JP2016007683A - Robot monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot monitoring device capable of monitoring a predetermined operation of a robot more precisely.SOLUTION: A robot monitoring device 100 comprises: an operation detection part 110 for detecting a predetermined operation by a robot 10; a first storage processing part 130 for storing the up-to-date operation information of the robot 10 in a predetermined first period ΔT1 till the operation detection part 110 detects the predetermined operation; a second storage processing part 140 for storing the operation information of the robot 10 in a predetermined second period ΔT2 after the operation detection part 110 detects a predetermined operation; and an output part 160 for outputting the information having integrated the information stored by the second storage processing part 140 with the information stored by the first storage processing part 130.

Description

  The present invention relates to a robot monitoring apparatus.

  Patent Document 1 describes that robot motion information over a predetermined time is sequentially rewritten with new motion information, and the rewriting of motion information is stopped when an abnormality occurs. Patent Documents 2 and 3 have the same description.

Japanese Patent Laid-Open No. 3-22198 JP-A-9-311715 JP 2008-287423 A

  In particular, when verifying the operation of the robot, it may not be sufficient to use only the information before the occurrence of the abnormality. Further, not only when there is an abnormality, but also when it is determined that the operation is normal, it may be required to record the operation information. Even in this case, the information before the predetermined operation at the normal time alone may not be sufficient.

  An object of this invention is to provide the robot monitoring apparatus which can verify the predetermined operation | movement of a robot more correctly.

  (Claim 1) A robot monitoring apparatus according to the present invention is an apparatus for monitoring a motion of a robot, wherein the motion detection unit detects a predetermined motion by the robot, and the motion detection unit detects the predetermined motion. A first storage processing unit that updates and stores the latest robot motion information in a predetermined first period, and a robot in a predetermined second period from when the motion detection unit detects the predetermined motion A second storage processing unit for storing operation information; and an output unit for outputting the information stored by the second storage processing unit in the information stored by the first storage processing unit as information integrated.

  That is, the robot motion information before and after the predetermined motion is output. Therefore, when the robot performs a predetermined operation, the operator can grasp the operation that the robot reaches the predetermined operation and the operation after the robot reaches the predetermined operation. As a result, the operator can verify the predetermined motion of the robot more accurately.

(Claim 2) Further, the predetermined operation by the robot is an operation performed a plurality of times, and the first storage processing unit and the second storage processing unit are in each of the operations two or more times out of a plurality of times. The robot operation information may be stored, and the output unit may output integrated information in each of the two or more operations.
Thereby, when a predetermined operation is performed a plurality of times, the robot operation information before and after each operation of two or more times is output. Therefore, the operator can compare the robot motion before and after each motion two or more times.

(Claim 3) The robot is a manipulator that includes a gripping part that grips an object and an arm part that changes a position and a posture of the gripping part, and conveys the object, and the predetermined operation is The gripping part may be an operation of gripping the object.
That is, the robot motion information before and after the motion of gripping the object by the gripper is output. In this case, when the object is transported by the robot, the operator can more accurately detect the gripping operation of the object by the gripping unit, which is a very important operation.

  (Claim 4) Further, the predetermined second period ends when the gripping part grips the object and the gripping part leaves the setting area including the position of the object before transporting. You may make it do. Therefore, the operator can surely grasp the operation information after gripping the object.

  (Claim 5) Further, the robot performs an operation different from a command operation for the actuator by controlling a limit of a moving speed or a limit of a torque of the actuator, and the predetermined operation is performed by the robot. The movement speed limit or the torque limit may be controlled.

  When the limit of the movement speed of the actuator or the limit of the torque is controlled, the movement speed or torque of the actuator is controlled so as not to exceed the limit value. That is, when the actuator is operated based on a command operation for the actuator, if the moving speed or torque of the actuator exceeds the limit value, the actuator operates so that the moving speed or torque does not exceed the limit value. In particular, the movement speed limit or torque limit of the actuator may be controlled before and after the grasping operation of the object by the grasping unit depending on the orientation of the object. Therefore, by obtaining operation information before and after the operation for controlling the restriction, the operator can surely verify whether or not the robot has performed an operation different from the command operation.

