An abnormality processing apparatus, a network system, and a method for providing procedures for abnormalities occurring in a robot system

Abstract

Conventionally, there has been a demand for a technology for making it possible to appropriately deal with various abnormalities that can occur in a robot system.　An abnormality processing apparatus 90 is provided with: a storage unit 64 that stores a plurality of procedures respectively for dealing with a plurality of types of abnormalities, in association with abnormality identification information for identifying the abnormalities; an abnormality detection unit 74 that detects an abnormality on the basis of motion state data of a robot system 12; a data acquisition unit 78 that acquires abnormality identification information of the abnormality detected by the abnormality detection unit 74; and a procedure acquisition unit 80 that acquires, from the plurality of procedures stored in the storage unit 64, a procedure corresponding to the abnormality identification information acquired by the data acquisition unit 78.

Description

Technical Field

[0001] The present disclosure relates to an abnormality processing apparatus, a network system, and a method for providing procedures for abnormalities occurring in a robot system.

Background Art

[0002] When an abnormality occurs in a robot system, an apparatus that displays work procedures that should be performed by an operator on a work line is known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a robot system, various abnormalities can occur, such as malfunction of a robot and abnormalities in detection values of various sensors provided in the robot. Conventionally, there has been a demand for a technique that can appropriately handle such various abnormalities.

Means for Solving the Problems

[0005] An abnormality processing apparatus that provides procedures for dealing with abnormalities occurring in a robot system includes a storage unit that stores a plurality of procedures for dealing with a plurality of types of abnormalities in association with abnormality specifying information for specifying the abnormalities, an abnormality detection unit that detects an abnormality based on operation state data of the robot system, a data acquisition unit that acquires the abnormality specifying information of the abnormality detected by the abnormality detection unit, and a procedure acquisition unit that acquires a procedure corresponding to the abnormality specifying information acquired by the data acquisition unit from among the plurality of procedures stored in the storage unit.

[0006] A method for providing procedures for abnormalities occurring in a robot system stores a plurality of procedures for dealing with a plurality of types of abnormalities respectively in a storage unit in association with abnormality identification information for identifying the abnormalities, detects an abnormality based on the operation state data of the robot system, acquires the abnormality identification information of the detected abnormality, and acquires a procedure corresponding to the acquired abnormality identification information from among the plurality of procedures stored in the storage unit.

Advantages of the Invention

[0007] According to the present disclosure, it becomes possible to automatically acquire and provide procedures for dealing with various abnormalities that may occur in a robot system. Therefore, it becomes possible to appropriately and easily deal with various abnormalities.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the various embodiments described below, the same reference numerals are given to the same elements, and duplicate descriptions are omitted. First, with reference to FIG. 1, a network system 10 according to an embodiment will be described. The network system 10 includes a robot system 12, a preventive maintenance device 14, an external device 16, and a communication network 18.

[0010] The robot system 12 is an industrial robot system that performs a predetermined operation on a workpiece. The preventive maintenance device 14 obtains operation state data OD representing the operation state of the robot system 12 from the robot system 12, and monitors an abnormality AB occurring in the robot system based on the operation state data OD.

[0011] The external device 16 is a computer such as a desktop or portable PC, or a server. The communication network 18 is, for example, a LAN (intranet, etc.) or the Internet, and connects the robot system 12, the preventive maintenance device 14, and the external device 16 so that they can communicate with each other. As an example, the robot system 12 may be installed in a first building where a work line is provided, the preventive maintenance device 14 may be installed in a second building different from the first building, and the external device 16 may be installed in a third building different from the first and second buildings.

[0012] FIG. 2 shows an example of the robot system 12. The robot system 12 includes a robot 20, a sensor 22 (FIG. 1), and a control device 24. In the example shown in FIG. 2, the robot 20 is a vertically articulated robot and has a transport vehicle 26, a robot base 28, a swivel body 30, a lower arm 32, an upper arm 34, a wrist 36, and an end effector 38. The transport vehicle 26 may be, for example, an automated guided vehicle (AGV) that travels automatically in response to a command from the control device 24, or a manual transport vehicle that is manually moved by an operator A1. The transport vehicle 26 can move the robot 20 to an arbitrary position.

[0013] The robot base 28 is fixed on the carrier vehicle 26. The swivel body 30 is provided on the robot base 28 so as to be rotatable about a vertical axis. The lower arm portion 32 is provided on the swivel body 30 so as to be rotatable about a horizontal axis, and the upper arm portion 34 is rotatably provided at the tip of the lower arm portion 32.

[0014] The wrist portion 36 is provided at the tip of the upper arm portion 34 so as to be rotatable about two axes orthogonal to each other. The end effector 38 is detachably attached to the tip of the wrist portion 36 (so-called wrist flange). The end effector 38 is, for example, a robot hand, a cutting tool, a welding torch, etc., and performs a predetermined operation (work handling, cutting, welding, etc.) on the work. Note that the robot hand may have a plurality of finger portions for gripping the work, or may have a suction pad that generates a negative pressure between the work and adsorbs and holds the work.

[0015] Each component of the robot 20 (carrier vehicle 26, robot base 28, swivel body 30, lower arm portion 32, upper arm portion 34, wrist portion 36) is provided with a servo motor 40 (Fig. 1). The servo motor 40 drives the movable components of the robot 20 (carrier vehicle 26, swivel body 30, lower arm portion 32, upper arm portion 34, wrist portion 36) according to a command from the control device 24.

[0016] The sensor 22 detects the operation state data OD. For example, the operation state data OD may include the rotation position Pm, rotation speed Vm, rotation acceleration αm, current value I, and load torque τ of the servo motor 40. In this case, the sensor 22 may have a rotation detection sensor 22A (encoder, hall element, etc.) for detecting the rotation position of the servo motor 40, a current sensor 22B for detecting the current value of the servo motor 40, and a torque sensor 22C for detecting the load torque of the servo motor 40.

[0017] Further, the operation state data OD may include the position Pc, velocity Vc, and acceleration αc of the movable components (e.g., end effector 38) of the robot 20. The position Pc, velocity Vc, and acceleration αc of the movable components (end effector 38) of the robot 20 can be obtained, for example, from the detection values of the rotation detection sensor 22A (specifically, the rotational position Pm).

[0018] Also, when the end effector 38 is a robot hand having a plurality of finger portions, the operation state data OD may include the pressure P of the cylinder that opens and closes the plurality of finger portions. Further, when the end effector 38 is a robot hand having a suction pad, the operation state data OD may include the pressure P generated in the suction pad. In these cases, the sensor 22 may have a pressure sensor 22D that detects the pressure P.

