Robot system controlling method, program, recording medium, robot system, and diagnosis apparatus

Patent metadata

Field	Value
Publication number	US-9643317-B2
Application number	US-201514712759-A
Country	US
Kind code	B2
Filing date	May 14, 2015
Priority date	May 16, 2014
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.

First claim

What is claimed is:

1. A robot system controlling method, the robot system including an articulated robot and a control device, the articulated robot including a plurality of links connected by joints; a plurality of motors configured to drive the respective joints respectively; and a plurality of encoders configured to output values based on rotational angles of the respective motors respectively, the control device controlling the motors, the method comprising:
a recording step of recording pieces of movement information of the respective joints based on electric current values of the respective motors and outputs of the respective encoders, by the control device; and
a calculating step of calculating, if at least one of the electric current values of the respective motors exceeds a threshold value, magnitudes and directions of force acted on the respective joints based on the recorded pieces of movement information, by the control device.

2. The robot system controlling method according to claim 1 , further comprising
a step of stopping the articulated robot, if at least one of the electric current values of the respective motors exceeds a threshold value.

3. The robot system controlling method according to claim 1 , further comprising:
a specifying step of specifying a failure portion of the articulated robot based on the calculated magnitudes and the calculated directions of force acted on the respective joints; and
an output step of outputting information of the failure portion of the articulated robot specified in the specifying step, by the control device.

4. A robot system controlling method, the robot system including an articulated robot and a control device, the articulated robot including a plurality of links connected by joints; a plurality of motors configured to drive the respective joints respectively; and a plurality of encoders configured to output values based on rotational angles of the respective motors respectively, the control device controlling the motors, the method comprising:
a recording step of recording pieces of load information of the respective joints based on outputs of the respective motors and pieces of movement information of the respective joints based on outputs of the respective encoders, by the control device;
a step of determining presence or absence of a failure in the articulated robot, when detecting an abnormality in an operation of the articulated robot, by the control device, based on the load information and the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and
a specifying step of specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.

5. The robot system controlling method according to claim 4 , wherein
the specifying step includes specifying a damaged joint among the joints based on the load information and the movement information recorded in a period from before detection of the abnormality until stop of the articulated robot.

6. The robot system controlling method according to claim 4 , further comprising
a step of stopping the articulated robot before the step of determining, when detecting the abnormality in the operation of the articulated robot, by the control device.

7. The robot system controlling method according to claim 4 , further comprising
a step of stopping the articulated robot by the control device, if it is determined that there is a failure in the articulated robot in the step of determining.

8. The robot system controlling method according to claim 4 , wherein
the recording step includes holding the load information and the movement information of a predetermined period of time and erasing part of the movement information exceeding the predetermined period of time, during the operation of the articulated robot.

9. The robot system controlling method according to claim 4 , wherein
each of the joints includes a change gear configured to decelerate rotation of the motor to thereby drive each of the joints respectively, and a bearing configured to rotatably support each member driven by the change gear respectively, and
the specifying step includes specifying which of the change gear and the bearing in the specified joint is damaged.

10. The robot system controlling method according to claim 4 , further comprising
an output step of outputting information of the failure portion of the articulated robot specified in the specifying step, by the control device.

11. The robot system controlling method according to claim 10 , further comprising a display unit configured to display an output of the control device, wherein
the output step includes obtaining a maximum load generated in each of the joints along with the abnormality and displaying the maximum load on the display unit.

12. The robot system controlling method according to claim 10 , wherein
the output step includes obtaining a load curve representing variance in time of a load generated in each of the joints along with the abnormality, and displaying the load curve on the display unit.

13. A robot system comprising an articulated robot and a control device, wherein
the articulated robot includes:
a plurality of links connected by joints;
a plurality of motors configured to drive the respective joints respectively; and
a plurality of encoders configured to output values based on rotational angles of the respective motors respectively, and

the control device is configured to record pieces of load information of the respective joints based on electric current values of the respective motors and pieces of movement information of the respective joints based on outputs of the respective encodes, and to calculate, if at least one of the electric current values of the respective motors exceeds a threshold value, magnitudes and directions of force acted on the respective joints based on the recorded pieces of movement information.

14. The robot system according to claim 13 , further comprising
at least one replaceable unit in which a link and a joint connected with the link are integrally formed as a replacement unit.

15. A diagnosis apparatus connected to a robot system including an articulated robot and a control device, the articulated robot including a plurality of links connected by joints; a plurality of motors configured to drive the respective joints respectively; and a plurality of encoders configured to output values based on rotational angles of the respective motors respectively, the control device configured to detect an abnormality in an operation of the articulated robot and stop the articulated robot, wherein
the diagnosis apparatus is configured to record load information and movement information which are input continuously from the robot system during the operation of the articulated robot, and when detecting an abnormality in the operation of the articulated robot, determine presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality, and if determining that there is a failure in the articulated robot, specify a failure portion of the articulated robot.

Assignees

• Canon Kk

Inventors

• Yajima Akira
• Ogawara Takayuki
• Asano Hidetada

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• G05B19/427

  Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control (G05B19/423 takes precedence) · CPC title

• G05B19/425

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• Y10S901/02

  Arm motion controller · CPC title