  (Claim 6) Further, the predetermined operation may be a warning operation which is a state before the robot abnormally stops. The warning operation is an operation that is approaching an abnormal state, not as abnormal as stopping the robot operation. According to the above, when the robot performs a warning operation, the robot operation information before and after the warning operation is output. By grasping the robot operation information before and after the warning operation, it is possible to appropriately grasp the signs before the abnormal stop, and thus it is possible to prevent the robot from stopping abnormally.

  (Claim 7) The predetermined operation may be an output of an abnormal stop command of the robot. Even if a robot abnormal stop command is output, the robot may not stop completely. In such a case, the robot operation information before and after the output of the robot abnormal stop command is output, so that the operator can verify the abnormal stop operation of the robot.

It is a figure which shows the structure of the robot which is the object of the robot monitoring apparatus of 1st embodiment of this invention. It is a figure which shows the structure of the robot monitoring apparatus of 1st embodiment of this invention. It is a flowchart which shows the process by the robot monitoring apparatus shown in FIG. The execution period of the first storage process, the execution period of the second storage process, the time interval of the first movement information finally stored by the first storage process, and the second movement information stored by the second storage process It is a figure which shows a time interval. It is a flowchart which shows the process by the robot monitoring apparatus of 2nd embodiment. It is a flowchart which shows the process by the robot monitoring apparatus of 3rd embodiment. It is a flowchart which shows the process by the robot monitoring apparatus of 4th embodiment.

<First embodiment>
A robot monitoring apparatus according to a first embodiment will be described with reference to the drawings. With reference to FIG. 1, a robot 10 that is a target of the robot monitoring apparatus will be described. The robot 10 is, for example, an articulated manipulator that transports the object W. The robot 10 in this embodiment is a 4-joint serial link robot.

  The robot 10 is a manipulator that includes a gripping unit 20 that grips the target object W and an arm unit 30 that changes the position and posture of the gripping unit 20 and transports the target object W. The gripping unit 20 includes, for example, a pair of claws and sandwiches and grips the object W. The arm part 30 is formed by a plurality of links 31 to 34 connected in series. That is, the adjacent links 31 to 34 are connected via the rotatable joints 41 to 43. Furthermore, the grip 20 is connected to the link 34 via a rotatable joint 44.

  The link 32 can rotate around the axis J1 with respect to the link 31, and is rotationally driven by an actuator 51 such as a motor. The link 33 can rotate around the axis J2 with respect to the link 32, and is rotationally driven by an actuator 52 such as a motor. The link 34 can rotate around the axis J3 with respect to the link 33, and is rotated by an actuator 53 such as a motor. The grip 20 can rotate around the axis J4 with respect to the link 34, and is driven to rotate by an actuator 54 such as a motor.

  The control device 60 controls the actuators 51 to 54. That is, the control device 60 controls the position and orientation of the gripping unit 20 to cause the gripping unit 20 to convey the object W. Further, the control device 60 controls the movement speed limit and the torque limit of the actuators 51 to 54. That is, when a command is output so that the moving speed of the actuators 51 to 54 exceeds a predetermined speed threshold, the control device 60 controls the moving speed of the actuators 51 to 54 to be a predetermined speed threshold. . Further, when a command is output so that the torque of the actuators 51 to 54 exceeds a predetermined torque threshold, the control device 60 controls the torque of the actuators 51 to 54 to be a predetermined torque threshold.

  That is, the actuators 51 to 54 perform an operation different from the command operation for the actuators 51 to 54 by controlling the limit of the moving speed or the limit of the torque. The command operation for the actuators 51 to 54 corresponds to a target operation in a state where the control device 60 does not control the limit of the moving speed or torque. That is, when the movement speed limit or the torque limit is controlled, the command operation for the actuators 51 to 54 is different from the actual operation of the actuators 51 to 54.

  Here, the object W is disposed on the tray 70 and is transported to another position (not shown). Although FIG. 1 illustrates a state in which only one object W is positioned on the tray 70, a plurality of objects W may be positioned on the tray 70. In FIG. 1, a setting area 80 is illustrated by a two-dot chain line. The setting area 80 is an area including the position of the object W before being transported. The setting area 80 is set in advance.