[0019] Also, the operation state data OD may include the voltage E of the battery for operating the control device 24 or the rotation detection sensor 22A. In this case, the sensor 22 may have a voltage sensor 22E that detects the voltage E. Also, the operation state data OD may include the external force F applied to the robot 20. In this case, the sensor 22 may have a force sensor 22F that detects the external force F.

[0020] Also, the sensor 22 may have a vision sensor 22G disposed at a known position with respect to the robot 20, and the vision sensor 22G may capture the image data ID of the workpiece as the operation state data OD and supply it to the control device 24. In this case, the vision sensor 22G may provide the control device 24 with determination information for determining whether the image data ID of the workpiece has been appropriately captured, together with the image data ID.

[0021] Thus, the sensor 22 has at least one of sensors 22A, 22B, 22C, 22D, 22E, and 22F, and detects at least one piece of operation state data OD (rotation position Pm, rotation speedVm, rotational acceleration αm, current value I, load torque τ, position Pc, speed Vc, acceleration αc, pressure P, voltage E, external force F, and image data ID). Note that the operation state data OD is not limited to the above-described examples, and may include any other data, and the sensor 22 may be configured to detect such data.

[0022] The control device 24 is installed outside the robot 20 (or inside the carrier vehicle 26) and controls the operation of the robot 20. As shown in FIG. 1, the control device 24 is a computer having a processor 42, a storage unit 44, an I / O interface 46, an input device 48, a display device 50, and the like. The processor 42 includes a CPU or a GPU, etc., and is communicably connected to the storage unit 44, the I / O interface 46, the input device 48, and the display device 50 via a bus 52.

[0023] The storage unit 44 includes a RAM or a ROM, etc., and temporarily or permanently stores various data used in arithmetic processing executed by the processor 42 and various data generated during the arithmetic processing. The I / O interface 46 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and communicates data with an external device wiredly or wirelessly under the instruction from the processor 42. In the present embodiment, the I / O interface 46 is connected to the communication network 18, the sensor 22, and the servo motor 40.

[0024] The input device 48 has a keyboard, a mouse, a touch panel, or the like, and receives data input from an operator. The display device 50 has a liquid crystal display or an organic EL display, etc., and displays various data. The input device 48 and the display device 50 may be provided separately from the housing of the control device 24, or may be integrally incorporated into the housing of the control device 24.

[0025] The processor 42 acquires the operating state data OD (rotational position Pm, rotational speedVm, rotational acceleration αm, current value I, load torque τ, position Pc, speed Vc, acceleration αc, pressure P, voltage E, external force F, image data ID, etc.) from the sensor 22, and continuously (e.g., periodically) transmits the acquired operating state data OD to the preventive maintenance device 14 via the communication network 18.

[0026] The preventive maintenance device 14 is a computer having a processor 62, a storage unit 64, an I / O interface 66, an input device 68, a display device 70, etc. Note that the configurations of the processor 62, the storage unit 64, the I / O interface 66, the input device 68, and the display device 70 are the same as those of the above-described processor 42, storage unit 44, I / O interface 46, input device 48, and display device 50, so redundant explanations are omitted.

[0027] The processor 62 is communicably connected to the storage unit 64, the I / O interface 66, the input device 68, and the display device 70 via a bus 72. The I / O interface 66 is connected to the communication network 18, and the processor 62 obtains the operating state data OD from the control device 24 through the communication network 18 and stores it in the storage unit 64.

[0028] The processor 62 detects an abnormality AB of the robot system 12 based on the acquired operating state data OD. As an example, the processor 62 determines whether the operating state data OD is different from a predetermined standard. Specifically, the processor 62 determines whether the value of the operating state data OD (rotational position Pm, rotational speed Vm, rotational acceleration αm, current value I, load torque τ, position Pc, speed Vc, acceleration αc, pressure P, or voltage E) acquired from the sensor 22 exceeds a predetermined reference value β (OD > β or OD < β), and determines that the operating state data OD is different from the standard when the value of the operating state data OD exceeds the reference value β.

[0029] For example, when the end effector 38 is a robot hand having a suction pad, by monitoring the pressure P acquired from the pressure sensor 22D, it can be determined whether the end effector 38 appropriately grips the workpiece with the suction pad. The processor 62 determines that the pressure P has risen above the reference value β P (P > β P ) or has dropped (P < β P ), it can detect that an abnormal situation AB1 of poor gripping has occurred in the end effector 38. Further, when the voltage E acquired from the voltage sensor 22E drops below the reference value β E (E < β E ), the processor 62 can detect that an abnormal situation AB2 of voltage drop has occurred in the battery of the control device 24 or the rotation detection sensor 22A.

[0030] Also, when the external force F acquired from the force sensor 22F exceeds the reference value β F1 (F < β F1 or F > β F1 ), the processor 62 can detect an abnormal situation AB3 of malfunction (i.e., failure) of the force sensor 22F, or an abnormal situation AB4 of the robot 20 colliding with a surrounding environmental object (or the operator A1).

[0031] Further, when the processor 62 acquires the image data ID captured by the vision sensor 22G as the operation state data OD, and refers to the determination information included in the image data ID, and the determination information indicates that the image data ID is not captured appropriately, the processor 62 may determine that the operation state data OD (image data ID) is different from the reference. Thereby, the processor 62 can detect that an abnormal situation AB5 of poor imaging has occurred in the vision sensor 22G.

[0032] Alternatively, when the determination information is not included in the image data ID, the processor 62 may determine whether the image data ID is different from the reference based on the image data ID. Specifically, while the control device 24 of the robot system 12 is executing the operation by the robot 20, the vision sensor 22G images a marker provided at a known position with respect to the robot 20.

[0033] The processor 62 obtains the image data ID of the captured marker from the robot system 12, and acquires the position of the marker in the image data ID. When the position of this marker deviates from a predetermined reference point, it may be determined that the image data ID is different from the reference. In this way, the processor 62 can detect that an abnormal AB5 of imaging failure has occurred in the visual sensor 22G based on the image data ID.

[0034] As another example, the processor 62 may detect an abnormality AB of the robot system 12 using a learning model LM constructed by machine learning. This learning model LM shows the correlation between the operating state data OD (for example, pressure P) and the abnormality AB (for example, the abnormality AB1 of poor gripping of the end effector 38) occurring in the robot system 12. For example, a learning data set DS1 of the operating state data OD and determination data indicating the presence or absence of the abnormality AB can be repeatedly given to the machine learning device (for example, supervised learning), and thus can be constructed.

[0035] The processor 62 sequentially inputs the operating state data OD continuously obtained from the robot system 12 into the learning model LM. When there is an abnormality AB having a high correlation with the change in the operating state data OD input within a predetermined period, the learning model LM identifies and outputs the abnormality AB.

