JP5973786B2 - Centralized monitoring system for industrial robots, centralized monitoring program and maintenance system - Google Patents

Description

  The present invention relates to a centralized monitoring apparatus that monitors a plurality of industrial robots collectively.

  In general, the accuracy of an arm trajectory and the like of an industrial robot is greatly affected by the performance of a reduction gear used in a joint. Therefore, it is important that the reducer for the industrial robot is appropriately replaced when the performance deteriorates. However, when the reducer for an industrial robot is replaced, the industrial robot equipped with the reducer and the production line where the industrial robot is installed must be stopped. Therefore, in order to grasp the replacement time of the reducer for the industrial robot, it is very important that the failure of the reducer for the industrial robot is appropriately predicted.

  Conventionally, as a device for predicting a failure of a reduction gear for an industrial robot, when the iron content detected by the iron content detection device for detecting the iron content in the lubricating oil in the reduction gear is equal to or greater than a threshold, A maintenance information output device for predicting a failure is known (see Patent Document 1).

International Publication No. 2007/046505

  The cause of the deterioration of the lubricating oil in the reducer of an industrial robot is not only the increase in iron content. Lubricating oil also deteriorates due to changes over time in the components of the lubricating oil itself.

  However, the technique described in Patent Document 1 has a problem that there is a possibility that a reduction gear failure may not be properly predicted when the lubricating oil deteriorates due to a change in the lubricating oil component itself over time or the like. .

  Further, since a plurality of industrial robots are often installed on the production line, it is preferable to monitor a plurality of industrial robots collectively.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a centralized monitoring apparatus capable of transmitting notification of a state of damage more appropriately than the conventional ones of a plurality of industrial robots to the outside.

  The centralized monitoring device of the present invention is a centralized monitoring device that collectively monitors a plurality of industrial robots including a reduction gear and a lubricant deterioration sensor for detecting the deterioration of the lubricant in the reduction gear. The lubricant deterioration sensor includes a light emitting element that emits light, a color light receiving element that detects a color of the received light, and a gap for the lubricant to enter from the light emitting element to the color light receiving element. A gap forming member that is formed on the optical path and that transmits light, and color information that transmits information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor. A transmission device, and the centralized monitoring device stores a threshold value storage unit that stores a threshold value corresponding to a damage state of the speed reducer, and a speed reducer breakage state determination unit that determines a breakage state of the speed reducer. ,Previous A speed reducer breakage state transmitting means for sending a notification of a state of breakage of the speed reducer determined by the speed reducer breakage state determining means to the outside of the centralized monitoring device, the speed reducer breakage state determining means, When the value based on the information transmitted by the color information transmitting device and corresponding to the color detected by the color light receiving element reaches the threshold value stored in the threshold value storage unit, The reduction gear damage state corresponding to the threshold value is determined as a damage state of the reduction gear to be detected by the lubricating oil deterioration sensor including the color light receiving element. And

  With this configuration, the centralized monitoring device of the present invention determines the state of the reduction gear breakage according to the color detected by the color light receiving element of the lubricant deterioration sensor, so that the state of the reduction gear breakage is more appropriate than before. Judgment can be made. Further, the centralized monitoring device of the present invention is based on a value corresponding to the color detected by the color light receiving element of the lubricant oil deterioration sensor of each reduction gear of each of the plurality of industrial robots. And the notification of the determined state of damage of the reducer is transmitted to the outside, so that the notification of the state of damage of each reducer of the plurality of industrial robots can be transmitted to the outside. Therefore, the centralized monitoring apparatus according to the present invention can transmit a notification of the state of damage more appropriate than that of the conventional reducers of the plurality of industrial robots to the outside.

  In the centralized monitoring device of the present invention, the industrial robot includes a reduction gear usage state sensor for detecting a usage state of the reduction gear, and a usage state of the reduction gear detected by the reduction gear usage state sensor. And a reduction gear information transmission device that transmits information corresponding to the outside of the industrial robot, and the central monitoring device determines the reduction gear damage state among the threshold values stored in the threshold value storage unit. Threshold setting means for setting the threshold for determination by means, and the threshold setting means, based on the information transmitted by the speed reducer information transmitting device, according to the use state of the speed reducer A threshold may be set.

  With this configuration, the centralized monitoring device according to the present invention sets the threshold for determining the state of damage to the speed reducer according to the actual use state of the speed reducer. Can be notified with high accuracy according to the state of use.

  In the centralized monitoring device according to the present invention, the speed reducer use state sensor includes a lubricant temperature sensor for detecting a temperature of the lubricant as a use state of the speed reducer, and the speed reducer information transmission device Transmits information corresponding to the temperature of the lubricating oil detected by the lubricating oil temperature sensor to the outside of the industrial robot, and the threshold setting means is based on the information transmitted by the reducer information transmitting device. The threshold value may be set according to the temperature of the lubricating oil.

  With this configuration, the centralized monitoring device of the present invention sets the threshold value for determining the state of damage to the speed reducer according to the actual temperature of the lubricating oil. Notification can be made with high accuracy according to the temperature.

  In the centralized monitoring device of the present invention, the speed reducer usage state sensor includes a load sensor for detecting a load applied to the speed reducer as the speed reducer usage state, and the speed reducer information transmission device includes: , Information according to the load applied to the speed reducer detected by the load sensor is transmitted to the outside of the industrial robot, and the threshold setting means is based on the information transmitted by the speed reducer information transmitting device, You may set the said threshold value according to the load added to the said reduction gear.

  With this configuration, the centralized monitoring apparatus according to the present invention sets the threshold value for determining the state of damage to the speed reducer according to the load actually applied to the speed reducer. Can be notified with high accuracy according to the load applied to the.

  Further, in the centralized monitoring device of the present invention, the speed reducer breakage state transmitting means sends a notification of the state of the speed reducer breakage determined by the speed reducer broken state determining means as an outside of the centralized monitoring apparatus. The notification is transmitted to at least two notification output devices that output at least one of display and sound, and the centralized monitoring device is configured to display information corresponding to the color detected by the color light receiving element and the use state of the speed reducer. Reducer information transmission means may be provided for transmitting the corresponding information to only one of the two notification output devices.

  With this configuration, the centralized monitoring device of the present invention can transmit appropriate information according to the user of the notification output device to the notification output device.

  In the centralized monitoring device of the present invention, the centralized monitoring device includes a sensor consumption state determination unit that determines a consumption state of the lubricant deterioration sensor, and the lubricant deterioration sensor that is determined by the sensor consumption state determination unit. There may be provided sensor exhaustion state transmitting means for transmitting a notification of the state of exhaustion to the outside of the centralized monitoring apparatus.

  With this configuration, the centralized monitoring device of the present invention notifies the notification of the state of wear of the lubricant deterioration sensor to the outside, so that an inappropriate lubricant deterioration sensor can be prevented from being used. It is possible to maintain the accuracy of the notification of the condition of the reduction gear breakage.

  Further, in the centralized monitoring device of the present invention, the lubricant deterioration sensor includes a battery that supplies power to the light emitting element, and the sensor consumption state determination unit is responsive to a remaining amount of power of the battery. The battery consumption state may be determined as the consumption state of the lubricant deterioration sensor.

  With this configuration, the centralized monitoring device of the present invention transmits a notification of the battery consumption state to the outside as the state of consumption of the lubricant deterioration sensor, so that an inappropriate lubricant deterioration sensor whose battery level is zero Can be prevented from being used.

  In the centralized monitoring apparatus of the present invention, the sensor consumption state determination means determines the consumption state of the light emitting element according to the accumulated light emission time by the light emitting element as the consumption state of the lubricant deterioration sensor. You may do it.

  With this configuration, the centralized monitoring device of the present invention transmits a notification of the consumption state of the light emitting element to the outside as the consumption state of the lubricant deterioration sensor, so that an inappropriate lubricant deterioration sensor in which the light emitting element has failed is used. Can be prevented.

  The centralized monitoring apparatus of the present invention includes a robot state appropriateness determining unit that determines the appropriateness of the industrial robot use state, and the industrial robot use state determined by the robot state appropriateness determination unit. Robot state appropriateness transmitting means for transmitting appropriateness notification to the outside of the centralized monitoring device, and the robot state appropriateness determining means is based on the information transmitted by the speed reducer information transmitting device, The temperature of the industrial robot according to the temperature of the lubricating oil may be acquired, and the appropriateness of the use state of the industrial robot may be determined based on the acquired temperature of the industrial robot.

  With this configuration, the centralized monitoring device of the present invention can suppress inappropriate use of the industrial robot such that the temperature of the industrial robot becomes an inappropriate temperature.

  The centralized monitoring apparatus of the present invention includes a robot state appropriateness determining unit that determines the appropriateness of the industrial robot use state, and the industrial robot use state determined by the robot state appropriateness determination unit. Robot state appropriateness transmitting means for transmitting appropriateness notification to the outside of the centralized monitoring device, and the robot state appropriateness determining means is based on the information transmitted by the speed reducer information transmitting device, The load of the industrial robot according to the load applied to the speed reducer may be acquired, and the appropriateness of the use state of the industrial robot may be determined based on the acquired load of the industrial robot.

  With this configuration, the centralized monitoring apparatus according to the present invention can suppress inappropriate use of the industrial robot such that the load of the industrial robot becomes an inappropriate load.

  The centralized monitoring program of the present invention is characterized by causing a computer to function as the above-described centralized monitoring apparatus.

  With this configuration, the computer that executes the centralized monitoring program of the present invention determines the state of the reduction gear according to the color detected by the color light receiving element of the lubricant deterioration sensor. It can be judged more appropriately than before. The computer that executes the centralized monitoring program according to the present invention is configured such that each speed reducer is based on a value corresponding to a color detected by a color light receiving element of a lubricant deterioration sensor of each speed reducer of a plurality of industrial robots. Since the state of the damage of the reducer is judged and the notification of the judged state of the reduction gear is transmitted to the outside, the notification of the state of the damage of each of the plurality of industrial robots can be transmitted to the outside. . Therefore, the computer that executes the centralized monitoring program of the present invention can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers of the plurality of industrial robots to the outside.

  The maintenance system of the present invention displays the above-mentioned centralized monitoring device, a plurality of the industrial robots monitored by the centralized monitoring device, and the notification of the state of breakage of the speed reducer transmitted by the centralized monitoring device And a notification output device that outputs at least one of sounds.

  With this configuration, the maintenance system of the present invention determines the state of the reduction gear breakage according to the color detected by the color light receiving element of the lubricant deterioration sensor, so the state of the reduction gear breakage is concentrated. The monitoring device can make a better judgment than before. In addition, the maintenance system of the present invention determines the state of damage of each reduction gear based on the value corresponding to the color detected by the color light receiving element of the lubricant deterioration sensor of each reduction gear of a plurality of industrial robots. The centralized monitoring device sends a notification of the speed reducer damage determined by the centralized monitoring device to the notification output device. The notification can be output by the notification output device. Therefore, the maintenance system of this invention can output the notification of the state of a more suitable breakage of each reduction gear of each of a plurality of industrial robots from the notification output device.