  Next, the configuration of the robot monitoring apparatus 100 will be described with reference to FIG. The robot monitoring apparatus 100 includes the units 110, 120, 130, 140, 150, and 160 shown in FIG. The motion detection unit 110 detects that the robot 10 has performed a predetermined motion. The predetermined operation is set in advance. In the present embodiment, the predetermined operation is an operation of gripping the object W by the grip portion 20.

  The region detection unit 120 detects whether or not the grip unit 20 is present in the setting region 80 illustrated in FIG. In the present embodiment, the region detection unit 120 determines whether or not the gripping unit 20 has left the setting region 80 while the gripping unit 20 grips the object W after the gripping unit 20 has entered the setting region 80. Is detected.

  The first storage processing unit 130 stores the operation information of the robot 10 in the storage unit 150. The first storage processing unit 130 does not store the operation information of all the robots 10 in the storage unit 150 but stores only the latest operation information of the robot 10 in a predetermined first period in the storage unit 150. That is, the first storage process by the first storage processing unit 130 is a process of storing the latest operation information of the robot 10 in a predetermined first period while updating (overwriting). The first storage processing unit 130 executes the first storage process until the operation detection unit 100 detects a predetermined operation. That is, the first storage processing unit 130 stores motion information of some robots 10 before the robot 10 performs a gripping operation of the target object W as a predetermined motion.

  The second storage processing unit 140 causes the storage unit 150 to store operation information of the robot 10 in a predetermined second period from when the robot 10 performs the gripping operation of the target object W as a predetermined operation. The second storage process by the second storage processing unit 140 is a process of storing the motion information of all the robots 10 in a predetermined second period from when the motion detection unit 110 detects a predetermined motion. That is, the second storage processing unit 140 is not updated (overwritten) like the first storage processing unit 130.

  The output unit 160 includes the operation information (first operation information) of the robot 10 stored in the storage unit 150 by the first storage processing unit 130 and the operation of the robot 10 stored in the storage unit 150 by the second storage processing unit 140. Information (second operation information) is output as integrated information. For example, the output unit 160 generates the integrated information as one file.

  Processing performed by the robot monitoring apparatus 100 described above will be described with reference to the flowchart of FIG. A first storage process is performed by the first storage processing unit 130 of the robot monitoring apparatus 100 (S1). The first storage processing unit 130 causes the storage unit 150 to store the first movement information of the robot 10 obtained from the control device 60 and the actuators 51 to 54. The operation information of the robot 10 is, for example, a command value of the control device 60, drive position information of the actuators 51 to 54, state information of the actuators 51 to 54, and the like.

  The first storage process by the first storage processing unit 130 is a process for storing only the first motion information of the robot 10 in a predetermined first period ΔT1. Therefore, when the stored first motion information exceeds a predetermined first period ΔT1, the old first motion information is overwritten with new first motion information in order. Here, the predetermined first period ΔT1 can be set as a time, a data capacity, or a sampling number.

  Subsequently, the motion detection unit 110 determines whether or not the gripping operation of the object W by the gripping unit 20 has been detected (S2). If the motion detection unit 110 does not detect a gripping motion (S2: N), the first storage processing by the first storage processing unit 130 is continued. On the other hand, when the motion detection unit 110 detects a gripping motion (S2: Y), the first storage processing by the first storage processing unit 130 is stopped (S3). That is, the first storage process is continuously performed until the motion detection unit 110 detects a gripping motion by the gripping unit 20.

  Subsequently, a second storage process is performed by the second storage processing unit 140 (S4). The second storage process is a process for storing the second motion information of the robot 10 in the storage unit 150. As described above, the type of the second motion information of the robot 10 is the same as the type of the first motion information. Subsequently, it is determined whether or not the region detection unit 120 has detected that the grip unit 20 has left the setting region 80 (S5).

  When the area detection unit 120 does not detect the escape of the gripping unit 20 from the setting area 80, the second storage process is continued (S5: N). Here, the motion detection unit 110 has already detected the gripping motion of the object W by the gripping unit 20. Therefore, the state in which the region detection unit 120 does not detect the escape of the gripping unit 20 from the setting region 80 is a state in which the gripping unit 20 still grips the object W and still exists in the setting region 80. And when the area | region detection part 120 detects the escape from the setting area | region 80 of the holding part 20, a 2nd memory | storage process is stopped (S6).