[0036] In this way, the processor 62 can detect an abnormality AB occurring in the robot system 12 from the operating state data OD and the learning model LM. By using this learning model LM, the processor 62 can predict that a component (for example, the servo motor 40 or the sensor 22) of the robot system 12 will fail due to the occurrence of the abnormality AB. Note that the processor 62 may be configured to execute the functions of the above-described machine learning device.

[0037] As described above, in the present embodiment, the processor 62 functions as an abnormality detection unit 74 (FIG. 1) that detects an abnormality AB based on the operation state data OD. Here, in the present embodiment, the storage unit 64 stores a plurality of procedures PR for dealing with a plurality of types of abnormalities AB that may occur in the robot system 12 in association with abnormality identification information SI that identifies the abnormality AB.

[0038] As an example, the abnormality identification information SI has an abnormality identification code SI1 individually assigned to a plurality of types of abnormalities AB (for example, abnormalities AB1, AB2, AB3, AB4,...). Specifically, the abnormality identification code SI1 consists of a plurality of character strings (so-called error codes) and is uniquely assigned to each of the plurality of types of abnormalities AB.

[0039] For example, an abnormality identification code SI1 of the character string "AB001" is assigned to the abnormality AB1 of the poor gripping of the end effector 38, an abnormality identification code SI1 of the character string "AB002" is assigned to the abnormality AB2 of the voltage drop of the battery, an abnormality identification code SI1 of the character string "AB003" is assigned to the abnormality AB3 of the malfunction of the force sensor 22F, an abnormality identification code SI1 of the character string "AB004" is assigned to the abnormality AB4 of the collision between the robot 20 and the surrounding environmental objects, and an abnormality identification code SI1 of the character string "AB005" is assigned to the abnormality AB5 of the poor imaging of the vision sensor 22G.

[0040] On the other hand, the procedures PR for dealing with various abnormalities AB are prepared in advance for each abnormality AB. For example, the procedure PR has image data of a text that describes the procedure PR in characters, or image data of a still image or a moving image that represents the operation of the operator A1 executing the procedure PR, and the operator A1 explains the procedure for dealing with the abnormality AB in text, a still image, or a moving image. For example, the procedure PR1 for dealing with the abnormality AB1 of the poor gripping of the end effector 38 having a suction pad has image data that describes the procedure of checking the suction pad or the air valve that generates negative pressure in the suction pad.

[0041] In addition, the procedure PR2 for dealing with the abnormal voltage drop AB2 of the battery has image data explaining the procedure for replacing the battery. Also, the procedure PR4 for dealing with the abnormality AB4 in which the robot 20 collides with a surrounding environmental object has image data explaining the procedure for checking the presence or absence of the collision. Further, the procedure PR5 for dealing with the abnormal imaging failure AB5 of the visual sensor 22G has image data explaining the procedure for checking the installation position of the visual sensor 22G, checking the members (for example, lenses) of the visual sensor 22G, and calibrating the visual sensor 22G.

[0042] The storage unit 64 stores the procedure PR (for example, procedures PR1, PR2, ···) and the abnormality identification information SI (for example, abnormality identification codes SI1: "AB001", "AB002", "AB003", ···) in association with each other. The operator A2 (for example, the designer of the production line) of the preventive maintenance device 14 operates the input device 68 to input a plurality of procedures PR (such as procedure PR1, etc.) and the abnormality identification information SI (abnormality identification code SI1: "AB001", etc.) associated with the procedure PR.

[0043] The processor 62 receives the input of the procedure PR and the abnormality identification information SI through the input device 68. Therefore, in the present embodiment, the processor 62 functions as an input reception unit 76 (FIG. 1) that receives the input of the procedure PR and the abnormality identification information SI. The storage unit 64 stores the procedure PR and the abnormality identification information SI received by the processor 62 in association with each other. In this way, the procedure PR and the abnormality identification information SI (specifically, the abnormality identification code SI1) are stored in advance in the storage unit 64.

[0044] When the processor 62 functions as an abnormality detection unit 74 and detects an abnormality AB, it acquires abnormality identification information SI for specifying the abnormality AB. As an example, a data table DT1 in which the type of the abnormality AB (for example, the abnormality AB1 of poor gripping) and the abnormality identification code SI1 (for example, "AB001") assigned to the abnormality AB are stored in association with each other is further stored in the storage unit 64. The processor 62 refers to the data table DT1 and acquires the abnormality identification code SI1 assigned to the detected abnormality AB as the abnormality identification information SI.

[0045] As another example, the processor 62 may specify the abnormality AB from the operation state data OD using the above-described learning model LM and acquire the abnormality identification code SI1 assigned to the abnormality AB. In this case, the learning model LM can be constructed by repeatedly providing a learning data set DS2 of the operation state data OD, determination data indicating the presence or absence of the abnormality AB, and the abnormality identification code SI1 assigned to the abnormality AB to the machine learning device.

[0046] The processor 62 sequentially inputs the operation state data OD obtained from the robot system 12 to the learning model LM, and the learning model LM outputs the specified abnormality AB and the abnormality identification code SI1 assigned to the abnormality AB. In this way, the processor 62 can acquire the abnormality AB and the abnormality identification code SI1 that occur in the robot system 12 from the operation state data OD. As described above, in the present embodiment, the processor 62 functions as a data acquisition unit 78 (FIG. 1) that acquires the abnormality identification information SI (specifically, the abnormality identification code SI1) of the detected abnormality AB.

[0047] Next, the processor 62 acquires a procedure PR corresponding to the acquired abnormality identification information SI from among a plurality of procedures PR stored in the storage unit 64. For example, when the processor 62 detects an abnormality AB1 of poor gripping and acquires an abnormality identification code SI1: "AB001" assigned to the abnormality AB1 as the abnormality identification information SI, it searches for and acquires the image data of the procedure PR1 associated with the abnormality identification code SI1: "AB001" from among a plurality of procedures PRn (n = 1, 2, 3, ···) stored in the storage unit 64. Thus, in the present embodiment, the processor 62 functions as a procedure acquisition unit 80 (FIG. 1) that acquires a procedure PR corresponding to the acquired abnormality identification information SI.

[0048] Then, the processor 62 supplies the acquired image data of the procedure PR to the display device 70 through the bus 72, and causes the procedure PR to be displayed on the display device 70 as an image. Further, the processor 62 transmits the acquired image data of the procedure PR to the communication network 18 through the I / O interface 66, and supplies it to the control device 24 via the communication network. The processor 42 of the control device 24 obtains the image data of the procedure PR via the I / O interface 46, and displays the procedure PR as an image on the display device 50.

[0049] Thus, in the present embodiment, the processor 62 functions as a display control unit 82 (FIG. 1) that causes the acquired procedure PR to be displayed on the display devices 50 and 70 as an image. Note that the processor 62 may function as the display control unit 82 and cause the acquired procedure PR to be displayed on a display device (not shown) installed on the work line instead of (or in addition to) the display device 50.