  The centralized monitoring device according to the present invention can transmit a notification of the state of damage more appropriately than the conventional ones of a plurality of industrial robots to the outside.

1 is a configuration diagram of a maintenance system according to an embodiment of the present invention. It is a side view of the industrial robot shown in FIG. It is sectional drawing of the joint part of the industrial robot shown in FIG. FIG. 4 is a front view of the lubricant deterioration sensor shown in FIG. 3. FIG. 5 is a front sectional view of the lubricant deterioration sensor shown in FIG. 4 in a state attached to an arm. (A) is a top view of the lubricating oil deterioration sensor shown in FIG. (B) is a bottom view of the lubricant deterioration sensor shown in FIG. It is a figure which shows the optical path from white LED shown in FIG. 5 to RGB sensor. It is a block diagram of the centralized monitoring apparatus shown in FIG. It is a figure which shows an example of the user information shown in FIG. It is a figure which shows an example of the robot information shown in FIG. It is a figure for demonstrating the calculation method of the robot load shown in FIG. It is a figure which shows an example of the reduction gear information shown in FIG. It is a figure which shows an example of the sensor information shown in FIG. It is a figure which shows an example of the threshold value information for robots shown in FIG. It is a figure which shows an example of the threshold table for reducers shown in FIG. It is a figure which shows an example of the table for table selection shown in FIG. It is a figure which shows an example of the threshold value information for sensors shown in FIG. (A) is an experimental result of the time change of the black color difference ΔE when the oil temperature shown in FIG. 3 is 40 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph which shows an example. (B) shows the experimental results of the time change of the black color difference ΔE when the oil temperature shown in FIG. 3 is 60 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph which shows an example. (C) is an experimental result of the time change of the black color difference ΔE when the oil temperature shown in FIG. 3 is 60 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 2.0 To. It is a graph which shows an example. It is a block diagram of the apparatus for service providers shown in FIG. It is a block diagram of the apparatus for users shown in FIG. It is a flowchart of operation | movement of the centralized monitoring apparatus shown in FIG. 8 when robot information is updated. (A) is an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature exceeds the recommended temperature range upper threshold. FIG. (B) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is lower than the recommended temperature range lower limit threshold. FIG. (C) is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is equal to or higher than the high temperature warning threshold value. It is. (D) is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is equal to or lower than the low temperature warning threshold value. It is. (A) is an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot load exceeds the recommended load range upper limit threshold. FIG. (B) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot load is equal to or higher than the high load warning threshold. FIG. It is a flowchart of operation | movement of the centralized monitoring apparatus shown in FIG. 8 when reduction gear information is updated. (A) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the black color difference ΔE is equal to or less than the inspection repair threshold. FIG. (B) shows a case where the black color difference ΔE exceeds the inspection and repair threshold and is equal to or less than the warning threshold, on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. It is a figure which shows an example of the screen displayed. It is a flowchart of operation | movement of the centralized monitoring apparatus shown in FIG. 8 when sensor information is updated. (A) is an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the remaining battery level reaches the battery replacement threshold. FIG. (B) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the remaining battery level is equal to or less than the battery warning threshold. FIG. (A) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the accumulated light emission time is equal to or greater than the LED replacement threshold. FIG. (B) shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the accumulated light emission time is equal to or greater than the LED warning threshold. FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  First, the configuration of the maintenance system according to the present embodiment will be described.

  FIG. 1 is a configuration diagram of a maintenance system 10 according to the present embodiment.

  As shown in FIG. 1, the maintenance system 10 includes a plurality of industrial robots 20, a centralized monitoring device 100 that collectively monitors the plurality of industrial robots 20, and a service provider that provides services related to the industrial robot 20. And a service provider device 130 that is used by the user, and a plurality of user devices 160 that are devices used by users of the industrial robot 20. The industrial robot 20, the centralized monitoring apparatus 100, the service provider apparatus 130, and the user apparatus 160 are connected to be communicable with each other via the network 11 such as the Internet.

  The plurality of industrial robots 20 are arranged at a plurality of places such as a factory 12A and a factory 12B.

  The centralized monitoring device 100 is arranged at a location away from the location where the industrial robot 20 is arranged.

  The service provider device 130 may be disposed at a location away from the location where the industrial robot 20 is located and the location where the centralized monitoring device 100 is located.

  One user device 160 may be provided for each group of a plurality of industrial robots 20, for example, for each factory or for each company operating the factory. The user device 160 is disposed at a location apart from the location where the industrial robot 20 is located, the location where the centralized monitoring device 100 is located, and the location where the service provider device 130 is located. Also good.

  FIG. 2 is a side view of the industrial robot 20.

  As shown in FIG. 2, the industrial robot 20 connects the attachment part 21 attached to the installation part 90 such as the floor, the ceiling, the arms 22, 23, 24, 25 and 26, and the attachment part 21 and the arm 22. The joint 31, the joint 32 connecting the arms 22 and 23, the joint 33 connecting the arms 23 and 24, the joint 34 connecting the arms 24 and 25, and the arms 25 and 26 A joint portion 35 to be connected and a joint portion 36 to which the arm 26 and a hand (not shown) are connected are provided.

  FIG. 3 is a cross-sectional view of the joint portion 32. In the following, the joint portion 32 will be described, but the same applies to the joint portions 31, 33 to 36.

  As shown in FIG. 3, the joint portion 32 reduces friction generated in the speed reducer 40 connecting the arm 22 and the arm 23, the motor 50 fixed to the arm 22 by the bolt 51, and the movable portion of the speed reducer 40. For detecting deterioration of the lubricating oil 40a, a strain gauge 80 as a load sensor for detecting a load applied to the speed reducer 40, and wireless communication for communicating with an external device wirelessly Device 81.

  The speed reducer 40 includes a case 41 having an internal gear 41a and fixed to the arm 22 by a bolt 41b, and three columns 42a arranged at equal intervals around the central axis of the speed reducer 40. The support 42 fixed to the arm 23 by the bolt 42b, the gear 43 fixed to the output shaft of the motor 50, and the three gears 43 arranged at equal intervals around the central axis of the speed reducer 40 mesh with the gear 43. A gear 44; three crankshafts 45 arranged at equal intervals around the central axis of the speed reducer 40 and fixed to the gear 44; two external gears 46 meshing with the internal gear 41a of the case 41; It has.

  The support 42 is rotatably supported by the case 41 via a bearing 41c. A seal member 41d for preventing leakage of the lubricating oil 40a is provided between the case 41 and the support 42.

  The crankshaft 45 is rotatably supported by the support 42 via a bearing 42c and is rotatably supported by the external gear 46 via a bearing 46a. The crankshaft 45 rotates the external gear 46 eccentrically with respect to the case 41 in accordance with the rotational motion input from the gear 44.

  The lubricant deterioration sensor 60 is fixed to the arm 23.

  Two strain gauges 80 are attached to each of the three columns 42a of the support 42, for a total of six. The strain gauge 80 detects a load applied to the speed reducer 40 as a strain generated in the column 42a. Here, the strain gauge 80 is provided with a coating for protection from the lubricating oil 40a. Further, the speed reducer 40 and the arm 23 are formed with a hole (not shown) through which an electric wire for transmitting the output of the strain gauge 80 to the wireless communication device 81 is passed. This hole is filled with a resin such as an epoxy resin after the electric wire is passed in order to prevent the lubricating oil 40a from leaking to the outside of the speed reducer 40. The strain gauge 80 detects a load applied to the speed reducer 40 as a use state of the speed reducer 40, and constitutes a speed reducer use state sensor of the present invention.

  The wireless communication device 81 has a built-in battery that supplies power to the wireless communication device 81 itself. The wireless communication device 81 transmits information corresponding to the load detected by the strain gauge 80 to the centralized monitoring device 100 as the use state of the speed reducer 40, and constitutes the speed reducer information transmission device of the present invention. doing.

  FIG. 4 is a front view of the lubricant deterioration sensor 60. FIG. 5 is a front sectional view of the lubricant deterioration sensor 60 attached to the arm 23. FIG. 6A is a plan view of the lubricant deterioration sensor 60. FIG. 6B is a bottom view of the lubricant deterioration sensor 60.

  As shown in FIGS. 4 to 6, the lubricant deterioration sensor 60 is for oil which is a gap between the aluminum alloy casing 61 that supports each component of the lubricant deterioration sensor 60 and the lubricant 40 a. A gap forming member 62 in which a gap 62a is formed, a support member 63 that supports the gap forming member 62, an O-ring 64 that prevents leakage of the lubricating oil 40a from between the casing 61 and the arm 23, and a casing An O-ring 65 that prevents leakage of the lubricating oil 40 a from between 61 and the support member 63, an O-ring 66 disposed between the housing 61 and the support member 63, and an electronic component group 70 are provided.

  The housing 61 is a screw part 61a for being fixed to the screw hole 23a of the arm 23, and a tool for being grasped by a tool such as a spanner when the screw part 61a is rotated with respect to the screw hole 23a of the arm 23. And a contact portion 61b. The screw hole 23a of the arm 23 is used for supplying the lubricating oil 40a to the speed reducer 40 and discarding the lubricating oil 40a from the speed reducer 40 when the lubricating oil deterioration sensor 60 is removed. May be.

  The gap forming member 62 is constituted by two glass right-angle prisms 62b and 62c, and an oil gap 62a, which is a gap for the lubricating oil 40a to enter, is formed between the two right-angle prisms 62b and 62c. ing. The right-angle prisms 62b and 62c are fixed to the support member 63 with an adhesive.

  The support member 63 is fixed to the housing 61 with hexagon socket bolts 67. The support member 63 includes a holder 63a made of aluminum alloy, and a holder cap 63c made of aluminum alloy fixed to the holder 63a by a hexagon socket head cap screw 63b.

  The electronic component group 70 includes a circuit board 71 fixed to the support member 63 by a hexagon socket head bolt 69 via a spacer 68, and a white LED (Light) mounted on the circuit board 71, which is a light emitting element that emits white light. (Emitting Diode) 72, a color light receiving element for detecting the color of the received light, the RGB sensor 73 mounted on the circuit board 71, and the temperature of the lubricating oil 40a (hereinafter referred to as "oil temperature") via the holder 63a. .), A temperature sensor 74 mounted on the circuit board 71, a wireless communication device 75 that wirelessly communicates with a device external to the lubricant deterioration sensor 60, a white LED 72, Electric power for supplying electric power to each electronic component on the circuit board 71 such as the RGB sensor 73, the temperature sensor 74 and the wireless communication device 75. A battery 76, a battery remaining amount sensor 77 for measuring the remaining amount of electric power of the battery 76 (hereinafter referred to as “battery remaining amount”), and a light emission timing sensor 78 for detecting the timing of light emission by the white LED 72. Yes. In addition to the white LED 72, the RGB sensor 73, the temperature sensor 74, the wireless communication device 75, the battery 76, the remaining battery level sensor 77, and the light emission timing sensor 78, a plurality of electronic components are mounted on the circuit board 71.

  The temperature sensor 74 detects the temperature of the lubricating oil 40a as the use state of the speed reducer 40, and constitutes the speed reducer use state sensor of the present invention.

