Monitoring method

Patent metadata

Field	Value
Publication number	US-11440200-B2
Application number	US-201816766858-A
Country	US
Kind code	B2
Filing date	Sep 10, 2018
Priority date	Nov 24, 2017
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

A method of monitoring a robot including a plurality of actuators and configured to perform a predetermined process operation, the method including: a preliminary operation step of causing the robot to perform the predetermined process operation one or more times and detecting, in each of a plurality of process phases, assigned monitoring parameters for the actuators operating in the process phase; a ranking step of deriving a load level based on a predetermined load evaluation procedure for each of the monitoring parameters detected in the preliminary operation step and ranking all of the detected monitoring parameters in decreasing order of the load level; and a normal operation step of monitoring primarily a monitoring parameter highly ranked in the ranking step, wherein the monitoring is performed for the actuator that operates in the process phase in which the highly ranked monitoring parameter was detected.

First claim

The invention claimed is:

1. A method of monitoring a robot including a plurality of actuators and configured to perform a predetermined process operation, wherein
at least one of the actuators is set as a monitoring target,
at least one type of monitoring parameter related to operation of the actuator is assigned to the or each actuator set as the monitoring target,
the predetermined process operation includes a plurality of process phases which are performed sequentially in time, and
the at least one actuator set as the monitoring target operates in each of the process phases,
the method comprising:
a preliminary operation step of causing the robot to perform the predetermined process operation one or more times and detecting, in each of the process phases, the or each assigned monitoring parameter for the or each actuator operating as the monitoring target in the process phase;
a ranking step of deriving a load level based on a predetermined load evaluation procedure for each of the monitoring parameters detected in the preliminary operation step and ranking all of the detected monitoring parameters in decreasing order of the load level; and
a normal operation step of monitoring primarily a monitoring parameter highly ranked in the ranking step, wherein the monitoring is performed for the actuator that operates in the process phase in which the highly ranked monitoring parameter was detected.

2. The method according to claim 1 , wherein the actuators are motors mounted on at least one joint shaft of the robot.

3. The method according to claim 1 , wherein in the normal operation step, only the monitoring parameter highly ranked in the ranking step is monitored for the actuator that operates in the process phase in which the highly ranked monitoring parameter was detected.

4. The method according to claim 1 , wherein at least one of position deviation, speed deviation, acceleration deviation, and current value which are related to the operation of the actuator is assigned as the monitoring parameter.

5. The method according to claim 1 , wherein a plurality of the monitoring parameters are assigned to each actuator.

6. The method according to claim 1 , wherein the process phases are defined by dividing the predetermined process operation so that each process phase corresponds to a work or motion performed by the robot.

7. The method according to claim 1 , wherein once the ranking step is completed, a notification of completion of the ranking step is provided.

8. The method according to claim 1 , wherein a warning is given when the load level of the actuator under monitoring in the normal operation step exceeds a predetermined threshold.

9. The method according to claim 1 , wherein the robot is a transfer robot configured to perform the predetermined process operation in a manufacturing site.

10. The method according to claim 9 , wherein
the manufacturing site is a semiconductor manufacturing site, and
the robot is a transfer robot configured to transfer semiconductor wafers.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Yoshida Masaya
• Okada Hiroyuki
• Nakaya Atsushi

Classifications

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• G01M99/005

  Testing of complete machines, e.g. washing-machines or mobile phones (testing of machine parts G01M13/00; testing of electric apparatus or components G01R31/50) · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J11/0095 Primary

  Manipulators transporting wafers · CPC title

• B25J9/12

  electric · CPC title