  That is, the second storage process by the second storage processing unit 140 is the second motion information of the robot 10 during the period from when the gripping unit 20 grips the object W to when the gripping unit 20 leaves the setting area 80. Is stored in the storage unit 150. Therefore, the predetermined second period ΔT <b> 2 stored by the second storage processing unit 140 is a period from when the gripping unit 20 grips the object W to when the gripping unit 20 leaves the setting area 80.

  Subsequently, the output unit 160 generates information that integrates the first motion information and the second motion information stored in the storage unit 150 as one file (S7). Here, generating the integrated information as one file is used to mean outputting the integrated information.

  Subsequently, the robot monitoring apparatus 100 determines whether or not the transfer of all the objects W by the robot 10 has been completed (S8). If the conveyance of all the objects W has not been completed (S8: N), the process is repeated again from step S1. On the other hand, if the conveyance of all the objects W has been completed (S8: Y), the processing by the robot monitoring apparatus 100 is completed.

  For example, in the case where a plurality of objects W are arranged on the tray 70 and the plurality of objects W are sequentially transferred to another position, another object is also detected when the conveyance of one object W is completed. The conveyance of the object W has not been completed. In this case, the process of the robot monitoring apparatus 100 is repeated again from step S1 of FIG. Then, the output unit 160 generates a plurality of integrated information.

  That is, when the predetermined operation is an operation performed a plurality of times, the first operation information of the robot 10 in each of the plurality of operations is stored in the storage unit 150 by the first storage process by the first storage processing unit 130. Let Further, the second operation information of the robot 10 in each of the plurality of operations is stored in the storage unit 150 by the second storage processing by the second storage processing unit 140. Further, the output unit 160 generates integrated information of the robot 10 in each of a plurality of operations.

  Next, referring to FIG. 4, the first storage processing execution period by the first storage processing unit 130, the second storage processing execution period by the second storage processing unit 140, and finally stored by the first storage processing. The time interval of the first motion information and the time interval of the second motion information that is finally stored and stored by the second memory processing will be described.

As described in the first column of FIG. 4, the first storage processing by the first storage processing unit 130 is continuously performed until the gripping operation of the object W by the gripping unit 20 is performed (MA). Is called. However, as described in the third column of FIG. 4, the first operation information finally stored in the storage unit 150 is only the latest predetermined first period ΔT1. Here, in FIG. _{4, M IN} indicates the time the grip portion 20 enters the setting region 80. That is, the predetermined first period ΔT1 is set to be shorter than the time (M _{IN to} MA) required for the gripper 20 to grip the object W after the gripper 20 enters the setting area 80. However, the predetermined first period ΔT1 may be set longer than the time (M _{IN to} MA).

When the gripping operation of the object W by the gripping unit 20 is performed, as described in the second column of FIG. 4, the second storage processing by the second storage processing unit 140 is performed for a predetermined second period ΔT2 (MA˜ M _OUT ). The predetermined second period ΔT2 ends when the gripping unit 20 leaves the setting region 80 by the region detection unit 120. Therefore, the end time M _OUT of the predetermined second period ΔT2 is when the gripping unit 20 leaves the setting region 80 by the region detection unit 120. Here, since the second storage process is not updated, as described in the fourth column of FIG. Is done.

  As described above, the operation information of the robot 10 before and after the gripping operation as the predetermined operation is output. Therefore, when the gripping unit 20 of the robot 10 performs a gripping operation, the operator can grasp the operation that the robot 10 reaches the gripping operation and the operation after the robot 10 reaches the gripping operation. As a result, the operator can more accurately verify the grasping operation of the object W by the grasping unit 20, which is a very important operation, when the object W is transported by the robot 10.

  Furthermore, in the above embodiment, the gripping operation by the gripping unit 20 is performed a plurality of times. Then, operation information of the robot 10 before and after each gripping operation is output a plurality of times. Therefore, the operator can compare the operation of the robot 10 before and after each of the plurality of operations. In the above embodiment, the motion information is stored every time a plurality of gripping operations are performed. However, the motion information may be stored every several times or periodically. In this case, the motion information of the robot 10 before and after each gripping operation two or more times out of a plurality of gripping operations is output. Then, the operator can compare the operation of the robot 10 before and after each gripping operation two or more times.