[0050] As described above, in the present embodiment, the storage unit 64 stores a plurality of procedures PR in association with the abnormality identification information SI, and the processor 42 functions as an abnormality detection unit 74, an input reception unit 76, a data acquisition unit 78, a procedure acquisition unit 80, and a display control unit 82 to provide a procedure PR for dealing with an abnormality AB that has occurred in the robot system 12.

[0051] Therefore, the memory unit 64 and the processor 42 (the abnormality detection unit 74, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, and the display control unit 82) constitute an abnormality processing device 90 (FIG. 1) that provides a procedure PR for dealing with the abnormality AB. Thus, in the present embodiment, the abnormality processing device 90 is mounted on the preventive maintenance device 14.

[0052] In the abnormality processing device 90, the memory unit 64 stores a plurality of procedures PR in association with the abnormality identification information SI, the abnormality detection unit 74 detects the abnormality AB based on the operation state data OD, the data acquisition unit 78 acquires the abnormality identification information SI (specifically, the abnormality identification code SI1) of the abnormality AB detected by the abnormality detection unit 74, and acquires the procedure PR corresponding to the abnormality identification information SI acquired by the data acquisition unit 78 from among the plurality of procedures PR stored in the memory unit 64. According to this configuration, it is possible to automatically acquire and provide the procedures PR for dealing with various abnormalities AB that may occur in the robot system 12. Therefore, it is possible to appropriately and easily deal with various abnormalities AB.

[0053] Also, in the abnormality processing device 90, the input reception unit 76 receives the input of the procedure PR and the abnormality identification information SI (abnormality identification code SI1), and the memory unit 64 stores the procedure PR and the abnormality identification information SI received by the input reception unit 76 in association with each other. According to this configuration, since the operator A2 can arbitrarily input the procedure PR and the abnormality identification information SI, the procedure PR and the abnormality identification information SI can be updated to the latest data by adding, deleting, or editing them as necessary.

[0054] Also, in the abnormality processing device 90, the abnormality identification information SI has an abnormality identification code SI1 individually assigned to a plurality of types of abnormalities AB, and the data acquisition unit 78 acquires the abnormality identification code SI1 assigned to the abnormality AB detected by the abnormality detection unit 74 as the abnormality identification information SI. According to this configuration, the processor 62 can function as the procedure acquisition unit 80 and can easily and quickly search for the procedure PR for dealing with the occurred abnormality AB by the abnormality identification code SI1.

[0055] Further, in the abnormality processing device 90, the display control unit 82 causes the display devices 50 and 70 to display the procedure PR acquired by the procedure acquisition unit 80 as an image. By visually recognizing the image of the procedure PR thus displayed on the display devices 50 and 70, the operator A1 of the work line and the operator A2 of the preventive maintenance device 14 can easily understand the procedure PR for dealing with the abnormality AB. And the operator A1 can appropriately deal with the abnormality AB on the work line according to the procedure PR displayed on the display device 50 even without specialized knowledge.

[0056] Note that the processor 62 may function as the display control unit 82, transmit the image data of the procedure PR acquired by the procedure acquisition unit 80 to the external device 16 via the communication network 18, and cause it to be displayed on a display device (not shown) provided in the external device 16. In this case, the operator A3 (for example, the administrator of the work line) of the external device 16 can also easily understand the procedure PR for dealing with the abnormality AB.

[0057] Note that the procedure PR may have voice data for explaining the procedure PR by voice instead of (or in addition to) the image data. In this case, the processor 62 may output the voice data of the procedure PR through a speaker provided in the preventive maintenance device 14 (or the control device 24). When the procedure PR has only voice data, the display control unit can be omitted from the abnormality processing device 90.

[0058] Also, the input reception unit 76 can be omitted from the abnormality processing device 90. For example, the procedure PR and the abnormality identification information SI may be prepared using the external device 16 of the abnormality processing device 90 and downloaded to the preventive maintenance device 14 via the communication network 18 (or an external memory).

[0059] Depending on the type of the occurred abnormality AB, operator A1 may need to disconnect robot 20 from the work line. For example, for the battery voltage drop abnormality AB2, operator A1 can handle it on the work line by replacing the battery. On the other hand, for the malfunction abnormality AB3 of the force sensor 22F, since it is impossible to replace the force sensor 22F, there may be cases where operator A1 cannot handle it on the work line.

[0060] In such cases, in order to continue working on the work line, it is necessary to disconnect robot 20 provided with force sensor 22F from the work line. Therefore, the procedure PR3 for dealing with the malfunction abnormality AB3 of the force sensor 22F is, for example, the procedure PR3 for disconnecting robot 20 from the work line _1 and the procedure PR3 for having operator A1 manually take over the work that robot 20 was performing on the work line. _2 has.

[0061] Specifically, the procedure PR3 for disconnecting robot 20 _1 may have image data of text that describes in words the procedure of operating the carrier 26 to move robot 20 away from the work line, or image data of a still image or a moving image that represents the operation performed by operator A1 for this procedure. Also, the procedure PR3 for disconnecting robot 20 _1 may have image data of text that describes in words the procedure of cutting off the communication connection between the control device 24 and a higher-level controller (not shown) of the control device 24, or image data of a still image or a moving image that represents the operation performed by operator A1 for this procedure.

[0062] On the other hand, the procedure PR3 for having operator A1 take over the work _2 may have image data of text that describes in words the procedure of the work that operator A1 should perform instead of robot 20 on the work line (for example, the work handling procedure) after disconnecting robot 20, or image data of a still image or a moving image that represents the operation performed by operator A1 for this procedure.

[0063] When the processor 62 detects the abnormality AB3 of the malfunction of the force sensor 22F, it functions as a data acquisition unit 78 to acquire the abnormality identification code SI1: "AB003" assigned to the abnormality AB3, and functions as a procedure acquisition unit 80 to search for and acquire the procedure PR3 associated with the abnormality identification code SI1: "AB003" from the storage unit 64. Then, the processor 62 functions as a display control unit 82, supplies the image data of the procedure PR3 to the display devices 50 and 70, and causes the display devices 50 and 70 to display the image of the procedure PR3 _1 and the image of the procedure PR3 _2 in sequence.

[0064] According to this configuration, the operators A1 and A2 can easily understand the procedure PR3 for disconnecting the robot 20 from the work line _1 and the procedure PR3 for the work that the operator A1 should perform on behalf of after the disconnection _2 in order to handle the abnormality AB3. As a result, the operator A1 can continue the work on the work line by performing the work of the robot 20 on behalf of.