  The wireless communication device 75 is configured to transmit information corresponding to the color detected by the RGB sensor 73 to the centralized monitoring device 100, and constitutes the color information transmitting device of the present invention. Further, the wireless communication device 75 is configured to transmit information corresponding to the oil temperature detected by the temperature sensor 74 to the centralized monitoring device 100 as the use state of the speed reducer 40, and the speed reducer information transmission of the present invention. Configure the device. In addition, the wireless communication device 75 transmits information corresponding to the remaining battery level measured by the remaining battery level sensor 77 and information corresponding to the timing of light emission detected by the light emission timing sensor 78 to the centralized monitoring device 100. It has become.

  FIG. 7 is a diagram showing an optical path 72 a from the white LED 72 to the RGB sensor 73.

  As shown in FIG. 7, the oil gap 62 a of the gap forming member 62 is disposed on the optical path 72 a from the white LED 72 to the RGB sensor 73.

  The holder 63 a surrounds at least a part of the optical path 72 a from the white LED 72 to the RGB sensor 73. The holder 63a is subjected to a treatment for preventing reflection of light, for example, a matte black alumite treatment.

  The right-angle prisms 62b and 62c transmit the light emitted by the white LED 72. The entrance surface and the exit surface of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished.

  The optical path 72a is bent 90 degrees at the reflecting surface of the right-angle prism 62b, and is also bent 90 degrees at the reflecting surface of the right-angle prism 62c. That is, the optical path 72 a is bent 180 degrees by the gap forming member 62. The reflecting surfaces of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished and are provided with an aluminum vapor deposition film. And in order to protect the aluminum vapor deposition film with weak hardness and adhesion, SiO2 film is further given on the aluminum vapor deposition film.

  The distance between the exit surface of the right-angle prism 62b of the light emitted by the white LED 72 and the entrance surface of the right-angle prism 62c of the light emitted by the white LED 72, that is, the length of the oil gap 62a is, for example, 1 mm. If the oil gap 62a is too short, it is difficult for the contaminants in the lubricating oil 40a to properly flow through the oil gap 62a, so that the accuracy of detecting the color of the contaminants in the lubricant 40a is reduced. On the other hand, when the oil gap 62a is too long, the light emitted from the white LED 72 is too absorbed by the contaminants in the lubricating oil 40a in the oil gap 62a and hardly reaches the RGB sensor 73. The detection accuracy of the color of the contaminant in the oil 40a is lowered. Therefore, the length of the oil gap 62a is preferably set appropriately so that the color detection accuracy of the contaminant in the lubricating oil 40a is increased.

  The lubricant deterioration sensor 60 detects the color of the white light emitted by the white LED 72 by the RGB sensor 73 with respect to light having a wavelength that is not absorbed by the contaminant in the lubricant 40a in the oil gap 62a. Therefore, the color of the contaminant in the lubricating oil 40a of the speed reducer 40 can be detected immediately. The centralized monitoring apparatus 100 can immediately identify the type and amount of contaminants in the lubricating oil 40a of the speed reducer 40 based on the color detected by the RGB sensor 73. That is, the lubricant deterioration sensor 60 can detect the degree of deterioration of the lubricant 40a by detecting the color of the contaminant in the lubricant 40a.

The degree of deterioration of the lubricating oil 40a can be determined by a color difference ΔE (hereinafter referred to as “black color difference ΔE”) with respect to black, which is a predetermined color detected by the RGB sensor 73. The black color difference ΔE can be calculated by the following equation 1 using the R, G, and B values of the color detected by the RGB sensor 73.

  In general, the accuracy of an arm trajectory and the like of an industrial robot is greatly affected by the performance of a reduction gear used in a joint. Therefore, it is important that the reducer for the industrial robot is appropriately replaced when the performance deteriorates. However, when the reducer for an industrial robot is replaced, the industrial robot equipped with the reducer and the production line where the industrial robot is installed must be stopped. Therefore, in order to grasp the replacement time of the reducer for the industrial robot, it is very important that the failure of the reducer for the industrial robot is appropriately predicted. Here, each lubricant deterioration sensor of the industrial robot 20 immediately identifies the type and amount of contaminants in the lubricant 40a of the speed reducer 40 based on the color detected by the RGB sensor 73 by the centralized monitoring device 100. be able to. Therefore, the maintenance system 10 can enable immediate prediction of a failure of a reduction gear for an industrial robot.

  The lubricating oil 40a has a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) for reducing friction on the friction surface, and performance to suppress seizure of the friction surface. Various additives such as an extreme pressure additive such as an SP-based additive for improving the extreme pressure and a dispersant such as Ca sulfonate for suppressing the generation and adhesion of sludge may be added. These additives are separated from the lubricating oil 40a as the lubricating oil 40a deteriorates, for example, by adhering to, bonding to, or sinking to the metal surfaces of the industrial robot 20 and the speed reducer. Each lubricant deterioration sensor detects not only the amount of iron powder in the lubricant 40a, but also the degree of deterioration of the base oil and the increase in contaminants such as sludge as the various additives added to the lubricant 40a decrease. Can be identified based on the detected color. Therefore, the maintenance system 10 can improve the accuracy of failure prediction as compared with a technology for predicting a reduction gear failure based only on the iron powder concentration.

  Here, a method for assembling the lubricant deterioration sensor 60 will be described.

  First, the right-angle prisms 62b and 62c and the white LED 72 are fixed to the holder 63a with an adhesive.

  Next, the circuit board 71 on which the RGB sensor 73, the temperature sensor 74, the wireless communication device 75, the battery 76, the remaining battery level sensor 77 and the light emission timing sensor 78 are mounted is attached to the holder 63 a via the hexagon socket head bolt 69 via the spacer 68. The white LED 72 is fixed to the circuit board 71 by soldering.

  Next, the temperature sensor 74 is connected to the holder 63a.

  Next, the holder cap 63c is fixed to the holder 63a with a hexagon socket bolt 63b.

  Finally, the holder 63 a is fixed to the casing 61 to which the O-ring 64, the O-ring 65, and the O-ring 66 are attached by using a hexagon socket head bolt 67.

  A method for installing the lubricant deterioration sensor 60 on the arm 23 will be described.

  First, the tool contact portion 61 b of the housing 61 is gripped by a tool, and the screw portion 61 a of the housing 61 is screwed into the screw hole 23 a of the arm 23, whereby the lubricant deterioration sensor 60 is fixed to the arm 23.

  FIG. 8 is a block diagram of the centralized monitoring device 100.

  The centralized monitoring apparatus 100 shown in FIG. 8 is a computer such as a PC (Personal Computer). The centralized monitoring device 100 includes an operation unit 101 that is an input device such as a mouse and a keyboard for inputting various operations by a user of the centralized monitoring device 100, and a display such as an LCD (Liquid Crystal Display) that displays various information. A display unit 102 that is a device, a network communication unit 103 that is a network communication device that performs communication via the network 11 (see FIG. 1), and a storage device such as an HDD (Hard Disk Drive) that stores various data. And a control unit 105 that controls the centralized monitoring apparatus 100 as a whole.

  The storage unit 104 stores a centralized monitoring program 104a for notifying the state of damage to the speed reducer of the industrial robot 20.

  The centralized monitoring program 104a may be installed in the centralized monitoring apparatus 100 at the manufacturing stage of the centralized monitoring apparatus 100, or a storage such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), a DVD (Digital Versatile Disc), or the like. It may be additionally installed on the centralized monitoring apparatus 100 from a medium, or may be additionally installed on the centralized monitoring apparatus 100 from the network 11.

  The storage unit 104 is attached to the user of the industrial robot 20, the industrial robot 20 owned by the user, the speed reducer 40 included in the industrial robot 20, and the speed reducer 40. User information 104b which is information indicating a relationship with the lubricant deterioration sensor 60 is stored.

  FIG. 9 is a diagram illustrating an example of the user information 104b.

  As shown in FIG. 9, in the user information 104b, the user ID (hereinafter referred to as “user ID”) and the ID of the industrial robot 20 owned by the user (hereinafter referred to as “robot ID”). And the ID of the reduction gear 40 provided in the industrial robot 20 (hereinafter referred to as “reduction gear ID”), and the ID of the lubricant deterioration sensor 60 installed in the reduction gear 40. (Hereinafter referred to as “sensor ID”).

  The user ID, robot ID, speed reducer ID, and sensor ID are information input by the service provider via the service provider device 130.

  The storage unit 104 stores robot information 104c that is information indicating the relationship between the industrial robot 20 and various types of information of the industrial robot 20.

  FIG. 10 is a diagram illustrating an example of the robot information 104c.

  As shown in FIG. 10, in the robot information 104c, the robot ID of the industrial robot 20, the temperature of the industrial robot 20 (hereinafter referred to as “robot temperature”), and the load of the industrial robot 20 (hereinafter referred to as “robot temperature”). "Robot load").

  The robot ID is information input by the service provider via the service provider device 130.

  Further, the robot temperature of the industrial robot 20 is calculated by the control unit 105 based on at least one of the oil temperatures stored in the speed reducer information 104d described later for the plurality of speed reducers 40 provided in the industrial robot 20. Information.

  As shown in FIG. 11, the robot load F includes the distance L between the position of the rotation shaft of the speed reducer 40 of the joint portion 33 and the position of the load point to which the load F is applied, and the speed of the speed reducer 40 of the joint portion 33. This is information calculated as T / L by the control unit 105 based on a reduction gear load torque T described later. That is, the robot load is information calculated by the control unit 105 on the basis of the reducer load torque stored in the reducer information 104d described later for the reducer 40 of the joint portion 33 of the industrial robot 20.

  As illustrated in FIG. 8, the storage unit 104 stores speed reducer information 104 d that is information indicating the relationship between the speed reducer 40 and various types of information on the speed reducer 40.

  FIG. 12 is a diagram illustrating an example of the speed reducer information 104d.

  As shown in FIG. 12, in the reducer information 104d, the reducer ID, the model of the reducer 40, the lot number of the reducer 40, and the lubricant deterioration sensor 60 installed in the reducer 40 are included. The black color difference ΔE which is the color difference ΔE of the color detected by the RGB sensor 73 with respect to the black color, the oil temperature which is the temperature of the lubricating oil 40a of the speed reducer 40, the case 41 and the support body 42 of the speed reducer 40 are relative to each other. Load applied to the speed reducer 40 in a rotational direction centered on an axis orthogonal to the rotational axis when rotating automatically (hereinafter referred to as “speed reducer load moment”), a case 41 and a support 42 of the speed reducer 40. A load applied to the speed reducer 40 (hereinafter referred to as “speed reducer load torque”) is associated with the rotation direction about the rotation axis when the gears rotate relatively.

  In the reducer information 104d shown in FIG. 12, Mo is the rated moment of the reducer 40. Moreover, To is the rated torque of the speed reducer 40.

  The reduction gear ID, model, and lot number are information input by the service provider via the service provider device 130.

  As illustrated in FIG. 8, the storage unit 104 stores sensor information 104 e that is information indicating the relationship between the lubricant deterioration sensor 60 and various types of information of the lubricant deterioration sensor 60.

