Test system for performing machine test

A test system comprises a plurality of test devices which are connected to a plurality of machines and which perform a basic test, and a test management device which is connected to the plurality of test devices via a network. The test management device includes an additional test setting part which sets an additional test for determining a cause of an abnormality when determining that the machine has the abnormality. The test management device includes an adjustment part which sets the test device that performs the additional test. The adjustment part determines that the basic test planned to be performed by the test device that performs the additional test is performed by the other test device.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a test system for performing a machine test.

2. Description of the Related Art

In machine manufacturing factories, there are cases in which a performance test is performed in accordance with a predetermined method when a product is finished or during the course of a manufacturing process. If a component mounted to a machine malfunctions, or assembling is poor, a test result may fail to fall within a proper range. When a result of the performance test deviates from the proper range, the operator determines a malfunctioning part using the test result. After determining a cause of the deviation of the test result from the proper range, the operator can replace the component and repair the product.

Japanese Unexamined Patent Publication No. 2005-190026A discloses a repair support system which estimates a part to be repaired of a product without depending on experiences of the repairer. It is disclosed that when the operator inputs an inspection item in which a defect occurs, this system searches a repair history database, and displays a part as repaired with respect to the inspection item in which the defect occurs.

Japanese Patent No. 4112594 discloses an abnormality diagnosis method which diagnoses an abnormality of a reduction gear of a robot. It is disclosed that a malfunction of the reduction gear is diagnosed in the abnormality diagnosis method on the basis of a torque command to a motor which drives the robot and a velocity feedback.

SUMMARY OF INVENTION

When the test result of the performance test deviates from the proper range, the operator examines a content of the test result. When a cause of the deviation of the test result from the proper range fails to be determined, there are cases in which the operator performs an additional test. However, it is necessary for the operator to have experiences and knowledge in order to determine a type of the additional test and an order of performing a plurality of additional tests. Further, since a part at which an abnormality occurs on the basis of the test result is determined, it is necessary for the operator to have experiences and knowledge. In addition, when the test result is obtained, it is necessary for the operator to judge whether or not a next additional test is to be performed. Thus, when the test result deviates from the proper range, the operator who can deal with a result of the abnormality is limited.

In particular, in manufacturing factories and the like, a plurality of products are inspected at the same time using a plurality of test devices. When the test results with respect to a plurality of products fail to fall within the proper range, it is necessary for the operator to sequentially deal with the plurality of products. Consequently, there has been a problem that it takes time until the operator determines the part at which an abnormality occurs, and productivity decreases.

The repair support system disclosed in Japanese Unexamined Patent Publication No. 2005-190026A as described above is limited to proposing parts to be repaired, and leaves a room to be improved to accurately estimate a part to be repaired.

A machine test system of the present invention is a machine test system which tests whether or not machines as manufactured normally operate. The test system comprises a plurality of test devices which are connected to the plurality of machines and perform a predetermined basic test and a test management device which is connected to the plurality of test devices via a network. The test devices are separately connected to the respective machines. The test management device includes a judgement part which judges whether or not the machines have an abnormality on the basis of a basic test result received from the test devices. The test management device includes an additional test setting part which sets an additional test for determining a cause of the abnormality when the judgement part judges that the machine has the abnormality. The test management device includes an adjustment part which sets the test device that performs the additional test. The adjustment part determines that the basic test planned to be performed by the test device that performs the additional test is performed by the other test device.

In the invention as described above, the machine test system can comprise a production planning device which manages a machine manufacturing plan. The production planning device can be connected to the test management device via a network. The test management device can include an abnormal part estimation part which estimates a part at which the abnormality occurs on the basis of the additional test result. The test management device can transmit a request for repairing the part at which the abnormality occurs as estimated by the abnormal part estimation part to the production planning device.