  In particular, depending on the orientation of the object W placed on the tray 70, the gripping unit 20 may perform a useless operation. Since the robot 10 has a high degree of freedom in posture, the robot 10 can operate according to the direction of the object W. Therefore, the operator can verify whether or not there is a useless operation by comparing the operation information of a plurality of times.

  The predetermined second period ΔT2 performed by the second storage processing unit 140 ends when the gripping unit 20 grips the object W and leaves the setting area 80. Therefore, the worker can surely grasp the operation information after gripping the object W.

  Furthermore, in the above-described embodiment, the robot 10 may perform an operation different from the command operation for the actuators 51 to 54 by controlling the movement speed limit or the torque limit of the actuators 51 to 54. In particular, the movement speed or torque limitation may be controlled before and after the gripping operation of the target object W by the gripper 20 depending on the orientation of the target object W placed on the tray 70. Therefore, by outputting the operation information of the robot 10 before and after the gripping operation by the gripping unit 20, whether or not the operator has performed a motion different from the command motion because the movement speed or the torque limit is controlled. Can be verified. For example, if the direction of the object W is changed, the limit of the moving speed or torque may not be controlled. Therefore, the direction of the object W whose limit of moving speed or torque is not controlled is also found.

<Second embodiment>
Processing of the robot monitoring apparatus 100 according to the second embodiment will be described with reference to FIG. As shown in FIG. 5, the robot monitoring apparatus 100 executes the first storage process by the first storage processing unit 130 while updating it (S11). Accordingly, the first motion information of the robot 10 is stored in the storage unit 150.

  During this time, the robot monitoring apparatus 100 determines whether or not an operation for controlling the movement speed limit or torque limit of the actuators 51 to 54 has been detected (S12). By performing the operation for controlling the movement speed limitation or the torque limitation, the actuators 51 to 54 perform an operation different from the command operation for the actuators 51 to 54. That is, the robot monitoring apparatus 100 detects whether or not an operation different from the command operation of the actuators 51 to 54 has been performed.

  If the operation for controlling the restriction is not detected (S12: N), the first storage process is continued. On the other hand, if an operation for controlling the restriction is detected (S12: Y), the first storage process is stopped (S13). Subsequently, the second storage processing by the second storage processing unit 140 is executed (S14). Accordingly, the second motion information of the robot 10 is stored in the storage unit 150. The robot monitoring apparatus 100 determines whether or not the second period ΔT2 set after the second storage process is started (S15).

  If the second period ΔT2 has not elapsed (S15: N), the second storage process is continued. On the other hand, if the second period ΔT2 has elapsed (S15: Y), the second storage process is stopped (S16). Subsequently, the output unit 160 outputs information obtained by integrating the first motion information and the second motion information stored in the storage unit 150 (S17). According to the present embodiment, the operator grasps the operation information of the robot 10 before and after the operation for controlling the movement speed limitation or the torque limitation of the actuators 51 to 54, so that the robot 10 is different from the command operation. Whether or not the operation has been performed can be reliably verified. Therefore, the operator can pursue the cause of the operation for controlling the limit of the moving speed or the limit of the torque of the actuators 51 to 54, and can consider means for not controlling the limit.

<Third embodiment>
Processing of the robot monitoring apparatus 100 according to the third embodiment will be described with reference to FIG. As shown in FIG. 6, the robot monitoring apparatus 100 executes the first storage process by the first storage processing unit 130 while updating it (S21). Accordingly, the first motion information of the robot 10 is stored in the storage unit 150.

  During this time, the robot monitoring apparatus 100 determines whether or not a warning operation has been detected (S22). The warning operation is an operation in a state before the robot 10 abnormally stops. In other words, the warning operation is an operation that is approaching an abnormal state, not as abnormal as the operation of the robot 10 is stopped.

  If the warning operation is not detected (S22: N), the first storage process is continued. On the other hand, if a warning operation is detected (S22: Y), the first storage process is stopped (S23). Subsequently, the second storage processing by the second storage processing unit 140 is executed (S24). Accordingly, the second motion information of the robot 10 is stored in the storage unit 150. The robot monitoring apparatus 100 determines whether or not the second period ΔT2 set after the second storage process is started (S25).