[0065] Note that the abnormality AB that requires the procedure PR3 for disconnecting the robot 20 and performing the work on behalf of may exist in addition to the abnormality AB3 of the malfunction of the force sensor 22F. For example, the abnormality AB5' in which the imaging failure of the vision sensor 22G occurs repeatedly, and the abnormality AB6 of the detection value of the sensor 22 (for example, the detection value is continuously zero) may also require the procedure PR3. The procedure PR3 is associated with the abnormality identification codes SI1 (for example, "AB003", "AB005'", and "AB006") assigned to these abnormalities AB3, AB5', and AB6, etc., and is stored in the storage unit 64.

[0066] Next, referring to FIG. 3, other functions of the preventive maintenance device 14 will be described. In the present embodiment, in addition to the above-described abnormality detection unit 74, input reception unit 76, data acquisition unit 78, procedure acquisition unit 80, and display control unit 82, the processor 62 functions as an approval determination unit 84, a notification generation unit 86, and a communication control unit 88. Hereinafter, with reference to FIG. 4, the operation flow of the preventive maintenance device 14 will be described. The flow shown in FIG. 4 starts when the processor 62 receives an operation start command from the operator A2, the host controller, or a computer program.

[0067] In step S1, the processor 62 starts an operation of acquiring the operation state data OD. Specifically, as described above, the processor 62 starts an operation of continuously (for example, periodically) obtaining the operation state data OD from the control device 24 through the communication network 18.

[0068] In step S2, the processor 62 functions as the abnormality detection unit 74 and determines whether or not an abnormality AB has been detected based on the operation state data OD by the method described above. When the processor 62 detects the abnormality AB, it determines YES and proceeds to step S3, while when the processor 62 does not detect the abnormality AB, it determines NO and proceeds to step S5.

[0069] In step S3, the processor 62 determines whether or not it is necessary to disconnect the robot 20 from the work line based on the abnormality identification information SI. Specifically, the processor 62 functions as the data acquisition unit 78 and acquires the abnormality identification code SI1 of the abnormality AB detected in the most recent step S2 as the abnormality identification information SI.

[0070] Then, the processor 62 determines whether or not the acquired abnormality identification code SI1 corresponds to the code SI1 X that requires the robot 20 to be disconnected from the work line. For example, the abnormality identification codes SI1: "AB003", "AB005'", and "AB006" assigned to the above-described abnormalities AB3, AB5', and AB6 are classified into the code SI1 X .

[0071] In this step S3, the processor 62 obtains the abnormality identification code SI1 X classified into SI1 (for example, "AB003", "AB005'", or "AB006"), and determines YES, then proceeds to step S6. On the other hand, if the processor 62 obtains an abnormality identification code SI1 not classified into SI1, it determines NO and proceeds to step S4. X

[0072] In step S4, the processor 62 functions as a procedure acquisition unit 80, and obtains, from among a plurality of procedures PR stored in the storage unit 64, the procedure PR corresponding to the abnormality specification information SI (specifically, the abnormality identification code SI1) obtained in the most recent step S3 by the method described above. Then, the processor 62 functions as a display control unit 82, and causes the obtained procedure PR to be displayed as an image on the display devices 50 and 70 (and the display device of the external device 16).

[0073] In step S5, the processor 62 determines whether it has received an operation end command from the operator A2, the upper controller, or the computer program. If the processor 62 has received the operation end command, it determines YES and ends the flow shown in FIG. 4. On the other hand, if it has not received the operation end command, it determines NO and returns to step S2.

[0074] On the other hand, if it is determined YES in step S3, in step S6, the processor 62 determines whether it is possible to handle the abnormality AB detected in the most recent step S2. Here, there are cases where the operator A1 cannot disconnect the robot 20 from the work line (for example, when the operator A1 is not permitted to operate the carrier 26, or when the robot 20 does not have the carrier 26 and is fixed to the work line and cannot move).

[0075] Even if the robot 20 is disconnected, there may be cases where the operator A1 cannot take over the work being performed by the robot 20 (for example, when the robot 20 performs laser processing). In these cases, the operator A1 cannot take measures on the production line for the detected abnormality AB.

[0076] Therefore, in this step S6, the processor 62 acquires, together with the abnormality identification information SI, the feasibility determination information DI for determining the feasibility of dealing with the abnormality AB, and determines whether it is possible to deal with the abnormality AB based on the feasibility determination information DI. As an example, the feasibility determination information DI includes an identification code DI1 (manufacturing number, model number, etc.) for identifying the robot 20 and a data table DT2 storing the identification code DI1 of the robot that cannot be disconnected from the production line. X

[0077] As another example, the feasibility determination information DI includes an identification code DI2 (for example, an identification code representing laser processing) for identifying the work performed by the robot 20 and a data table DT3 storing the identification code DI2 of the work that the operator A1 cannot take over. These identification codes DI1 and DI2, and the data tables DT2 and DT3 are stored in advance in the storage unit 44 of the control device 24, for example. X

[0078] The processor 62 functions as a data acquisition unit 78 to acquire the abnormality identification information SI (abnormality identification code SI1) of the abnormality AB detected in the most recent step S2, and obtains the identification code DI1 (or DI2) and the data table DT2 (or DT3) from the control device 24 via the communication network 18.

[0079] Then, the processor 62 determines whether the acquired identification code DI1 (or DI2) is the identification code DI1 X (or DI2 XDetermine whether it corresponds to , and if it does, determine YES and proceed to step S8. On the other hand, if it does not correspond, determine NO and proceed to step S7. Thus, in the present embodiment, the processor 62 functions as a determination unit 84 (FIG. 3) that determines whether it is possible to handle the abnormality AB based on the determination information DI.

[0080] In step S7, the processor 62 functions as a procedure acquisition unit 80, and the disconnection of the robot 20 and the procedure PR3 for substituting work (specifically, the procedure PR3 _1 and PR3 _2 ) corresponding to the abnormality identification information SI (for example, the abnormality identification code SI1: "AB003", "AB005'", or "AB006") acquired in the most recent step S3 are acquired.

[0081] Then, the processor 62 functions as a display control unit 82 and causes the acquired procedure PR3 to be displayed on the display devices 50 and 70 (as well as the display device of the external device 16) as an image. As a result, the operator A1 on the work line can easily understand the procedure PR3 _1 for disconnecting the robot 20 from the work line and the procedure PR3 _2 for the work to be substituted after the disconnection of the robot 20, and can execute these procedures PR3 _1 and PR3 _2 on the work line without specialized knowledge.

[0082] In step S8, the processor 62 generates notification data ND for notifying that it is impossible to handle the abnormality AB detected in the most recent step S2, and transmits it to the external device 16. Specifically, the processor 62 generates, for example, notification data ND representing a warning such as "An abnormality that cannot be handled has occurred in the robot system" as image data or audio data. Thus, in the present embodiment, the processor 62 functions as a notification generation unit 86 (FIG. 3) that generates notification data ND when it is determined in step S6 that it is impossible to handle the abnormality AB (that is, YES).