In the invention as described above, the machine test system can comprise a production planning device which manages a machine manufacturing plan. The adjustment part can determine that the other test device having a sufficient time in an operation plan performs the basic test so that a machine manufacture is not delayed relative to a manufacturing plan received from the production planning device.

DETAILED DESCRIPTION

Referring toFIG. 1toFIG. 3, a machine test system according to an embodiment will be described. The test system according to the present embodiment is installed in a machine manufacturing factory, and performs a performance test of machines as manufactured. The machine test system tests whether or not the machine as manufactured normally operates. The machines as manufactured include a finished product and a machine as manufactured halfway.

FIG. 1shows a schematic diagram of the test system according to the present embodiment.FIG. 2shows a block diagram of the test system according to the present embodiment. In the present embodiment, as the machine to be inspected, a robot to which a robot control device is connected will be described by way of example.

Referring toFIG. 1andFIG. 2, first robot device51includes first robot1aand first robot control device2a.The first robot1ais a multi-articulated robot which includes arms12aand12b,a wrist portion16, and a plurality of joint portions13. In the robot1a,constituent members such as a power source box and a cable are included.

The first robot1aincludes a robot drive device which drives a constituent member at each joint portion13. The robot drive device includes a motor14which drives a constituent member at the joint portions13. The motor14drives, thereby being capable of directing the arms12aand12band the wrist portion16to a desired direction. The robot1aincludes a base portion19which is fixed on a floor surface and a rotary portion11which rotates with respect to the base portion19. The robot drive device includes the motor14which drives the rotary portion11.

The first robot control device2awhich controls the robot1ais connected to the first robot1a.The robot control device2aincludes an arithmetic processing device including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like which are connected to each other via a bus.

The robot control device2aincludes a storage part24which stores information on a control of the robot1a.The robot control device2acan drive the robot1aon the basis of an operation program as input in advance. The operation program is stored in the storage part24.

The robot control device2aincludes an operation control part21which generates an operation command of the robot1aon the basis of the operation program. The operation control part21transmits the operation command for driving the robot1ato a robot drive part22. The robot drive part22includes an electric circuit which drives the motor14of the robot1a.The robot drive part22supplies electricity to the motor14on the basis of the operation command.

The robot1aincludes a state detector which detects a drive state of the robot1a.The state detector according to the present embodiment includes a rotation position detector15mounted to the motor14of each drive axis. The rotation position detector15detects a rotation position when the motor14drives. Information on the rotation position detected by the rotation position detector15is transmitted to the robot control device2a.The robot control device2acan calculate a rotation speed on the basis of the rotation position of each drive axis. Further, the robot control device2acan detect a position and a posture of the robot1aon the basis of the rotation position of each motor14.

Second robot device52includes second robot1band second robot control device2b.The second robot1bhas a configuration similar to that of the first robot1a.The second robot control device2bconnected to the second robot1bhas a configuration similar to that of the first robot control device2a.

A test system61according to the present embodiment is configured in such a manner as to be capable of inspecting a plurality of robots at the same time. The test system61according to the present embodiment is configured in such a manner as to be capable of performing the same inspection for a plurality of robots.

The test system61according to the present embodiment performs a basic test which is a test serving as a predetermined basis. The test system61judges whether or not robots normally operate. Then, when the robot is judged to have an abnormality, the test system61performs an additional test for determining a part at which the abnormality of the robot occurs.

The test system61comprises a plurality of test devices3aand3bwhich are connected to the plurality of robots1aand1band which perform the predetermined basic test. The test devices3aand3bare configured by an arithmetic processing device including a CPU, RAM, and the like. The test devices3aand3bare separately connected to the respective robots1aand1b.The test devices3aand3binclude a storage part32which stores information on the test. The storage part32stores operation programs for performing the test. The test devices3aand3binclude an operation program selection part31which selects one operation program from the plurality of operation programs stored in the storage part32. The operation program selection part31selects the operation program corresponding to a test performance command received from a test management device4. The test devices3aand3btransmit the operation program as selected to the robot control devices2aand2b.The robot control devices2aand2bperform the test of the robots1aand1bin accordance with the operation program as received.