  FIG. 13 is a diagram illustrating an example of the sensor information 104e.

  As shown in FIG. 13, in the sensor information 104e, the sensor ID of the lubricant deterioration sensor 60, the battery remaining amount that is the remaining amount of power of the battery 76 of the lubricant deterioration sensor 60, and the lubricant deterioration sensor The accumulated time of light emission by the 60 white LEDs 72 (hereinafter referred to as “accumulated light emission time”) is associated.

  The sensor ID is information input by the service provider via the service provider device 130.

  As illustrated in FIG. 8, the storage unit 104 stores robot threshold information 104 f that is threshold information for notification of the usage state of the industrial robot 20.

  FIG. 14 is a diagram illustrating an example of the robot threshold information 104f.

  As illustrated in FIG. 14, the robot threshold information 104 f includes a recommended temperature range upper limit threshold indicating an upper limit of a temperature range recommended for the industrial robot 20 (hereinafter referred to as “recommended temperature range”), The high temperature warning threshold for warning that the temperature is within the recommended temperature range but near the upper limit, the low temperature warning threshold value for warning that the temperature is within the recommended temperature range but near the lower limit, and the lower limit of the recommended temperature range The recommended temperature range lower limit threshold, the recommended load range upper limit threshold indicating the upper limit of the load range recommended for the industrial robot 20 (hereinafter referred to as “recommended load range”), and the recommended load range. And a high load warning threshold value for warning that the upper limit is approached.

  As shown in FIG. 8, the storage unit 104 stores a plurality of speed reducer threshold tables 104g, which are tables for setting threshold values for notification of the state of breakage of the speed reducer 40. A storage unit is configured. The plurality of reduction gear threshold tables 104g stored in the storage unit 104 have different types of reduction gears, and are assigned IDs.

  FIG. 15 is a diagram illustrating an example of the reduction gear threshold table 104g.

  As shown in FIG. 15, in the threshold table for reduction gear 104g, threshold values corresponding to the oil temperature, the reduction gear load moment, and the reduction gear load torque are shown.

  In the reduction gear threshold table 104g shown in FIG. 15, there are a large number of blanks, but actual threshold values are actually entered. In the reduction gear threshold table 104g shown in FIG. 15, when the reduction gear load moment is less than 0.25Mo, when it is 0.25Mo or more and less than 0.5Mo, it is 0.75Mo or more and less than 1.0Mo. In this case, the case of 1.0 Mo or more and less than 1.25 Mo and the case of 1.25 Mo or more are omitted, but actually, the reduction gear load moment is 0.5 Mo or more and less than 0.75 Mo. As in the case of the above, there is a specific threshold value for each range of the reduction gear load torque.

  In the reduction gear threshold table 104g shown in FIG. 15, two levels of numerical values are described in the threshold value column. The upper numerical value is a threshold for inspection / repair, which is a threshold for encouraging the user of the industrial robot 20 to perform inspection or repair. The lower numerical value is a warning threshold value that is a threshold value for warning that the reduction gear 40 may be damaged. That is, the inspection and repair threshold and the warning threshold are thresholds corresponding to the state of damage to the speed reducer 40. Here, the state of damage to the speed reducer 40 is a state of damage to the rolling surfaces of the bearings inside the speed reducer 40 and the meshing portions inside the speed reducer 40. According to the speed reducer threshold table 104g shown in FIG. 15, for example, the oil temperature is 40 ° C. or higher and lower than 50 ° C., the speed reducer load moment is 0.5 Mo or higher and lower than 0.75 Mo, and the speed reducer load torque is 1 When the value is 0.0 To or more and less than 1.5 To, the inspection / repair threshold and the warning threshold are 350 and 425, respectively.

  Note that the case where the oil temperature is less than −10 ° C. and the case where the oil temperature is 80 ° C. or more are outside the range of the specification of the lubricant deterioration sensor according to the present embodiment. It is not defined in the machine threshold table 104g. Further, when the reduction gear load torque is 3.0 To or more, it is outside the range of the specification of the reduction gear according to the present embodiment, and thus is not defined in the reduction gear threshold table 104g shown in FIG.

  As shown in FIG. 8, the storage unit 104 stores a table selection table 104h that is a table for selecting an appropriate reducer threshold table from a plurality of reducer threshold tables 104g.

  FIG. 16 is a diagram illustrating an example of the table selection table 104h.

  As shown in FIG. 16, in the table selection table 104h, the ID of the reduction gear threshold table 104g corresponding to the reduction gear type is shown. According to the table selection table 104h shown in FIG. 16, for example, when the model of the reduction gear is “RV-XX1”, the reduction gear for which the ID is “table 1” among the plurality of reduction gear threshold tables 104g. A threshold table is selected.

  As illustrated in FIG. 8, the storage unit 104 stores sensor threshold information 104 i that is threshold information for notifying the wear state of the lubricant deterioration sensor 60.

  FIG. 17 is a diagram illustrating an example of the sensor threshold information 104i.

  As shown in FIG. 17, the sensor threshold information 104i includes a battery replacement threshold that is a threshold for prompting replacement of the battery 76 of the lubricant deterioration sensor 60, and a threshold for warning that the remaining battery level is low. A certain battery warning threshold value, an LED replacement threshold value that is a threshold value for prompting replacement of the white LED 72, and an LED warning threshold value that is a threshold value for warning that the accumulated light emission time has approached the lifetime of the white LED 72. Contains.

  8 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs and various data in advance, and a RAM (Random Access Memory) used as a work area of the CPU. ). The CPU is configured to execute a program stored in the ROM or the storage unit 104.

  The control unit 105 executes the centralized monitoring program 104a stored in the storage unit 104, thereby determining the appropriateness of the use state of the industrial robot 20 as a robot state appropriateness determination unit as a robot state appropriateness determination unit. 105a, robot state appropriateness transmitting means for transmitting notification of the appropriateness of the use state of the industrial robot 20 determined by the robot state appropriateness determining unit 105a to at least one of the service provider device 130 and the user device 160 As the robot state appropriateness transmission unit 105b, the robot information transmission unit 105c for transmitting the robot information 104c to the service provider apparatus 130, and the threshold value used among the threshold values stored in the speed reducer threshold table 104g of the storage unit 104 Threshold setting unit 105d as threshold setting means for setting the speed reducer A reduction gear breakage state determination unit 105e as a reduction gear breakage state determination means for determining a zero breakage state, and a notification of the breakage state of the reduction gear 40 determined by the reduction gear breakage state determination unit 105e. Further, a speed reducer breakage state transmission unit 105f serving as a speed reducer breakage state transmitting means for transmitting to at least one of the user devices 160, and a speed reducer serving as a reducer information transmitting means for transmitting the speed reducer information 104d to the service provider device 130. The machine information transmission unit 105g, the sensor consumption state determination unit 105h as a sensor consumption state determination unit that determines the state of consumption of the lubricant deterioration sensor 60, and the consumption of the lubricant deterioration sensor 60 determined by the sensor consumption state determination unit 105h. Status notification to at least one of service provider device 130 and user device 160 Sensor wasting condition transmitting section 105i as a sensor wasting condition transmission means for signals, and functions as a sensor information transmitting section 105j for transmitting sensor information 104e to the service provider equipment 130.

  Next, the calculation method of the reduction gear load moment and reduction gear load torque by the control part 105 is demonstrated.

The stresses generated at the portion where the two strain gauges 80 attached to any one of the three columns 42a of the support 42 of the speed reducer 40 are affixed are σ1 and σ2, respectively, The load torque calculated based on σ2 is T _A1 , the load moment calculated based on σ1 and σ2 is M _A1, and by multiplying T _A1 , stress due to the load torque can be calculated out of σ1. certain load factor and T1, the load factor stress caused by the load torque can be calculated out of σ2 by being multiplied by the T _A1 and T2, about the rotation axis of the support 42 relative to the case 41, the support the working angle of the load moment acting on the 42 and phi, is a function of the load factor phi stress caused by the load moment can be calculated out of σ1 by being multiplied by M _A1 M1 ( ) _And, when a function of the load factor phi stress caused by the load moment can be calculated out of .sigma. @ 2 by being multiplied by _{M A1 M2 (φ), σ1} , σ2, T A1, M A1, T1 , T2, M1 (φ), and M2 (φ), the relationship shown in Equation 2 holds. Note that M1 (φ) and M2 (φ) are functions of φ because the stress caused by the load moment of σ1 and the stress caused by the load moment of σ2 are relative rotations of the case 41 and the support 42. It is because it changes according to.

Here, the relationships shown in Equation 2 to Equation 3 and Equation 4 are established.

Moreover, the stress which generate | occur | produces in the part where the two strain gauges 80 attached to any one pillar 42a other than the pillar 42a mentioned above among the three pillars 42a of the support body 42 of the reduction gear 40 was stuck. .sigma.3 respectively, and? 4, .sigma.3 and? 4 the load torque calculated as T _A2 based on the load moment is calculated based on .sigma.3 and? 4 and M _A2, the load torque of the .sigma.3 by being multiplied by T _A2 the load factor due to stress can be calculated and T3, the load factor stress caused by the load torque can be calculated out of σ4 by being multiplied by T _A2 and T4, .sigma.3 by being multiplied by M _A2 stress stress caused by the load moment of the load factor can be calculated as a function of φ M3 (φ), resulting from the load moment of σ4 by being multiplied by M _A2 of When the load factor can be calculated and M4 (phi) is a function of _{φ, σ3, σ4, T A2} , M A2, T3, T4, M3 (φ) and the relationship shown in Equation 5 between M4 (phi) Holds. Note that M3 (φ) and M4 (φ) are functions of φ because the stress caused by the load moment of σ3 and the stress caused by the load moment of σ4 are relative rotations of the case 41 and the support 42. It is because it changes according to.

Here, the relationships shown in Formula 5 to Formula 6 and Formula 7 hold.

Moreover, it generate | occur | produces in the part in which the two strain gauges 80 attached to one remaining pillar 42a other than the two pillars 42a mentioned above among the three pillars 42a of the support body 42 of the reduction gear 40 were affixed. The stresses to be calculated are σ5 and σ6, the load torque calculated based on σ5 and σ6 is T _A3 , the load moment calculated based on σ5 and σ6 is M _A3, and multiplied by T _A3 , Of these, the load factor that can calculate the stress caused by the load torque is T5, and by multiplying T _A3 , the load factor that can calculate the stress caused by the load torque out of σ6 is T6 and is multiplied by M _A3. attributable to the load moment of σ6 by the load factor and is a function of phi M5 (phi) stress due to the load moment can be calculated out of Shiguma5, it is multiplied by M _A3 by When stress is to be a function of the load factor phi can be calculated M6 (φ), σ5, σ6 , the _{T A3, M A3, T5,} T6, M5 number 8 between the (phi) and M6 (phi) The relationship shown is established. Note that M5 (φ) and M6 (φ) are functions of φ because the stress caused by the load moment of σ5 and the stress caused by the load moment of σ6 are relative rotations of the case 41 and the support 42. It is because it changes according to.