[0083] Then, the processor 62 transmits the generated notification data ND to the external device 16 registered in advance in the storage unit 64 as the transmission destination via the communication network 18. Note that the processor 62 may transmit the notification data ND to the external device 16 in the form of an e-mail.

[0084] As a result, the operator A3 of the external device 16 (for example, the administrator of the work line) can easily recognize that an abnormality AB that cannot be handled by the robot system 12 has occurred. Thus, in the present embodiment, the processor 62 functions as a communication control unit 88 (FIG. 3) that transmits the generated notification data ND to the external device 16. After executing step S8, the processor 62 ends the flow of FIG. 4.

[0085] As described above, in the present embodiment, the processor 42 functions as an abnormality detection unit 74, an input reception unit 76, a data acquisition unit 78, a procedure acquisition unit 80, a display control unit 82, an approval determination unit 84, a notification generation unit 86, and a communication control unit 88, and provides the procedure PR stored in the storage unit 64.

[0086] Therefore, the storage unit 64 and the processor 42 (abnormality detection unit 74, input reception unit 76, data acquisition unit 78, procedure acquisition unit 80, display control unit 82, approval determination unit 84, notification generation unit 86, and communication control unit 88) constitute an abnormality processing device 100 (FIG. 1) that provides a procedure PR for dealing with the abnormality AB. Thus, in the present embodiment, the abnormality processing device 100 is mounted on the preventive maintenance device 14.

[0087] In the abnormality processing device 100, the data acquisition unit 78 acquires the approval determination information DI together with the abnormality identification information SI, the approval determination unit 84 determines whether it is possible to deal with the abnormality AB based on the approval determination information DI, and the notification generation unit 86 generates notification data ND for notifying that the approval determination unit 84 has determined that it is impossible to deal with the abnormality AB. According to this configuration, when an abnormality AB that the operator A1 cannot handle on the work line occurs in the robot system 12, it can be automatically notified.

[0088] Also, in the abnormality processing device 100, the communication control unit 88 transmits the notification data ND generated by the notification generation unit 86 to the external device 16 of the abnormality processing device 100. According to this configuration, it is possible to automatically notify the operator A3 (for example, the administrator of the work line) of the external device 16 that an unresolvable abnormality AB has occurred.

[0089] In step S4 described above, the processor 62 may provide the procedure PR step by step according to the input data IP from the operator. For example, the procedure PR5 for dealing with the abnormality AB5 of the imaging failure of the visual sensor 22G is the procedure PR5 for checking the installation position (or member) of the visual sensor 22G _1 and the procedure PR5 for calibrating the visual sensor 22G. _2 has.

[0090] In this case, in step S4, the processor 62 first obtains the procedure PR5 _1 and displays it on the display device 50. At this time, the processor 62 causes the display device 50 to display an input image for inputting whether there is a deviation in the installation position of the visual sensor 22G. The operator A1 follows the procedure PR5 _1 to check whether there is a deviation in the installation position of the visual sensor 22G. If the deviation can be eliminated, the operator A1 operates the input device 48 and inputs input data IP1 indicating that the abnormality AB5 can be dealt with into the input image displayed on the display device 50.

[0091] On the other hand, when there is no deviation in the installation position of the visual sensor 22G, the operator A1 operates the input device 48 and inputs input data IP2 indicating that there is no such deviation into the input image displayed on the display device 50. When the processor 62 receives the input data IP1 from the control device 24, it ends step S4. On the other hand, when receiving the input data IP2 from the control device 24, the processor 62 obtains the procedure PR5 for calibration _2 and displays it on the display device 50. By providing the procedure PR step by step in step S4 in this way, the operator A1 can take appropriate measures according to the situation of the robot system 12.

[0092] Next, with reference to FIG. 5, another function of the preventive maintenance device 14 shown in FIG. 3 will be described. In the flow shown in FIG. 5, the same process as the flow shown in FIG. 4 is assigned the same step number, and duplicate explanations are omitted. After starting the flow shown in FIG. 5, the processor 62 executes steps S1 to S4 in the same manner as the flow in FIG. 4.

[0093] After step S4, in step S3’, the processor 62 determines whether it is necessary to disconnect the robot 20 from the work line based on the input data IP from the operator A1. Here, even if the procedure PR for dealing with the abnormality AB is provided to the operator A1 in step S4 and the operator A1 executes the procedure PR, there may be cases where the abnormality AB cannot be dealt with.

[0094] As an example, in step S2, the processor 62 detects that the external force F acquired by the force sensor 22F increases beyond the reference value β F2 (F > β E2 ). Suppose that, as a result, the processor 62 detects the abnormality AB4 in which the robot 20 has collided with a surrounding environmental object. In this case, the processor 62 determines NO in step S3, and in step S4, acquires the procedure PR4 for dealing with the abnormality AB4 (that is, the image data explaining the procedure for confirming the presence or absence of a collision), and causes it to be displayed on the display device 50 of the control device 24.

[0095] At the same time, the processor 62 supplies an input image for inputting the presence or absence of a collision between the robot 20 and the surrounding environmental object to the control device 24 and causes it to be displayed on the display device 50. The operator A confirms the presence or absence of a collision between the robot 20 and the surrounding environmental object according to the procedure PR4, and if there is such a collision, takes measures to eliminate the collision, such as evacuating the surrounding environmental object. Thereby, the abnormality AB4 can be dealt with. In this case, the operator A operates the input device 48 and inputs the input data IP1 indicating that there has been a collision with the surrounding environmental object to the input image displayed on the display device 50.

[0096] On the one hand, as a result of Operator A checking for any collision between the robot 20 and the surrounding environmental objects according to Procedure PR4, if there is no such collision, when the external force F increases beyond the reference value β F2 an abnormality that cannot be handled by Operator A may be caused by the malfunction abnormality AB3 of the force sensor 22F. In this case, Operator A operates the input device 48 and inputs input data IP2 indicating that there is no collision with the surrounding environmental objects into the input image displayed on the display device 50.

[0097] As another example, assume that the processor 62 detects the imaging failure abnormality AB5 of the vision sensor 22G in step S2. In this case, the processor 62 determines NO in step S3, and in step S4, acquires procedure PR5 for dealing with the abnormality AB5 (that is, the image data explaining the procedure for checking and calibrating the vision sensor 22G) and causes it to be displayed on the display device 50 of the control device 24.

[0098] At the same time, the processor 62 supplies an input image for inputting whether the abnormality AB5 has been resolved to the control device 24 and causes it to be displayed on the display device 50. Operator A performs necessary measures such as calibration according to Procedure PR5. As a result, if the abnormality AB5 can be resolved, Operator A operates the input device 48 and inputs input data IP1 indicating that the abnormality AB5 has been resolved into the input image displayed on the display device 50.