The robot control devices2aand2bobtain a test result of the robots1aand1b.The robot control devices2aand2bobtain drive states of the robots1aand1bwhile driving the robots1aand1bin accordance with the test performance command. For example, the robot control devices2aand2bobtain a rotation position of the motor14from the rotation position detector15for each predetermined time interval. The test result is transmitted to the test management device4via the test devices3aand3b.

The test system61comprises the test management device4which controls the test devices3aand3b.The test management device4is connected to the test devices3aand3bvia a network, and configured in such a manner as to be communicable with each other. The test management device4transmits the test performance command to the test devices3aand3b.Further, the test management device4receives the test result from the test devices3aand3b.

The test management device4is configured by an arithmetic processing device including a CPU, RAM, and the like. The test management device4includes a storage part48which stores information on test management. The test management device4includes a judgement part41which judges whether or not the robots have an abnormality on the basis of the basic test result.

The test management device4includes an additional test setting part42which sets an additional test for determining a cause of an abnormality when the judgement part41judges that the robots1aand1bhave the abnormality. The test management device4includes an adjustment part44which adjusts assignment of the basic test and the additional test. The adjustment part44sets the test device which performs the additional test. The adjustment part44determines that the basic test planned to be performed by the test device which performs the additional test is performed by the other test device. The test management device4includes an abnormal part estimation part43which estimates the part at which the abnormality occurs on the basis of an additional test result.

The test system61comprises a production planning device8which is connected to the test management device4via a network and configured in such a manner as to be communicable with each other. The production planning device8manages a process of the entire factory and a product manufacturing plan. The production planning device8transmits the product manufacturing plan to the test management device4. The test management device4determines a test type and a test plan based on the plan of manufacture.

The test devices3aand3baccording to the present embodiment are installed in the interior of the machine manufacturing factory. The test management device4and the production planning device8may be installed in a building different from the factory. For example, the test management device4may be installed in a separate building inside the site of the manufacturing factory. In such a case, the test devices3aand3bare connected to the test management device4via a network such as an intranet. Further, the production planning device8may be installed in an office located in an area distant from the manufacturing factory. For example, the production planning device8is connected to the test management device4via a network such as an internet.

FIG. 3shows a flowchart of a control of the machine test system according to the present embodiment. The test management device4sets a test plan for the robot on the basis of the robot manufacturing plan which is received from the production planning device8.

Referring toFIG. 1toFIG. 3, in step80, the test management device4transmits a command for performing the basic test to the test devices3aand3b.The test management device4selects the basic test on the basis of the robot manufacturing plan. A type of the basic test is stored in the storage part48. In the basic test according to the present embodiment, a test to allow the robots1aand1bto operate in accordance with a predetermined operation pattern is performed. In the present embodiment, at the plurality of joint portions13, the arms12aand12band the wrist portion16changes a direction.

In step81, the basic test is performed. The operation program selection part31of the test devices3aand3bselects the operation program on the basis of the command for performing the basic test. The test devices3aand3btransmit the operation program as selected to the robot control devices2aand2b.The robot control devices2aand2bdrive the robots1aand1bon the basis of the operation program.

The robot control devices2aand2bobtain a drive state in each drive axis when allowing the robots1aand1bto operate. The drive state may include a current supplied to the motor14and a rotation angle detected by the rotation position detector15, for example.

Note that in the present embodiment, a value of the current contained in an operation command which is transmitted by the operation control part21to the robot drive part22is detected. As the value of the current supplied to the motor14, the current actually supplied to the motor14may be detected by an ammeter.

