices

[0131] 16 External devices

[0132] 18. Communication Networks

[0133] 20 robots

[0134] 24 Control Device

[0135] 26 Teaching devices

[0136] 50 processors

[0137] 62 Data Acquisition Department

[0138] 64 Input Acceptance Department

[0139] 66. Acceptance Judgment Department

[0140] 68 Process Execution Department

[0141] 70, 80 Management Device

[0142] 72. Program Recovery Section.

Claims

1. A management device for managing the motion program of a robot, characterized in that, have: The data acquisition unit acquires change information indicating changes applied to the action program and execution information indicating that the action program was executed to make the robot move; The input acceptance department accepts and acknowledges the input of the change information obtained by the data acquisition department; The approval determination unit determines whether the change information of the currently executing action program is approved when the data acquisition unit obtains the execution information; as well as The process execution unit, when the approval determination unit determines that the change information has not been approved, executes a predetermined accident prevention process. The approval determination unit, based on the execution information obtained by the data acquisition unit, retrieves the most recent change information of the currently executing action program from the change history data, and determines whether the most recent change information is approved.

2. The management device according to claim 1, characterized in that, The process execution unit generates an alarm signal as part of the accident prevention process.

3. The management device according to claim 1 or 2, characterized in that, The management device also has: The storage unit stores multiple change information obtained by the data acquisition unit each time the change is repeatedly applied as change history data; as well as The program recovery unit restores the action program after the second change, which was performed before the first change, based on the change history data.

4. The management device according to claim 3, characterized in that, The input processing unit also accepts inputs from the change history data that select the change information representing the second change. The program restoration unit restores the modified action program based on the selected input received by the input acceptance unit.

5. A network system, characterized in that, have: The management device according to any one of claims 1 to 4; The robot; as well as A communication device that is communicatively connected to the robot and the management device, stores the action program, and supplies the change information and the execution information to the management device.

6. The network system according to claim 5, characterized in that, The communication device has: A control device that causes the robot to perform actions according to the action program and supplies the execution information to the management device; as well as The teaching device accepts the input of the change, teaches the robot's actions by applying the change to the motion program, and supplies the change information to the management device.

7. A method for managing the motion program of a robot, characterized in that, Obtain change information indicating changes applied to the action program and execution information indicating that the action program was executed to make the robot move. Accept and acknowledge the input of the obtained change information. Upon obtaining the execution information, it is determined whether the change information of the currently executing action procedure is acknowledged. If it is determined that the changed information has not been approved, a pre-determined accident prevention procedure is executed. Based on the obtained execution information, retrieve the most recent change information of the currently executing action program from the change history data, and determine whether the most recent change information has been approved.

Images