Here, the relationships shown in Expression 8 to Expression 9 and Expression 10 are established.

Since T _A1 , T _A2 , and T _A3 have the same theoretical value, φ when T _A1 , T _A2 , and T _A3 are closest to each other is closest to the actual working angle of the load moment. Similarly, since M _A1 , M _A2 , and M _A3 have the same theoretical value, φ when M _A1 , M _A2 , and M _A3 are closest to each other is closest to the actual working angle of the load moment . That is, φ when the function δ (φ) shown in Equation 11 takes the minimum value is closest to the actual working angle of the load moment.

  Therefore, the control unit 105 calculates φ when the function δ (φ) takes the minimum value based on the equations 3, 4, 6, 7, 9, 10, and 11, so that the actual working angle of the load moment is calculated. Φ closest to is calculated. Here, the control unit 105 can calculate σ1 to σ6 based on the output of the strain gauge 80, respectively. T1 to T6 and M1 (φ) to M6 (φ) are measured in advance by a load test.

Next, the control unit 105 calculates T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , and M _A3 from the numbers 3, 4, 6, 7, 9, and 10 based on the calculated φ. ing.

Finally, the control unit 105 calculates the number T of the reduction gear load torque and the number M of the reduction gear load moment based on the calculated T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , M _A3. 12 and Equation 13 are used for calculation.

  Next, an example of a method for creating the reduction gear threshold table 104g will be described.

  After rotating the support 42 by 45 ° in the forward direction with respect to the case 41 on the condition that the maximum output rotation speed is 15 rpm, the experimental device created with a configuration equivalent to the configuration of the joint portion 32, An experiment is conducted in which the reciprocating rotational motion of 45 ° in the reverse direction is continued. In this experiment, the lubricating oil 40a is a new oil that is less degraded. Then, the time change of the black color difference ΔE is examined.

  FIG. 18A shows an example of an experimental result of the time change of the black color difference ΔE when the oil temperature is 40 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph to show. FIG. 18B shows an example of an experimental result of the time change of the black color difference ΔE when the oil temperature is 60 ° C., the speed reducer load moment is 0.5 Mo, and the speed reducer load torque is 1.0 To. It is a graph to show. FIG. 18C shows an example of an experimental result of the time change of the black color difference ΔE when the oil temperature is 60 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 2.0 To. It is a graph to show.

  In FIG. 18, the rated conversion time means that the experimental device is actually driven based on the output rotation speed of the reduction gear 40 and the reduction gear load torque when the experimental device is actually driven. The time is converted into the time when the output rotational speed is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40. The life time of the speed reducer 40 is defined as 6000 hours when the speed reducer 40 is continuously driven under the condition that the output rotational speed is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40. Has been.

  As shown in FIGS. 18A and 18B, even if the reduction gear load moment and the reduction gear load torque are the same, the rated conversion time reaches 6000 hours which is the life time when the oil temperature is different. The black color difference ΔE (hereinafter referred to as “color difference at the rated life”) at the time of the difference is different. Further, as shown in FIGS. 18B and 18C, even when the oil temperature and the reduction gear load moment are the same, the color difference at the rated life is different when the reduction gear load torque is different. It can be confirmed by the same experiment that the color difference at the rated life is different when any one of the oil temperature, the reduction gear load moment, and the reduction gear load torque is different. Therefore, it is preferable that the threshold for notifying the state of damage to the speed reducer 40 is determined in association with the oil temperature, the speed reducer load moment, and the speed reducer load torque.

  When a plurality of experiments are performed, even when the oil temperature, the reduction gear load moment, and the reduction gear load torque are the same in each experiment, the color difference at the rated life varies. Therefore, among the color differences at the rated life in a plurality of experiments, the minimum value is set as a threshold for inspection and repair, and the maximum value is set as a warning threshold.

  For example, in the speed reducer threshold table 104g shown in FIG. 15, the oil temperature is 40 ° C. or higher and lower than 50 ° C., the speed reducer load moment is 0.5 Mo or higher and lower than 0.75 Mo, and the speed reducer load torque is 1.0 To More than 350, which is the threshold for inspection and repair when the pressure is less than 1.5 To, is a condition where the oil temperature is 40 ° C., the speed reducer load moment is 0.5 Mo, and the speed reducer load torque is 1.0 To. As a result of this experiment, the numerical value was the minimum value among the color differences at the rated life in these experiments. Similarly, in the reducer threshold table 104g shown in FIG. 15, the oil temperature is 40 ° C. or higher and lower than 50 ° C., the reducer load moment is 0.5 Mo or higher and lower than 0.75 Mo, and the reducer load torque is 1. The threshold value for warning 425 in the case of 0 To or more and less than 1.5 To is a plurality of conditions under the conditions that the oil temperature is 40 ° C., the reducer load moment is 0.5 Mo, and the reducer load torque is 1.0 To. As a result of this experiment, the numerical value was the maximum value among the color differences at the rated life in these experiments.

  The reduction gear threshold table 104g is created as described above. Note that a plurality of reducer threshold tables 104g are created by conducting an experiment under different conditions of the reducer model.

  FIG. 19 is a block diagram of the service provider device 130.

  A service provider device 130 shown in FIG. 19 is a computer such as a PC. The service provider apparatus 130 is an operation unit 131 that is an input device such as a mouse or a keyboard for inputting various operations by a user of the service provider apparatus 130 and a display device such as an LCD that displays various information. Display unit 132, speaker 133 that outputs various information by sound, network communication unit 134 that is a network communication device that performs communication via network 11 (see FIG. 1), and HDD that stores various data And a control unit 136 for controlling the centralized monitoring apparatus 100 as a whole.

  The storage unit 135 includes user information 135a identical to the user information 104b, robot information 135b identical to the robot information 104c, reducer information 135c identical to the reducer information 104d, and sensor information identical to the sensor information 104e. 135d can be stored. The user information 135a, the robot information 135b, the speed reducer information 135c, and the sensor information 135d are transmitted from the centralized monitoring device 100 whenever the user information 104b, the robot information 104c, the speed reducer information 104d, and the sensor information 104e are changed. This information is updated based on the incoming user information 104b, robot information 104c, reducer information 104d, and sensor information 104e.

  The service provider device 130 outputs the notification of the state of the reduction gear 40 damage determined by the reduction gear damage state determination unit 105e of the centralized monitoring device 100 by the display by the display unit 132 and the sound by the speaker 133. The notification output device of the present invention is configured.

  FIG. 20 is a block diagram of the user device 160.

  A user device 160 shown in FIG. 20 is a computer such as a PC. The user device 160 is an operation unit 161 that is an input device such as a mouse and a keyboard to which various operations by the user of the user device 160 are input, and a display device such as an LCD that displays various information. Display unit 162, speaker 163 that outputs various information by sound, network communication unit 164 that is a network communication device that performs communication via network 11 (see FIG. 1), and HDD that stores various data And a storage unit 165 that is a storage device, and a control unit 166 that controls the centralized monitoring apparatus 100 as a whole.

  The user device 160 outputs a notification of the state of damage to the speed reducer 40 determined by the speed reducer breakage state determination unit 105e of the centralized monitoring device 100 based on the display by the display unit 162 and the sound by the speaker 163. The notification output device of the present invention is configured.

  Next, the operation of the maintenance system 10 will be described.

  First, the operation of the industrial robot 20 will be described.

  In the following description, the joint portion 32 of one industrial robot 20 among the plurality of industrial robots 20 will be described, but the same applies to the joint portions 31 and 33 to 36 of the industrial robot 20. The same applies to the joint portions 31 to 36 of the industrial robot 20.

  When the output shaft of the motor 50 of the joint portion 32 rotates, the rotational force of the motor 50 is decelerated by the speed reducer 40, and the support body of the speed reducer 40 with respect to the arm 22 fixed to the case 41 of the speed reducer 40. The arm 23 fixed to 42 is moved.

  The lubricant deterioration sensor 60 of the joint portion 32 emits white light from the white LED 72 by the electric power supplied from the battery 76. The lubricant deterioration sensor 60 transmits the RGB light amounts of the light received by the RGB sensor 73 together with the ID of the lubricant deterioration sensor 60 itself as an electrical signal to the centralized monitoring device 100 via the wireless communication device 75. To do. Further, the lubricant deterioration sensor 60 also detects the lubricant oil with respect to the temperature detected by the temperature sensor 74, the battery remaining amount measured by the battery remaining amount sensor 77, and the light emission timing detected by the light emission timing sensor 78. Along with the ID of the deterioration sensor 60 itself, an electrical signal is transmitted to the centralized monitoring device 100 via the wireless communication device 75.

  The strain detected by the strain gauge 80 is also transmitted to the centralized monitoring device 100 through the wireless communication device 81 as an electrical signal together with the speed reducer ID of the speed reducer 40 in which the strain gauge 80 is installed.

  Next, the operation of the centralized monitoring apparatus 100 will be described.

  When the control unit 105 of the centralized monitoring apparatus 100 receives the RGB light amounts of the light received by the RGB sensor 73 together with the sensor ID of the lubricant deterioration sensor 60 as an electrical signal via the network communication unit 103, the control unit 105 receives the received light amount. Based on the sensor ID and the user information 104b, a reduction gear ID corresponding to the sensor ID is determined. Next, the control unit 105 calculates a black color difference ΔE based on the received light amounts of the respective RGB colors. Then, the control unit 105 updates the speed reducer information 104d with the calculated black color difference ΔE as the black color difference ΔE for the speed reducer ID.

  Further, when the control unit 105 receives the temperature detected by the temperature sensor 74 together with the sensor ID as an electric signal via the network communication unit 103, the control unit 105 determines the temperature based on the received sensor ID and the user information 104b. A reduction gear ID and a robot ID corresponding to the sensor ID are determined. Then, the control unit 105 updates the speed reducer information 104d with the received temperature as the oil temperature for the speed reducer ID. Further, the control unit 105 calculates the robot temperature according to a predetermined formula based on this temperature. Then, the control unit 105 updates the robot information 104c with the calculated robot temperature as the robot temperature for the robot ID.

  Further, when the control unit 105 receives the strain detected by the strain gauge 80 as an electric signal through the network communication unit 103 together with the speed reducer ID, the control unit 105 is based on the received speed reducer ID and the user information 104b. Then, the robot ID corresponding to the reduction gear ID is determined. Then, the control unit 105 calculates the reduction gear load moment and the reduction gear load torque as described above based on the received distortion. The control unit 105 updates the speed reducer information 104d with the calculated speed reducer load moment and speed reducer load torque as the speed reducer load moment and speed reducer load torque for the speed reducer ID. Further, the control unit 105 calculates the robot load as described above based on the reduction gear load torque. Then, the robot information 104c is updated with the calculated robot load as the load for the robot ID.

  Further, when the control unit 105 receives the remaining battery level measured by the remaining battery level sensor 77 together with the sensor ID as an electrical signal via the network communication unit 103, the control unit 105 calculates the received remaining battery level to the battery corresponding to the sensor ID. The sensor information 104e is updated as the remaining amount.