In step82, the test management device4receives a basic test result. The robot control devices2aand2btransmit the basic test result to the test management device4via the test devices3aand3b.The basic test result contains the value of the current supplied to the motor14which drives each joint portion13and the rotation angle detected by the rotation position detector15. Further, the basic test result may contain speed and acceleration in each drive axis, which is calculated on the basis of the rotation angle in each drive axis. In addition, the basic test result may contain a position deviation with respect to an actual rotation position in response to the operation command, and the like.

In step83, the judgement part41of the test management device4judges whether or not all the basic test results fall within allowable ranges. In other words, the judgement part41judges whether or not the robots1aand1bhave an abnormality. The judgement part41judges whether or not the detected value of the drive state obtained during performing the basic test falls within an allowable range. The allowable range is determined in advance. The allowable range is stored in the storage part48.

For example, the judgement part41judges whether or not the current supplied to the motor14is greater than a predetermined judgement value of the current. When the current supplied to the motor14is greater than the judgement value, the judgement part41can judge that the robot have the abnormality.

In step83, when all the basic test results fall within the allowable ranges, the robot is judged to be normal, and this control is terminated. The test devices3aand3bperform the test of the next robot.

In step83, when at least one detected value deviates from the allowable range, the judgement part41judges that the robot has an abnormality. Since the basic test result is improper, the judgement part41can judge that components mounted to the robots include a malfunctioning component. Alternatively, the judgement part41can judge that assembling of the robot1ais inappropriate. In this case, the control proceeds to step84. Herein, a case in which the first robot1aamong the plurality of robots1aand1bis judged to have an abnormality is illustrated.

In step84, the additional test setting part42of the test management device4selects the additional test for determining a part at which the abnormality occurs. The storage part48stores a plurality of types of the additional tests.

The additional test is not limited to the same test as the basic test as described above. For example, in the additional test, a test in which the robot is allowed to operate in each single drive axis so as to judge whether or not the abnormality is found, thereby determining the drive axis having the abnormality can be performed. Alternatively, in the additional test, a test in which a speed of driving the drive axis is changed so as to judge whether or not a magnitude of the abnormality depends on the speed can be performed. Further alternatively, in the additional test, a sampling period for obtaining the drive state of the robot is shortened, whereby a change of the drive state in detail can be obtained. The test management device4analyzes the drive state in detail, whereby the part of the abnormality can be estimated.

In step85, the adjustment part44of the test management device4sets the test device which performs the additional test and the test device which continuously performs the basic test. In the example herein, the adjustment part44determines that the first test device3awhich has tested the first robot1ahaving the abnormality performs the additional test.

It is often the case that the additional test necessitates longer time than the basic test. The test device is incapable of performing the basic test while performing the additional test. Accordingly, the adjustment part44sets the other test device3bwhich performs the basic test planned to be performed by the test device3awhich performs the additional test. In other words, the test management device4performs a control for transferring the basic test to be performed by the test device which has tested the robot determined to have the abnormality to the other test device.

Herein, the adjustment part44sets the second test device3bto perform the basic test to be performed by the first test device3a.The test management device4transmits to the first test device3aa command for performing the additional test. The test management device4transmits to the second test device3ba command for performing the basic test planned to be performed by the first test device3a.

In step86, the operation program selection part31of the first test device3aselects the operation program on the basis of the command for performing the additional test. The test device3atransmits the operation program to the robot control device2a.The robot control device2aperforms the additional test. The robot control device2adetects variables on the drive state of the robot1awhile driving the robot1a.In other words, the robot control device2aobtains an additional test result.

In step87, the test management device4obtains the additional test result. The robot control device2atransmits the additional test result to the test management device4via the test device3a.

In step88, the abnormal part estimation part43of the test management device4estimates the part at which the abnormality of the robot1aoccurs on the basis of the additional test result. In other words, the abnormal part estimation part43estimates a cause of the occurrence of the abnormality.

