BR112017024615A2 - dispositivo de diagnóstico de falha e método de diagnóstico de falha - Google Patents

dispositivo de diagnóstico de falha e método de diagnóstico de falha

Info

Publication number
BR112017024615A2
BR112017024615A2 BR112017024615A BR112017024615A BR112017024615A2 BR 112017024615 A2 BR112017024615 A2 BR 112017024615A2 BR 112017024615 A BR112017024615 A BR 112017024615A BR 112017024615 A BR112017024615 A BR 112017024615A BR 112017024615 A2 BR112017024615 A2 BR 112017024615A2
Authority
BR
Brazil
Prior art keywords
fault diagnosis
robot
disturbance
disturbance torques
axis
Prior art date
Application number
BR112017024615A
Other languages
English (en)
Other versions
BR112017024615B1 (pt
Inventor
Shimizu Toshiyuki
Original Assignee
Nissan Motor
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor filed Critical Nissan Motor
Publication of BR112017024615A2 publication Critical patent/BR112017024615A2/pt
Publication of BR112017024615B1 publication Critical patent/BR112017024615B1/pt

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37214—Detect failed machine component, machine performance degradation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37344—Torque, thrust, twist, machining force measurement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39355—Observer, disturbance observer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39412—Diagnostic of robot, estimation of parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41372—Force estimator using disturbance estimator observer

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

trata-se de um dispositivo de diagnóstico de falha que detecta torques de distúrbio (tq) aplicados a eixos de junta incluídos em um robô de múltiplos eixos geométricos (1), agrupa os torques de distúrbio (tq) de acordo com os conteúdos de operações executadas pelo robô de múltiplos eixos geométricos (1) mediante a detecção dos torques de distúrbio (tq), e realiza um diagnóstico de falha no robô de múltiplos eixos geométricos (1) pela comparação de cada torque de distúrbio agrupado (tq) com um limite (a).
BR112017024615-5A 2015-05-20 2015-05-20 Dispositivo de diagnóstico de falha e método de diagnóstico de falha BR112017024615B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064505 WO2016185589A1 (ja) 2015-05-20 2015-05-20 故障診断装置及び故障診断方法

Publications (2)

Publication Number Publication Date
BR112017024615A2 true BR112017024615A2 (pt) 2018-07-31
BR112017024615B1 BR112017024615B1 (pt) 2022-05-31

Family

ID=57319609

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017024615-5A BR112017024615B1 (pt) 2015-05-20 2015-05-20 Dispositivo de diagnóstico de falha e método de diagnóstico de falha

Country Status (10)

Country Link
US (1) US10946523B2 (pt)
EP (1) EP3299131B1 (pt)
KR (1) KR102024454B1 (pt)
CN (1) CN107614213B (pt)
BR (1) BR112017024615B1 (pt)
CA (1) CA2986207C (pt)
MX (1) MX2017014256A (pt)
MY (1) MY196467A (pt)
RU (1) RU2687114C1 (pt)
WO (1) WO2016185589A1 (pt)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2682195C1 (ru) * 2015-05-21 2019-03-15 Ниссан Мотор Ко., Лтд. Устройство диагностики неисправностей и способ диагностики неисправностей
CN107696034A (zh) * 2017-09-30 2018-02-16 东北大学 一种针对工业机器人的错误自主恢复方法
JP6677694B2 (ja) * 2017-10-31 2020-04-08 ファナック株式会社 ロボットシステム
JP7079420B2 (ja) * 2018-08-06 2022-06-02 日産自動車株式会社 異常診断装置及び異常診断方法
KR102254934B1 (ko) * 2019-07-30 2021-05-25 한국생산기술연구원 로봇 관절부 고장진단 방법 및 이를 적용한 로봇 관절부 고장 진단 시스템

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JPH07121239A (ja) * 1993-10-27 1995-05-12 Hitachi Zosen Corp ロボット装置の制御方法
JPH0866893A (ja) * 1994-08-24 1996-03-12 Fanuc Ltd 衝突検出方法
JP3623582B2 (ja) 1995-12-25 2005-02-23 ファナック株式会社 ロボットの故障診断方法
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Also Published As

Publication number Publication date
CN107614213A (zh) 2018-01-19
CA2986207A1 (en) 2016-11-24
MY196467A (en) 2023-04-12
CA2986207C (en) 2021-11-23
KR102024454B1 (ko) 2019-09-23
EP3299131A1 (en) 2018-03-28
KR20180008576A (ko) 2018-01-24
CN107614213B (zh) 2021-03-09
EP3299131B1 (en) 2021-06-23
MX2017014256A (es) 2018-04-20
RU2687114C1 (ru) 2019-05-07
US20180133897A1 (en) 2018-05-17
BR112017024615B1 (pt) 2022-05-31
WO2016185589A1 (ja) 2016-11-24
US10946523B2 (en) 2021-03-16
EP3299131A4 (en) 2018-07-04

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Legal Events

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B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/05/2015, OBSERVADAS AS CONDICOES LEGAIS