  If the second period ΔT2 has not elapsed (S25: N), the second storage process is continued. On the other hand, if the second period ΔT2 has elapsed (S25: Y), the second storage process is stopped (S26). Subsequently, the output unit 160 outputs information obtained by integrating the first motion information and the second motion information stored in the storage unit 150 (S27). According to the present embodiment, since the operator can appropriately grasp the signs before the abnormal stop by grasping the operation information of the robot 10 before and after the warning operation, it is possible to prevent the robot 10 from abnormally stopping. .

<Fourth embodiment>
Processing of the robot monitoring apparatus 100 according to the fourth embodiment will be described with reference to FIG. As shown in FIG. 7, the robot monitoring apparatus 100 executes the first storage process by the first storage processing unit 130 while updating it (S31). Accordingly, the first motion information of the robot 10 is stored in the storage unit 150.

  During this time, the robot monitoring apparatus 100 determines whether an abnormal stop command for the robot 10 has been output (S32). The abnormal stop command is a command that the control device 60 outputs to stop the robot 10 when the robot 10 performs an operation that causes an abnormal stop or when the operator outputs an abnormal stop request. is there.

  If an abnormal stop command is not output (S32: N), the first storage process is continued. On the other hand, if an abnormal stop command is output (S32: Y), the first storage process is stopped (S33). Subsequently, the second storage processing by the second storage processing unit 140 is executed (S34). Accordingly, the second motion information of the robot 10 is stored in the storage unit 150. The robot monitoring apparatus 100 determines whether or not the second period ΔT2 set after the second storage process is started (S35).

  If the second period ΔT2 has not elapsed (S35: N), the second storage process is continued. On the other hand, if the second period ΔT2 has elapsed (S35: Y), the second storage process is stopped (S36). Subsequently, the output unit 160 outputs information obtained by integrating the first motion information and the second motion information stored in the storage unit 150 (S37).

  Even if an abnormal stop command for the robot 10 is output, the robot 10 may not stop completely. In such a case, the operation information of the robot 10 before and after the output of the abnormal stop command of the robot 10 is output, so that the operator can verify the abnormal stop operation of the robot 10.

10: Robot, 20: Grasping part, 30: Arm part, 51-54: Actuator, 60: Control device, 80: Setting area, 100: Robot monitoring device, 110: Motion detection part, 120: Area detection part, 130: First storage processing unit 140: Second storage processing unit 150: Storage unit 160: Output unit W: Target object ΔT1: First period ΔT2: Second period

Claims (7)

A device for monitoring the movement of a robot,
An operation detector for detecting a predetermined operation by the robot;
A first storage processing unit for storing the latest robot motion information in a predetermined first period while the motion detection unit detects the predetermined motion;
A second storage processing unit for storing robot motion information in a predetermined second period from when the motion detection unit detects the predetermined motion;
An output unit that outputs the information stored by the second storage processing unit as information integrated with the information stored by the first storage processing unit;
A robot monitoring device comprising: The predetermined operation by the robot is an operation performed a plurality of times,
The first memory processing unit and the second memory processing unit store the robot motion information in each motion two or more times among a plurality of times,
The output unit outputs integrated information in each of the two or more operations;
The robot monitoring apparatus according to claim 1. The robot is a manipulator that includes a gripping unit that grips an object and an arm unit that changes a position and a posture of the gripping unit, and transports the object.
The robot monitoring apparatus according to claim 1, wherein the predetermined operation is an operation of holding the object by the holding unit.   The predetermined second period is terminated when the gripping part grips the target object and the gripping part leaves the setting area including the position of the target object before conveyance. Robot monitoring device. The robot performs an operation different from the command operation for the actuator by controlling the limit of the moving speed of the actuator or the limit of the torque,
The robot monitoring apparatus according to claim 1, wherein the predetermined operation is an operation in which the robot controls a limit on a moving speed of the actuator or a limit on the torque.   The robot monitoring apparatus according to claim 1, wherein the predetermined operation is a warning operation that is a state before the robot abnormally stops. The robot monitoring apparatus according to claim 1, wherein the predetermined operation is an output of an abnormal stop command for the robot.

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