Next, in step89, the abnormal part estimation part43judges whether or not the part at which the abnormality occurs is determined. In step89, when the part at which the abnormality occurs fails to be determined, the control proceeds to step84. In step84, the additional test setting part42selects still another additional test. In the control from step85to step86, still another additional test is performed. In the control from step87to step89, the abnormal part estimation part43estimates the part at which the abnormality occurs. Thus, the test system61according to the present embodiment performs the test while changing the types of the additional tests until the part at which the abnormality occurs is determined. In other words, the test system61performs the additional test until the cause of the abnormality is determined.

In step89, when the abnormal part estimation part43has determined the part at which the abnormality occurs, the control proceeds to step90.

In step90, the test management device4transmits information on the part at which the abnormality occurs to the production planning device8. Further, the test management device4transmits a request for repairing the part at which the abnormality occurs to the production planning device8.

In the factory, the operator moves the robot1ain which the abnormality occurs to a predetermined place. The test device which has performed the additional test resumes the initial basic test. The operator replaces the component of the part at which the abnormality occurs. Alternatively, the operator repairs the part at which the abnormality occurs. Subsequently, the test system61again performs the basic test with respect to the robot1a.When a basic test result is proper, the robot1ais shipped out. Alternatively, when a basic test result is proper, the robot1ais transferred to a next manufacturing process.

Thus, the test system61according to the present embodiment can determine a part at which an abnormality occurs by performing the additional test. Next, specific examples of the basic test and the additional test when the product is a robot will be described.

As a result of performing the basic test, in step83, there are cases in which the value of the current supplied to the motor14of the first robot1adeviates from the allowable range. In other words, there are cases in which the value of the current supplied to the motor14becomes greater than the predetermined judgement value. The robot control device2aperforms a feedback control based on the rotation angle detected by the rotation position detector15. Consequently, if an actual position lags relative to an operation command position, the operation control part21performs a control for increasing the current supplied to the motor14.

When the value of the current supplied to the motor14exceeds the allowable range, it can be judged that a mechanical resistance or an electrical resistance in the robot1ais present. As a cause of the generation of the mechanical resistance, it can be considered that an abnormality occurs in a reduction gear mounted to the drive shaft or the motor. As a cause of the generation of the electrical resistance, it can be considered that an abnormality occurs at a cable which supplies electricity to the motor.

In step84, the additional test setting part42selects one additional test from a plurality of additional tests stored in the storage part48in advance. The additional test setting part42according to the present embodiment sets the additional test on the basis of the basic test result in such a manner as to be capable of determining the cause in a short time. Such a control for setting the additional test is stored in the storage part48in advance.

When the value of the current supplied to the motor is large, if the value of the current exceeds the allowable range in most of operations of the robot, determining the drive axis at which the abnormality occurs is difficult. The additional test setting part42sets the additional test for determining the drive axis at which the value of the current exceeds the allowable value. The additional test setting part42sets the additional test for driving the robot1aat each single drive axis. In the additional test, the value of the current when the robot1ais driven at each single drive axis is detected.

On the other hand, when the basic test of the robot is performed, if a period in which the value of the current exceeds the allowable range is short, it can be judged that the abnormality occurs in the drive axis driven during the period in which the value of the current exceeds the allowable range. In this case, with respect to the drive axes which have been driven during the specific period, the additional test setting part42sets the additional test for driving the robot1aat each single drive axis.

Note that when the number of the drive axes which have been driven during the period in which the value of the current exceeds the allowable range is one, the abnormal part estimation part43can judge that the abnormality occurs in a part related to the drive axis.

Next, in step86, the additional test to allow the robot to operate at each single drive axis is performed. In step88, the abnormal part estimation part43can estimate the drive axis at which the value of the current is increased. However, with respect to the part related to the drive axis as specified, the abnormal part estimation part43cannot determine which part is abnormal among the motor, the reduction gear, and the cable. In step89, the abnormal part estimation part43cannot determine the part at which the abnormality occurs. Consequently, the control proceeds to step84. Then, the second additional test is performed.