  Further, when the control unit 105 receives the light emission timing detected by the light emission timing sensor 78 as an electric signal together with the sensor ID via the network communication unit 103, the control unit 105 is based on all the light emission timings received so far. The accumulated light emission time by the white LED 72 is calculated. Then, the control unit 105 updates the sensor information 104e with the calculated accumulated light emission time as the accumulated light emission time for the sensor ID.

  First, the operation of the centralized monitoring apparatus 100 when the robot information 104c is updated will be described.

  In the following, a case where the robot information 104c regarding one industrial robot 20 (hereinafter referred to as “target robot”) among the plurality of industrial robots 20 is updated will be described. The same applies to the case where the robot information 104c is updated.

  FIG. 21 is a flowchart of the operation of the centralized monitoring apparatus 100 when the robot information 104c is updated.

  As shown in FIG. 21, the robot state appropriateness determination unit 105a of the control unit 105 of the centralized monitoring apparatus 100 has the robot temperature associated with the robot ID of the target robot in the robot information 104c as the robot threshold information 104f. It is determined whether the upper recommended temperature range upper threshold is exceeded (S201).

  When the robot state appropriateness determining unit 105a determines in S201 that the robot temperature exceeds the recommended temperature range upper limit threshold, the robot state appropriateness transmitting unit 105b of the control unit 105, as shown in FIG. A notification that the temperature exceeds the upper limit of the recommended temperature range is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103. (S202). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  If the robot state appropriateness determination unit 105a determines in S201 that the robot temperature does not exceed the recommended temperature range upper limit threshold value, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold value. It is determined whether or not the temperature is lower than the recommended temperature range lower limit threshold on the information 104f (S203).

  When the robot state appropriateness determination unit 105a determines in S203 that the robot temperature is less than the recommended temperature range lower limit threshold, the robot state appropriateness transmission unit 105b causes the robot temperature to fall within the recommended temperature range, as shown in FIG. A notification to the effect that the value is below the lower limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S204). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  If the robot state appropriateness determination unit 105a determines in S203 that the robot temperature is not less than the recommended temperature range lower limit threshold, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold information. It is determined whether or not it is equal to or higher than the high temperature warning threshold value 104f (S205).

  When the robot state appropriateness determining unit 105a determines in S205 that the robot temperature is equal to or higher than the high temperature warning threshold, the robot state appropriateness transmitting unit 105b determines that the robot temperature is within the recommended temperature range as shown in FIG. However, a notification that warns that it is close to the upper limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S206). . When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  If the robot state appropriateness determination unit 105a determines in S205 that the robot temperature is not equal to or higher than the high temperature warning threshold, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold information 104f. It is determined whether or not it is equal to or lower than the upper threshold for low temperature warning (S207).

  When the robot state appropriateness determining unit 105a determines in S207 that the robot temperature is equal to or lower than the low temperature warning threshold, the robot state appropriateness transmitting unit 105b determines that the robot temperature is within the recommended temperature range as shown in FIG. However, the notification that warns that it is close to the lower limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S208). . When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  When the robot state appropriateness determination unit 105a determines in S207 that the robot temperature is not equal to or lower than the low temperature warning threshold value or when the processes in S202, S204, S206, and S208 are completed, the robot information 104c includes the robot ID of the target robot. It is determined whether or not the associated robot load exceeds the recommended load range upper limit threshold on the robot threshold information 104f (S209).

  When the robot state appropriateness determining unit 105a determines in S209 that the robot load exceeds the recommended load range upper limit threshold, the robot state appropriateness transmitting unit 105b determines that the robot load is the recommended load as shown in FIG. A notification that the upper limit of the range is exceeded is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S210). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  If the robot state appropriateness determination unit 105a determines in S209 that the robot load does not exceed the recommended load range upper limit threshold value, the robot load associated with the robot ID of the target robot in the robot information 104c is the robot threshold value. It is determined whether or not the threshold is a high load warning threshold value on the information 104f (S211).

  When the robot state appropriateness determining unit 105a determines in S211 that the robot load is equal to or higher than the high load warning threshold, the robot state appropriateness transmitting unit 105b determines that the robot load is within the recommended load range as shown in FIG. A notification that warns that it is within the limit but is close to the upper limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S212). ). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.

  When the robot state appropriateness determining unit 105a determines in S211 that the robot load is not equal to or higher than the high load warning threshold value or when the processing in S212 is completed, the robot information transmitting unit 105c of the control unit 105 includes the target of the robot information 104c. Information associated with the robot ID of the robot is transmitted to the service provider apparatus 130 via the network communication unit 103 (S213). When the control unit 136 of the service provider device 130 receives information associated with the robot ID of the target robot in the robot information 104c from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 is based on the received information. Then, the robot information 135b is updated.

  When the process of S213 is completed, the control unit 105 ends the process illustrated in FIG.

  Next, the operation of the centralized monitoring apparatus 100 when the speed reducer information 104d is updated will be described.

  In the following, speed reducer information 104d regarding one speed reducer 40 (hereinafter referred to as “target speed reducer”) out of a plurality of speed reducers 40 of one industrial robot 20 among the plurality of industrial robots 20 is updated. However, the same applies to the case where the speed reducer information 104d regarding the other speed reducers 40 is updated.

  FIG. 24 is a flowchart of the operation of the centralized monitoring device 100 when the speed reducer information 104d is updated.

  As shown in FIG. 24, the threshold setting unit 105d of the control unit 105 of the centralized monitoring device 100 includes the model of the speed reducer 40 associated with the ID of the target speed reducer in the speed reducer information 104d, and on the storage unit 104. Based on the table selection table 104h, the ID of the reducer threshold table 104g is acquired, and the reducer threshold table 104g to which the acquired ID is attached is used in the subsequent processing. Is set as (S231).

  Next, the threshold setting unit 105d includes the oil temperature, the reducer load moment, and the reducer load torque associated with the ID of the target reducer in the reducer information 104d, and the reducer threshold table 104g set in S231. Based on the above, the inspection / repair threshold and the warning threshold of the reduction gear 40 are set as the inspection / repair threshold and the warning threshold used in the subsequent processing (S232).

  Next, the speed reducer breakage state determination unit 105e of the control unit 105 determines whether the black color difference ΔE associated with the ID of the target speed reducer in the speed reducer information 104d is equal to or smaller than the inspection / repair threshold set in S232. It is determined whether or not (S233).

  When the reduction gear breakage state determination unit 105e determines in S233 that the black color difference ΔE is equal to or smaller than the inspection / repair threshold value, the reduction gear breakage state transmission unit 105f of the control unit 105 transmits the user as shown in FIG. A notification prompting the inspection or repair of the speed reducer 40 as a notification of a damaged state of the speed reducer 40 is provided for the user of the service robot apparatus 130 and the user of the industrial robot 20 including the speed reducer 40. The data is transmitted to the device 160 via the network communication unit 103 (S234). That is, when the black color difference ΔE reaches the inspection / repair threshold value, the speed reducer breakage state transmission unit 105f transmits a notification of the state of breakage of the speed reducer 40 corresponding to the inspection / repair threshold value. When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can perform, for example, inspection or repair of the speed reducer 40 based on the notification displayed on the display unit 162.

  If the reduction gear breakage state determination unit 105e determines in S233 that the black color difference ΔE is not less than or equal to the inspection repair threshold, the black color difference ΔE associated with the ID of the target reduction gear in the reduction gear information 104d is determined in S232. It is determined whether or not it is less than the set warning threshold (S235).

  When the reduction gear breakage state determination unit 105e determines in S235 that the black color difference ΔE is less than or equal to the warning threshold, the reduction gear breakage state transmission unit 105f causes the reduction gear 40 to break as shown in FIG. The notification for warning that there is a possibility of being present is a notification of the state of the reduction gear 40 being damaged, and the device for the service provider 130 and the device for the user of the user of the industrial robot 20 equipped with the reduction gear 40 The data is transmitted to the network 160 via the network communication unit 103 (S236). In other words, when the black color difference ΔE reaches the warning threshold value, the reduction gear damage state transmission unit 105f transmits a notification of the damage state of the reduction gear 40 corresponding to the warning threshold value. When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, a service provider who is a user of the service provider device 130 is addressed to, for example, a manufacturer or user of the industrial robot 20 including the reduction gear 40 based on the notification displayed on the display unit 132. The reduction gear 40 for replacement is sent out, a service person is dispatched to the place where the industrial robot 20 equipped with the reduction gear 40 is installed, and the production amount of the reduction gear 40 for replacement is adjusted. Can be. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, based on the notification displayed on the display unit 162, the user of the user device 160 can execute preparations for inspection or repair of the reduction gear 40, for example.

  When the reduction gear breakage state determination unit 105e determines in S235 that the black color difference ΔE is not equal to or less than the warning threshold value, or when the processing of S234 or S236 ends, the reduction gear information transmission unit 105g of the control unit 105 reduces the reduction gear information 104d. The information associated with the ID of the target reducer is transmitted to the service provider device 130 via the network communication unit 103 (S237). When the control unit 136 of the service provider device 130 receives the information associated with the ID of the target reduction gear in the reduction gear information 104d from the centralized monitoring device 100 via the network communication unit 134, the control information 136 is converted into the received information. Based on this, the reducer information 135c is updated.

  When the control section 105 ends the process of S237, the control section 105 ends the process shown in FIG.

  Next, the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated will be described.

  In the following description, a sensor related to a lubricant deterioration sensor 60 (hereinafter referred to as “target sensor”) of one speed reducer 40 out of a plurality of speed reducers 40 of one industrial robot 20 among the plurality of industrial robots 20. Although the case where the information 104e is updated will be described, the same applies to the case where the sensor information 104e regarding the other lubricant deterioration sensor 60 is updated.

  FIG. 26 is a flowchart of the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated.

  As shown in FIG. 26, the sensor consumption state determination unit 105h of the control unit 105 of the centralized monitoring device 100 indicates that the remaining battery level associated with the ID of the target sensor in the sensor information 104e is on the sensor threshold information 104i. It is determined whether or not the battery replacement threshold is reached (S261).

  When the sensor consumption state determination unit 105h determines in S261 that the remaining battery level has reached the battery replacement threshold, the sensor consumption state transmission unit 105i of the control unit 105 determines that the lubricant has deteriorated as shown in FIG. The network communication unit 103 sends a notification prompting the replacement of the battery 76 of the sensor 60 to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60. (S262). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can replace the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162, for example.

  When the sensor consumption state determination unit 105h determines in S261 that the remaining battery level has not reached the battery replacement threshold, the remaining battery level associated with the ID of the target sensor in the sensor information 104e is determined as sensor threshold information. It is determined whether or not the battery warning threshold value on 104i is below (S263).

  When the sensor consumption state determination unit 105h determines in S263 that the remaining battery level is equal to or less than the battery warning threshold, the sensor consumption state transmission unit 105i warns that the remaining battery level is low, as shown in FIG. The notification to be transmitted is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60 via the network communication unit 103 (S264). . When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, the service provider who is the user of the service provider device 130 is based on the notification displayed on the display unit 132, for example, the manufacturer or user of the industrial robot 20 including the lubricant deterioration sensor 60. A battery 76 for replacement of the lubricant deterioration sensor 60 is sent to a service person, a service person is dispatched to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed, or a replacement battery The production amount of the battery 76 can be adjusted. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute preparation for replacement of the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162, for example.