[0099] On the other hand, if Operator A1 cannot resolve the abnormality AB5 even after performing the measures according to Procedure PR5, it means that an abnormality AB5' that cannot be handled by Operator A has occurred. In this case, Operator A1 operates the input device 48 and inputs input data IP2 indicating that the abnormality AB5 has not been resolved into the input image displayed on the display device 50. The processor 42 of the control device 24 transmits the input data IP1 or IP2 input by Operator A1 as described above to the preventive maintenance device 14 via the communication network 18.

[0100] In this step S3’, when the processor 62 receives the input data IP2 from the control device 24, it determines that it is necessary to disconnect the robot 20 (that is, YES), and proceeds to step S6. On the other hand, when it receives the input data IP1 from the preventive maintenance device 14, it determines that it is not necessary to disconnect the robot 20 (that is, NO), and proceeds to step S5. Then, the processor 62 sequentially executes steps S6 to S8, or step S5, in the same manner as the flow of FIG. 4.

[0101] As described above, in the present embodiment, the processor 62 determines whether it is necessary to disconnect the robot 20 based on the abnormality identification information SI in step S3. After providing the procedure PR in step S4, in step S3’, it determines again whether it is necessary to disconnect the robot 20 based on the input data IP from the operator A1. According to this configuration, even if the abnormality AB cannot be dealt with by the procedure PR presented in step S4, the work can be continued by disconnecting the robot 20 in step S7. Therefore, the possibility of the work being interrupted can be reduced.

[0102] In the above-described embodiment, the case where the abnormality processing devices 90 and 100 are implemented in the preventive maintenance device 14 has been described. However, the present invention is not limited to this, and at least one of the components of the abnormality processing device 90 or 100 (that is, the storage unit 64, the abnormality detection unit 74, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, the display control unit 82, the approval determination unit 84, the notification generation unit 86, and the communication control unit 88) may be implemented in the control device 24.

[0103] Such a form is shown in FIG. 6. In the network system 10 shown in FIG. 6, the storage unit 64, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, the display control unit 82, the approval determination unit 84, the notification generation unit 86, and the communication control unit 88 of the abnormality processing device 100 are implemented in the preventive maintenance device 14, while the abnormality detection unit 74 of the abnormality processing device 100 is implemented in the control device 24.

[0104] In the network system 10 shown in FIG. 6, the processor 42 of the control device 24 and the processor 62 of the preventive maintenance device 14 execute the flow shown in FIG. 4 or FIG. 5 while communicating with each other. Specifically, the processor 42 of the control device 24 starts an operation of acquiring the operation state data OD from the sensor 22 in step S1, and functions as the abnormality detection unit 74 in step S2 to determine whether or not an abnormality AB is detected based on the operation state data OD in the same manner as in the above-described embodiment.

[0105] When an abnormality AB is detected in step S2 (that is, it is determined as YES), the processor 42 of the control device 24 provides the abnormality identification information SI (specifically, the abnormality identification code SI1) of the detected abnormality AB to the preventive maintenance device 14 via the communication network 18. The processor 62 of the preventive maintenance device 14 functions as the data acquisition unit 78, acquires the abnormality identification information SI from the control device 24, and sequentially executes steps S3 to S8 in the same manner as in the above-described embodiment.

[0106] Note that the abnormality processing device 90 or 100 may be mounted on the control device 24. In this case, the storage unit 44 of the control device 24 stores a plurality of procedures PR in association with the abnormality identification information SI, and the processor 42 of the control device 24 functions as the abnormality detection unit 74, the input reception unit 76, the data acquisition unit 78, the procedure acquisition unit 80, the display control unit 82, the approval determination unit 84, the notification generation unit 86, and the communication control unit 88.

[0107] Note that the abnormality identification information SI is not limited to the abnormality identification code SI1, and may include any other data for specifying the abnormality AB. For example, the abnormality identification information SI may include a data identification code SI2 individually assigned to a plurality of types of operation state data OD (for example, the rotational position Pm, the rotational speed Vm, the rotational acceleration αm, the current value I, the load torque τ, the position Pc, the speed Vc, the acceleration αc, the pressure P, the voltage E, the external force F, and the image data ID, etc.) detected by the sensor 22.

[0108] The memory unit 64 (or 44) stores a plurality of procedures PR in association with the data identification code SI2. For example, for the voltage E detected by the voltage sensor 22E, the data identification code SI2: "DATA-E" is assigned, and the procedure PR2 regarding the abnormality AB2 of the voltage E (image data explaining the procedure of replacing the battery) can be stored in the memory unit 64 in association with the data identification code SI2: "DATA-E".

[0109] Also, for one type of operation state data OD, a plurality of data identification codes SI2 may be assigned according to the mode of its change. For example, for the external force F detected by the force sensor 22F, the reference value β F1 For the external force F1 that has dropped below, the data identification code SI2: "DATA-F1" is assigned, while for the reference value β F2 For the external force F2 that has increased beyond, the data identification code SI2: "DATA-F2" may be assigned.

[0110] In this case, the procedure PR3 regarding the abnormality AB3 of the external force drop (image data explaining the disconnection of the robot 20 and the proxy operation) can be stored in the memory unit 64 in association with the data identification code SI2: "DATA-F1". Also, the procedure PR4 regarding the abnormality AB4 of the external force increase (image data explaining the procedure of checking the presence or absence of a collision) can be stored in the memory unit 64 in association with the data identification code SI2: "DATA-F2".

[0111] The processor 62 (or 42) functions as a data acquisition unit 78 and acquires the data identification code SI2 as the abnormality identification information SI, instead of (or in addition to) the above-mentioned abnormality identification code SI1. For example, when the processor 62 (or 42) detects the abnormality AB2 of the voltage E dropping, it functions as the data acquisition unit 78 and acquires the data identification code SI2: "DATA-E" assigned to the voltage E as the abnormality identification information SI.

[0112] Further, the abnormality identification information SI may include sensor identification codes SI3 individually assigned to a plurality of types of sensors 22 (for example, a rotation detection sensor 22A, a current sensor 22B, a torque sensor 22C, a pressure sensor 22D, a voltage sensor 22E, a force sensor 22F, a vision sensor 22G). The storage unit 64 (or 44) stores a plurality of procedures PR in association with the sensor identification codes SI3.

[0113] For example, for the voltage sensor 22E, a sensor identification code SI3: "SENSOR-E" is assigned, and the procedure PR2 regarding the abnormality AB2 of the voltage E detected by the voltage sensor 22E may be stored in the storage unit 64 in association with the sensor identification code SI3: "SENSOR-E".