In step84, the additional test setting part42selects the additional test for determining the part at which the abnormality occurs among the motor, the reduction gear, and the cable. In this example, with respect to the drive axis as estimated at which the abnormality occurs, the additional test setting part42sets the additional test for detecting a position deviation. In the second additional test, the robot1ais driven with respect to the specific drive axis as estimated at which the abnormality occurs.

In the second additional test, the specific drive shaft of the robot1ais driven in accordance with a predetermined operation pattern. Then, during a period in which the specific drive shaft of the robot1ais driven, a position deviation is obtained. The robot control device2acan detect a difference between a position command in the drive axis which is generated by the operation control part21and a rotation position detected by the rotation position detector15as the position deviation.

In step85, since the test device3awhich performs the additional test has been already set, the control proceeds to step86. In step86, the operation program selection part31of the test device3aselects the operation program stored in the storage part32. The robot control device2aperforms the additional test on the basis of the operation program.

In step87, the test management device4receives a test result. In step88, the abnormal part estimation part43estimates a part at which the abnormality occurs. For example, when the abnormality of the cable such as breakage of the cable is present, a cable contact becomes strong or weak depending on the position and the posture of the robot1a.Then, the position deviation changes in accordance with the position and the posture of the robot1a.Thus, when the position deviation changes in accordance with the position and the posture of the robot1a,the abnormal part estimation part43estimates that the cable has the abnormality.

Alternatively, there are cases in which when a rotation shaft of the motor14rotates, the position deviation vibrates. When a vibration cycle of the position deviation corresponds to a rotation cycle of the motor, the abnormal part estimation part43estimates that the motor malfunctions.

Further, when the position deviation becomes greater in accordance with an increase in the rotation speed of the rotation shaft of the motor14, the abnormal part estimation part43estimates that the reduction gear malfunctions. Alternatively, there are cases in which the position deviation vibrates when the reduction gear malfunctions. When the position deviation vibrates in a cycle different from the rotation cycle of the motor, the abnormal part estimation part43estimates that the reduction gear malfunctions.

Thus, the robot1ais driven in each single drive axis, whereby the abnormal part estimation part43can determine the drive axis at which the abnormality occurs. The abnormal part estimation part43can estimate the part at which the abnormality occurs on the basis of the position deviation when the single drive axis is driven.

Note that the additional test is not limited to the embodiment as described above, and any test can be employed. For example, when a mechanical resistance is generated, the friction becomes greater in accordance with an increase in the rotation speed in the drive axis. A magnitude of friction is proportional to the rotation speed of the motor. Accordingly, a test to change the rotation speed in the specific drive axis can be performed in the additional test. When the position deviation changes in accordance with the rotation speed in the drive axis, the abnormal part estimation part43can estimate that a mechanical resistance is present. In other words, the abnormal part estimation part43can estimate that the cable is normal but on the other hand, an abnormality occurs at the motor or the reduction gear.

In the embodiment as described above, the additional test setting part42selects the most suitable additional test from the plurality of additional tests stored in the storage part48in order to determine a cause on the basis of a basic test result. The additional test setting part42is not limited to this embodiment. For example, with respect to all the drive axes, the additional test setting part42may set a test to allow the robot to operate in each drive axis. Alternatively, the additional test setting part42may set a test for detecting the position deviation with respect to all the drive axes.

Further, the test management device4may perform a control for sequentially performing all the additional tests stored in the storage part48. However, if all the additional tests are sequentially performed, the time for the additional tests becomes extremely long, which deteriorates productivity. The additional test setting part42can perform a control for determining the next additional test to be performed on the basis of a basic test result and an additional test result as performed so far. By adopting this control, the part at which the abnormality occurs can be determined efficiently in a short time.