  When the sensor consumption state determination unit 105h determines in S263 that the remaining battery level is not equal to or less than the battery warning threshold value, or when the processes in S262 and S264 are completed, the sensor consumption state determination unit 105h is associated with the ID of the target sensor in the sensor information 104e. It is determined whether or not the accumulated light emission time is equal to or greater than the LED replacement threshold on the sensor threshold information 104i (S265).

  When the sensor consumption state determination unit 105h determines in S265 that the accumulated light emission time is equal to or greater than the LED replacement threshold, the sensor consumption state transmission unit 105i sends a notification prompting replacement of the white LED 72 as shown in FIG. Then, the information is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60 via the network communication unit 103 (S266). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute, for example, replacement of the white LED 72 based on the notification displayed on the display unit 162.

  If the sensor consumption state determination unit 105h determines in S265 that the accumulated light emission time is less than the LED replacement threshold, the accumulated light emission time associated with the ID of the target sensor in the sensor information 104e is calculated as sensor threshold information 104i. It is determined whether or not the upper LED warning threshold is exceeded (S267).

  When the sensor consumption state determination unit 105h determines in S267 that the accumulated light emission time is equal to or greater than the LED warning threshold, the sensor consumption state transmission unit 105i determines that the accumulated light emission time is the lifetime of the white LED 72 as shown in FIG. A notification that warns that the vehicle is approaching is sent to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60 via the network communication unit 103. (S268). When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, the service provider who is the user of the service provider device 130 is based on the notification displayed on the display unit 132, for example, the manufacturer or user of the industrial robot 20 including the lubricant deterioration sensor 60. The white LED 72 for replacement of the lubricant deterioration sensor 60 is sent to the service station, a service person is dispatched to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed, The production amount of the white LED 72 can be adjusted. When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute preparation for replacement of the white LED 72 based on the notification displayed on the display unit 162, for example.

  When the sensor consumption state determination unit 105h determines in S267 that the accumulated light emission time is less than the LED warning threshold value or when the processing of S266 or S268 ends, the sensor information transmission unit 105j of the control unit 105 includes the sensor information 104e. Information associated with the ID of the target sensor is transmitted to the service provider device 130 via the network communication unit 103 (S269). When the control unit 136 of the device for service provider 130 receives information associated with the ID of the target sensor from the sensor information 104e from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 is based on the received information. The sensor information 135d is updated.

  When the process of S269 is completed, the control unit 105 ends the process illustrated in FIG.

  As described above, since the centralized monitoring device 100 determines the state of damage to the speed reducer 40 according to the color detected by the RGB sensor 73 of the lubricant deterioration sensor 60, the state of damage to the speed reducer 40 is determined. It can be judged more appropriately than before.

  Further, the reduction gear breakage state determination unit 105e of the centralized monitoring device 100 is a black value that is a value corresponding to the color detected by the RGB sensor 73 based on the information transmitted by the wireless communication device 75 of the lubricant deterioration sensor 60. The color difference ΔE is compared with the threshold value for inspection and warning stored in the storage unit 104 (S233, S235), and when the black color difference ΔE reaches the threshold value for inspection and repair and the threshold value for warning ( YES in S233, YES in S235), the lubricating oil deterioration sensor 60 equipped with the RGB sensor 73 indicates the deterioration of the lubricating oil 40a in accordance with the state of breakage of the speed reducer 40 corresponding to the threshold for inspection and repair and the threshold for warning. Judgment is made as the state of damage of the speed reducer 40 to be detected (S234, S236). That is, the centralized monitoring device 100 breaks down each speed reducer 40 based on the value corresponding to the color detected by the RGB sensor 73 of the lubricant deterioration sensor 60 of each speed reducer 40 of the plurality of industrial robots 20. Since the notification of the state of damage of the reduced speed reducer 40 is transmitted to the outside, the notification of the state of damage of each of the plurality of industrial robots 20 may be transmitted to the outside. it can.

  Therefore, the centralized monitoring apparatus 100 can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers 40 of the plurality of industrial robots 20 to the outside.

  The threshold setting unit 105d of the centralized monitoring device 100 sets an inspection / repair threshold and a warning threshold according to the use state of the speed reducer 40 based on the information transmitted by the wireless communication device 75 and the wireless communication device 81 ( S232). That is, the centralized monitoring apparatus 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the actual usage state of the speed reducer 40. The state can be notified with high accuracy according to the actual use state of the speed reducer 40.

  For example, the threshold setting unit 105d sets an inspection / repair threshold and a warning threshold according to the temperature of the lubricant 40a based on the information transmitted by the wireless communication device 75. That is, the centralized monitoring device 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the actual temperature of the lubricating oil 40a. Can be accurately reported according to the actual temperature of the lubricating oil 40a. The centralized monitoring device 100 may set a warning threshold and an inspection / repair threshold in accordance with an oil temperature other than the oil temperature detected by the temperature sensor 74. For example, the centralized monitoring apparatus 100 may set a warning threshold and an inspection / repair threshold according to the oil temperature input from the user via the operation unit 101. Further, the centralized monitoring device 100 uses not only the actual temperature of the lubricating oil 40a acquired immediately before as the oil temperature used in the processing shown in FIG. 21, but also the lubricating oil 40a for the predetermined period such as the latest 10 minutes. An average value of actual temperatures may be adopted.

  In addition, the threshold setting unit 105d sets an inspection / repair threshold and a warning threshold according to the load applied to the speed reducer 40 based on the information transmitted by the wireless communication device 81. That is, the centralized monitoring device 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the load actually applied to the speed reducer 40. The state can be notified with high accuracy according to the load actually applied to the speed reducer 40. The method for detecting the load actually applied to the speed reducer 40 may be a method other than the strain gauge 80. Further, the centralized monitoring device 100 adopts not only the load acquired immediately before but also the average value of the actual load in a predetermined period such as the latest 10 minutes as the load used in the processing shown in FIG. It may be.

  The centralized monitoring apparatus 100 transmits the speed reducer information 104d only to the service provider apparatus 130 out of the service provider apparatus 130 and the user apparatus 160 (S237), so the service provider apparatus 130 and the user apparatus 160 Appropriate information according to each user can be transmitted to the service provider device 130 and the user device 160. For example, the service provider who is a user of the service provider device 130 modifies the speed reducer threshold table 104g on the centralized monitoring device 100 based on the speed reducer information 104d received from the centralized monitoring device 100 by the service provider device 130. can do. Further, the service provider who is a user of the service provider device 130 creates a new one suitable for the actual use state of the reducer 40 based on the reducer information 104 d received from the central monitoring device 100 by the service provider device 130. A speed reducer 40 can also be developed.

  The reduction gear threshold table 104g may be manually corrected by the service agent based on the reduction gear information 104d received from the central monitoring device 100 by the service agent device 130, or concentrated based on the reduction gear information 104d. It may be automatically corrected by the monitoring device 100.

  Further, the centralized monitoring device 100 notifies the service device 130 and the user device 160 of the wear state of the lubricant deterioration sensor 60 (S262, S264, S266, S268). It is possible to prevent the deterioration sensor 60 from being used, and as a result, it is possible to maintain the accuracy of notification of the state of damage to the speed reducer 40. For example, the centralized monitoring device 100 transmits a notification of the exhausted state of the battery 76 to the service provider device 130 and the user device 160 as the exhausted state of the lubricant deterioration sensor 60 (S262, S264). It is possible to prevent the use of the inappropriate lubricant deterioration sensor 60 whose amount has become zero. Further, the central monitoring device 100 transmits a notification of the consumption state of the white LED 72 as the consumption state of the lubricant deterioration sensor 60 to the service provider device 130 and the user device 160 (S266, S268). It is possible to prevent the use of an inappropriate lubricant deterioration sensor 60 that has failed.

  The centralized monitoring device 100 acquires the robot temperature corresponding to the oil temperature based on the information transmitted by the wireless communication device 75, and determines the appropriateness of the usage state of the industrial robot 20 based on the acquired robot temperature. (S202, S204, S206, S208), it is possible to suppress inappropriate use of the industrial robot 20 such that the robot temperature becomes an inappropriate temperature.

  Further, the centralized monitoring device 100 acquires a robot load corresponding to the load applied to the speed reducer 40 based on the information transmitted by the wireless communication device 81, and the usage state of the industrial robot 20 is determined based on the acquired robot load. Since the appropriateness is determined (S210, S212), inappropriate use of the industrial robot 20 in which the robot load becomes an inappropriate load can be suppressed.

  The temperature sensor 74 detects the oil temperature via the holder 63a. However, the temperature sensor 74 may directly detect the oil temperature without using another member such as the holder 63a.

  Since the temperature sensor 74 is built in the lubricant deterioration sensor 60, the maintenance system 10 can be easily constructed as compared with a configuration in which the temperature sensor 74 is provided separately from the lubricant deterioration sensor 60. it can. In the maintenance system 10, the temperature sensor 74 may be provided separately from the lubricant deterioration sensor 60.

  Since the centralized monitoring device 100 manages not only the type of the speed reducer 40 but also the lot number, even if the speed reducer 40 is the same type, the central speed monitoring device 100 services the speed reducer 40 of the lot that is damaged earlier than other lots. You can make them recognize. Therefore, for example, the service provider increases the replacement frequency of the lubricating oil 40a of the speed reducer 40 of the lot in which breakage occurs earlier than other lots, or shortens the detection cycle of the deterioration of the lubricating oil 40a by the lubricating oil deterioration sensor 60. Can be.

  The centralized monitoring apparatus 100 includes two threshold values corresponding to the possibility of the reduction gear 40 being damaged, that is, a warning threshold value and an inspection / repair threshold value, as threshold values for notifying the state of the reduction gear 40 damage. Therefore, the state of damage to the speed reducer 40 can be notified in two stages as the possibility of damage to the speed reducer 40 (S234, S236). When the state of damage to the speed reducer 40 is notified in multiple stages as the possibility of damage to the speed reducer 40, the user is suddenly notified that, for example, the possibility that the speed reducer 40 is damaged is very high. Compared to the configuration, it is possible to determine the necessity of replacing the reduction gear 40 with a margin. The centralized monitoring apparatus 100 may have only one threshold value for notifying the state of damage to the speed reducer 40, or the speed reducer as a threshold value for notifying the state of damage to the speed reducer 40. It may include three or more thresholds corresponding to 40 possible breakages.

  The lubricant deterioration sensor 60 is configured to transmit the light amounts of the respective RGB colors of the light received by the RGB sensor 73 to the centralized monitoring device 100, but information corresponding to the color of the light received by the RGB sensor 73 may be used. For example, information other than the light amounts of the RGB colors of the light received by the RGB sensor 73 may be transmitted to the centralized monitoring device 100. For example, the lubricant deterioration sensor 60 uses, as the information corresponding to the color of the light received by the RGB sensor 73, the black color difference ΔE calculated based on the light amounts of the RGB colors of the light received by the RGB sensor 73. You may be supposed to send to. When the lubricating oil deterioration sensor 60 is configured to transmit the black color difference ΔE calculated based on the light amounts of the RGB colors of the light received by the RGB sensor 73 to the centralized monitoring device 100, the reduction gear of the centralized monitoring device 100 is damaged. The state determination unit 105e does not need to calculate the black color difference ΔE based on the light amounts of the RGB colors of the light received by the RGB sensor 73.