[0114] The processor 62 (or 42) functions as a data acquisition unit 78 and acquires the sensor identification code SI3 as the abnormality identification information SI instead of (or in addition to) the above-described abnormality identification code SI1. For example, when the processor 62 (or 42) detects an abnormality AB2 in which the voltage E decreases, it functions as the data acquisition unit 78 and acquires the sensor identification code SI3: "SENSOR-E" assigned to the voltage sensor 22E that detected the voltage E as the abnormality identification information SI. Note that the abnormality identification code SI1, the data identification code SI2, and the sensor identification code SI3 are not limited to character strings, and may be, for example, combinations of symbols (〇, △, □, +, -, *, etc.). Further, the procedure PR may include multi-language text data.

[0115] In addition, there can be various abnormalities AB and procedures PR other than those exemplified in the above-described embodiments. For example, the abnormality AB may include an abnormality AB6 of a communication failure between the sensor 22 or the servo motor 40 and the control device 24 (I / O interface 46). This abnormality AB6 can be detected, for example, by monitoring the detection values of the sensor 22 or the servo motor 40. The procedure PR6 for dealing with this abnormality AB6 includes, for example, image data or audio data explaining a procedure for checking the connection of the communication cable between the sensor 22 or the servo motor 40 and the control device 24.

[0116] Note that the robot 20 is not limited to a vertical articulated robot as shown in FIG. 2, and may be any type of robot such as a horizontal articulated robot, a parallel link robot, or a worktable device having a plurality of ball screw mechanisms. As described above, the present disclosure has been explained through the embodiments, but the above-described embodiments do not limit the invention according to the claims.

Explanation of Reference Numerals

[0117] 10 Network system 12 Robot system 14 Preventive maintenance device 16 External device 18 Communication network 20 Robot 22 Sensor 24 Control device 42, 62 Processor 74 Abnormality detection unit 76 Input reception unit 78 Data acquisition unit 80 Procedure acquisition unit 82 Display control unit 84 Feasibility determination unit 86 Notification generation unit 88 Communication control unit

Claims

1. An abnormality processing apparatus that provides procedures for dealing with abnormalities occurring in a robot system, a storage unit that stores a plurality of the procedures for dealing with each of a plurality of types of the abnormalities in association with abnormality identification information for identifying the abnormalities, an abnormality detection unit that detects the abnormality based on operation state data of the robot system, a data acquisition unit that acquires the abnormality identification information of the abnormality detected by the abnormality detection unit and acquires approval determination information for determining whether or not it is possible to deal with the abnormality, wherein the abnormality identification information includes an abnormality identification code individually assigned to each of the plurality of types of abnormalities, and the approval determination information includes an identification code for identifying a robot or a task executed by the robot, a robot detachment determination unit that determines whether or not it is necessary to detach the robot from the work line by determining whether or not the abnormality identification code acquired as the abnormality identification information by the data acquisition unit corresponds to an identification code pre-classified as requiring detachment, an approval determination unit that determines whether or not it is possible to deal with the abnormality detected by the abnormality detection unit by determining whether or not the identification code acquired as the approval determination information by the data acquisition unit corresponds to an identification code stored in a data table as being unable to deal with the abnormality, a procedure acquisition unit that acquires the procedure corresponding to the abnormality identification information acquired by the data acquisition unit from among the plurality of procedures stored in the storage unit, and the procedure acquisition unit acquires the first procedure corresponding to the first abnormality identification information when the robot detachment determination unit determines that there is no need to detach based on the abnormality identification code included in the first abnormality identification information, and acquires the second procedure corresponding to the second abnormality identification information when the robot detachment determination unit determines that detachment is necessary based on the abnormality identification code included in the second abnormality identification information and the approval determination unit determines that it is possible to deal with the abnormality. An abnormality processing apparatus.

2. further comprising an input reception unit that receives input of the procedure and the abnormality identification information, wherein the storage unit stores the procedure and the abnormality identification information received by the input reception unit in association with each other. The abnormality processing apparatus according to claim 1.

3. The abnormality processing apparatus according to claim 1 or 2, further comprising a display control unit that causes a display device to display the procedure acquired by the procedure acquisition unit as an image.

4. The abnormality processing apparatus according to any one of claims 1 to 3, further comprising a notification generation unit that generates notification data for notifying that it is impossible to cope with the abnormality when the permission determination unit determines that it is impossible to cope with the abnormality.

5. The abnormality processing apparatus according to claim 4, further comprising a communication control unit that transmits the notification data generated by the notification generation unit to an external device of the abnormality processing apparatus.

6. A robot system having a robot and a control device for controlling the robot, A network system comprising the abnormality processing apparatus according to any one of claims 1 to 5.

7. Comprising a preventive maintenance device communicably connected to the control device via a communication network and obtaining the operation state data from the control device, The abnormality processing apparatus is mounted on the preventive maintenance device, and the network system according to claim 6.

8. Comprising a preventive maintenance device communicably connected to the control device via a communication network and obtaining the operation state data from the control device, The storage unit, the data acquisition unit, and the procedure acquisition unit of the abnormality processing apparatus are mounted on the preventive maintenance device, while the abnormality detection unit of the abnormality processing apparatus is mounted on the control device. The control device provides the preventive maintenance device with the abnormality specific information of the abnormality detected by the abnormality detection unit via the communication network, and the network system according to claim 6.

9. A method for providing a procedure for an abnormality occurring in a robot system, comprising: A processor Stores a plurality of the procedures for dealing with a plurality of types of the abnormalities respectively in a storage unit in association with abnormality specific information for specifying the abnormality. Detects the abnormality based on the operation state data of the robot system. Obtains abnormality specific information that is the abnormality specific information of the detected abnormality and includes an abnormality identification code individually assigned to the plurality of types of abnormalities, and obtains permission determination information for determining whether or not it is possible to cope with the abnormality, the permission determination information including an identification code for identifying a robot or an operation performed by the robot. Determine whether it is necessary to disconnect the robot from the work line by determining whether the abnormality identification code obtained as the abnormality specific information corresponds to an identification code pre-classified as requiring disconnection, Determine whether it is possible to address the detected abnormality by determining whether the identification code obtained as the approval determination information corresponds to an identification code stored in a data table as being unable to address the abnormality, When it is determined that it is possible to address the abnormality, obtain the procedure corresponding to the obtained abnormality specific information from among the plurality of procedures stored in the storage unit, When it is determined based on the abnormality identification code included in the first abnormality specific information that there is no need to disconnect, obtain the first procedure corresponding to the first abnormality specific information, A method of obtaining a second procedure corresponding to the second abnormality specific information when it is determined based on the abnormality identification code included in the second abnormality specific information that disconnection is necessary and it is determined that the abnormality can be addressed.

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