The machine test system according to the present embodiment automatically performs the additional test for determining the cause of the abnormality when it is judged that the machine has the abnormality. Thus, without depending on experiences and knowledge of the operator, and the like, the part at which the abnormality occurs can be automatically estimated. Further, the test system causes the other test device to perform the basic test planned to be performed by the test device which performs the additional test. The test device which performs the additional test can no longer perform the basic test. However, the basic test of the product is performed by the test device which does not perform the additional test, thereby being capable of suppressing a delay in production.

In particular, the adjustment part44receives a manufacturing plan for a predetermined period from the production planning device8. Then, the adjustment part44can set the test device which performs the basic test and the test device which performs the additional test so that the machine manufacture is not delayed relative to the manufacturing plan. The adjustment part44can perform a control for transferring the basic test to the test device having a sufficient time in an operation plan. For example, the adjustment part44can transfer the basic test to the test device having a small number of basic tests planned to be performed.

The test system61may include third test device in addition to the first test device3aand the second test device3b.In other words, the test system61may include three or more test devices. When the additional test is performed by the first test device3a,the adjustment part44determines that the robot which the basic test has been planned to be performed by the first test device is tested by the second test device or the third test device. At this time, the adjustment part44can transfer the basic test to the test device having a sufficient time in a test plan. By performing this control, a delay in production due to performance of the additional test can be suppressed.

Further, the adjustment part44may distribute the basic test to the plurality of test devices so that a robot manufacture is not delayed relative to a manufacturing plan. For example, when the additional test is performed by the first test device3a,the adjustment part44may distribute the basic test of the robot planned to be performed by the first test device to both the second test device and the third test device.

In the machine test system61according to the present embodiment, the test management device4transmits the request for repairing the part at which the abnormality occurs as estimated by the abnormal part estimation part43to the production planning device8. By performing this control, when a cause of the abnormality is determined, the request for repairing a component can be automatically made, whereby the productivity is improved.

The operator can request the manufacturer of a component for repairing the component in accordance with a cause of the abnormality and the repair request received by the production planning device8. Alternatively, the production planning device8may automatically transmit a repair request to the manufacturer of the component after receiving the repair request.

Note that depending on the part at which the abnormality occurs, the test management device4may request the operator for performing a repair. For example, when the abnormal part estimation part43determines that the component is defectively mounted, the test management device4may display a request to the operator for mounting the component once more on a display part of the test management device4.

Alternatively, after the abnormal part estimation part43estimates the part at which the abnormality occurs, any control can be performed. For example, the test management device4may be configured to display the part at which the abnormality occurs on the display part and request to confirm the same to the operator.

In the embodiments as described above, the first test device and the second test device perform the same basic test, but the embodiment is not limited to this, and the plurality of test devices may perform basic tests different from each other. Also in this case, when the abnormality of the first robot is detected, the second test device may perform the basic test performed by the first test device.

In the test system according to the present embodiment, the test devices and the robot control devices are configured by separate devices, but the robot control devices and the test devices may be integrally formed. For example, the robot control devices may include the operation program selection part.

The machine according to the present embodiment is a robot, but the embodiment is not limited to this, and the present invention can be employed for the test system which tests any machine. For example, the test system of the present invention can be employed for a test of a machine such as an electronic device having no movable portion in addition to the machine having a movable portion.

Further, in the embodiments as described above, the test system is installed in the machine manufacturing factory, but the embodiment is not limited to this, and the test system of the present invention can be applied to a machine inspection. For example, in a factory in which a predetermined operation is performed by a plurality of robots, the test system of the present invention can be applied when a periodic performance test of the plurality of robots is performed.

According to the present invention, the machine test system which accurately estimates the part at which the abnormality occurs while suppressing the delay in the test can be provided.

The embodiments as described above can be suitably combined with each other. In the above respective drawings, the same reference numerals are assigned to the same or equivalent parts. Note that the above embodiments are exemplary and are not intended to limit the present invention. In addition, the embodiments include modifications to the embodiments as recited in the claims.