  Each of the lubricant deterioration sensors employs wireless communication by a built-in wireless communication device in the present embodiment as a communication method with an external device. For example, wired communication may be employed. .

  In addition, each of the lubricant deterioration sensors employs a built-in battery as a power supply means in the present embodiment.For example, a cable that electrically connects an external power source and the lubricant deterioration sensor is used. It may be adopted.

  It should be noted that the installation position of each lubricant deterioration sensor is not limited to the position shown in the present embodiment, and is preferably set as appropriate according to the application of the industrial robot.

DESCRIPTION OF SYMBOLS 10 Maintenance system 20 Industrial robot 40 Reduction gear 40a Lubricating oil 60 Lubricating oil deterioration sensor 62 Gap formation member 62a Oil gap 72 White LED (light emitting element)
72a Light path 73 RGB sensor (color light receiving element)
74 Temperature sensor (speed reducer usage sensor, lubricant temperature sensor)
75 Wireless communication device (color information transmitter, reducer information transmitter)
76 Battery 80 Strain gauge (Speed reducer usage sensor, load sensor)
81 Wireless communication device (reduction gear information transmission device)
100 centralized monitoring device 104 storage unit (threshold storage unit)
104a Centralized monitoring program 105a Robot state appropriateness determination unit (robot state appropriateness determination means)
105b Robot state appropriateness transmission unit (robot state appropriateness transmission means)
105d threshold setting unit (threshold setting means)
105e Reduction gear breakage state determination unit (reduction gear breakage state determination means)
105f Reduction gear breakage state transmission unit (reduction gear breakage state transmission means)
105g Reducer information transmitter (reducer information transmitter)
105h Sensor consumption state determination unit (sensor consumption state determination means)
105i Sensor consumption state transmission unit (sensor consumption state transmission means)
130 Service Provider Device (Notification Output Device)
160 User devices (notification output devices)

Claims (10)

A centralized monitoring device that monitors a plurality of industrial robots including a reduction gear and a lubricant deterioration sensor for detecting deterioration of the lubricant of the reduction gear;
The lubricant deterioration sensor includes: a light emitting element that emits light; a color light receiving element that detects a color of the received light; and a light from the light emitting element to the color light receiving element that is a gap through which the lubricant enters. A gap forming member that has a gap for oil disposed on the road and transmits light, and color information transmission that transmits information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor. Equipment,
The centralized monitoring device includes a threshold value storage unit that stores a threshold value corresponding to a damage state of the speed reducer, a speed reducer damage state determination unit that determines a damage state of the speed reducer, and a speed reducer damage state determination unit A speed reducer breakage state transmitting means for transmitting a notification of the state of breakage of the speed reducer determined by the outside to the centralized monitoring device,
The speed reducer breakage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element is stored in the threshold storage unit. When the threshold value is reached, the state of the reduction gear corresponding to the threshold value indicates the state of breakage of the reduction gear to which the lubricating oil deterioration sensor equipped with the color light receiving element detects deterioration of the lubricating oil. Judge as the state of damage ,
The industrial robot includes a reducer use state sensor for detecting a use state of the reducer, and information according to the use state of the reducer detected by the reducer use state sensor. It has a reducer information transmission device that transmits to the outside,
The centralized monitoring device includes a threshold setting unit that sets the threshold for determination by the reducer breakage state determination unit among the thresholds stored in the threshold storage unit,
The threshold setting means sets the threshold according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmitting device,
The speed reducer breakage state transmission means uses the notification of the damage state of the speed reducer determined by the speed reducer breakage state determination means as the outside of the centralized monitoring device, and displays the notification by at least one of sound and sound Send at least to the two notification output devices to output,
The centralized monitoring device transmits information corresponding to the color detected by the color light receiving element and information corresponding to the use state of the speed reducer to only one of the two notification output devices. A centralized monitoring device comprising a transmission means . A centralized monitoring device that monitors a plurality of industrial robots including a reduction gear and a lubricant deterioration sensor for detecting deterioration of the lubricant of the reduction gear;
The lubricant deterioration sensor includes: a light emitting element that emits light; a color light receiving element that detects a color of the received light; and a light from the light emitting element to the color light receiving element that is a gap through which the lubricant enters. A gap forming member that has a gap for oil disposed on the road and transmits light, and color information transmission that transmits information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor. Equipment,
The centralized monitoring device includes a threshold value storage unit that stores a threshold value corresponding to a damage state of the speed reducer, a speed reducer damage state determination unit that determines a damage state of the speed reducer, and a speed reducer damage state determination unit A speed reducer breakage state transmitting means for transmitting a notification of the state of breakage of the speed reducer determined by the outside to the centralized monitoring device,
The speed reducer breakage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element is stored in the threshold storage unit. When the threshold value is reached, the state of the reduction gear corresponding to the threshold value indicates the state of breakage of the reduction gear to which the lubricating oil deterioration sensor equipped with the color light receiving element detects deterioration of the lubricating oil. Judge as the state of damage,
The industrial robot includes a reducer use state sensor for detecting a use state of the reducer, and information according to the use state of the reducer detected by the reducer use state sensor. It has a reducer information transmission device that transmits to the outside,
The centralized monitoring device includes a threshold setting unit that sets the threshold for determination by the reduction gear breakage state determination unit among the thresholds stored in the threshold storage unit,
The threshold setting means sets the threshold according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmitting device ,
The reduction gear usage state sensor includes a lubricating oil temperature sensor for detecting the temperature of the lubricating oil as a usage state of the reduction gear;
The speed reducer information transmitting device transmits information according to the temperature of the lubricating oil detected by the lubricating oil temperature sensor to the outside of the industrial robot,
The threshold setting means sets the threshold according to the temperature of the lubricating oil based on information transmitted by the reducer information transmitting device,
The robot state appropriateness determining means for determining the appropriateness of the use state of the industrial robot, and the notification of the appropriateness of the use state of the industrial robot determined by the robot state appropriateness determination means Robot state appropriateness transmission means for transmitting to the outside,
The robot state appropriateness determination means acquires the temperature of the industrial robot according to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmission device, and acquires the acquired temperature of the industrial robot A centralized monitoring device that determines the appropriateness of the state of use of the industrial robot based on the above.   A centralized monitoring device that monitors a plurality of industrial robots including a reduction gear and a lubricant deterioration sensor for detecting deterioration of the lubricant of the reduction gear;
  The lubricant deterioration sensor includes: a light emitting element that emits light; a color light receiving element that detects a color of the received light; and a light from the light emitting element to the color light receiving element that is a gap through which the lubricant enters. A gap forming member that has a gap for oil disposed on the road and transmits light, and color information transmission that transmits information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor. Equipment,
  The centralized monitoring device includes a threshold value storage unit that stores a threshold value corresponding to a damage state of the speed reducer, a speed reducer damage state determination unit that determines a damage state of the speed reducer, and a speed reducer damage state determination unit A speed reducer breakage state transmitting means for transmitting a notification of the state of breakage of the speed reducer determined by the outside to the centralized monitoring device,
  The speed reducer breakage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element is stored in the threshold storage unit. When the threshold value is reached, the state of the reduction gear corresponding to the threshold value indicates the state of breakage of the reduction gear to which the lubricating oil deterioration sensor equipped with the color light receiving element detects deterioration of the lubricating oil. Judge as the state of damage,
  The industrial robot includes a reducer use state sensor for detecting a use state of the reducer, and information according to the use state of the reducer detected by the reducer use state sensor. It has a reducer information transmission device that transmits to the outside,
  The centralized monitoring device includes a threshold setting unit that sets the threshold for determination by the reduction gear breakage state determination unit among the thresholds stored in the threshold storage unit,
  The threshold setting means sets the threshold according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmitting device,
  The speed reducer use state sensor includes a load sensor for detecting a load applied to the speed reducer as the use state of the speed reducer,
  The speed reducer information transmission device transmits information corresponding to the load applied to the speed reducer detected by the load sensor to the outside of the industrial robot,
  The threshold setting means sets the threshold according to the load applied to the speed reducer based on the information transmitted by the speed reducer information transmission device,
  The robot state appropriateness determining means for determining the appropriateness of the use state of the industrial robot, and the notification of the appropriateness of the use state of the industrial robot determined by the robot state appropriateness determination means Robot state appropriateness transmission means for transmitting to the outside,
  The robot state appropriateness determination means acquires the load of the industrial robot according to the load applied to the speed reducer based on the information transmitted by the speed reducer information transmission device, and acquires the acquired industrial robot A centralized monitoring device that determines appropriateness of a use state of the industrial robot based on a load. The speed reducer use state sensor includes a load sensor for detecting a load applied to the speed reducer as the use state of the speed reducer,
The speed reducer information transmission device transmits information corresponding to the load applied to the speed reducer detected by the load sensor to the outside of the industrial robot,
The centralized monitoring apparatus according to claim 1 , wherein the threshold setting unit sets the threshold corresponding to a load applied to the speed reducer based on information transmitted by the speed reducer information transmitting apparatus.   The reduction gear usage state sensor includes a lubricating oil temperature sensor for detecting the temperature of the lubricating oil as a usage state of the reduction gear;
  The speed reducer information transmitting device transmits information according to the temperature of the lubricating oil detected by the lubricating oil temperature sensor to the outside of the industrial robot,
  The said threshold value setting means sets the said threshold value according to the temperature of the said lubricating oil based on the information transmitted by the said reduction gear information transmission apparatus, The Claim 3, The Claim 3 or Claim 4 characterized by the above-mentioned. Centralized monitoring device described in 1.   The centralized monitoring device includes a sensor consumption state determining unit that determines a state of consumption of the lubricant deterioration sensor, and a notification of the state of consumption of the lubricant deterioration sensor determined by the sensor consumption state determination unit. The centralized monitoring apparatus according to claim 1, further comprising a sensor consumption state transmission unit that transmits the sensor to the outside of the apparatus. The lubricant deterioration sensor includes a battery that supplies power to the light emitting element,
The said sensor consumption state determination means determines the consumption state of the said battery according to the residual amount of the electric energy of the said battery as a consumption state of the said lubricant deterioration sensor. Centralized monitoring device.   The sensor consumption state determining means determines the consumption state of the light emitting element according to the accumulated light emission time by the light emitting element as the consumption state of the lubricant deterioration sensor. The centralized monitoring device according to claim 7.   A centralized monitoring program for causing a computer to function as the centralized monitoring device according to any one of claims 1 to 8.   The centralized monitoring device according to any one of claims 1 to 8, a plurality of the industrial robots monitored by the centralized monitoring device, and damage to the speed reducer transmitted by the centralized monitoring device A maintenance system comprising: a notification output device that outputs a state notification by at least one of display and sound.

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