BR112017024895A2 - 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
BR112017024895A2
BR112017024895A2 BR112017024895-6A BR112017024895A BR112017024895A2 BR 112017024895 A2 BR112017024895 A2 BR 112017024895A2 BR 112017024895 A BR112017024895 A BR 112017024895A BR 112017024895 A2 BR112017024895 A2 BR 112017024895A2
Authority
BR
Brazil
Prior art keywords
disturbance torque
fault diagnosis
fault
diagnosis device
axis robot
Prior art date
Application number
BR112017024895-6A
Other languages
English (en)
Japanese (ja)
Other versions
BR112017024895B1 (pt
Inventor
Shimizu Toshiyuki
Kuno Masaki
Takagi Toru
Original Assignee
Nissan Motor Co., Ltd.
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 Co., Ltd. filed Critical Nissan Motor Co., Ltd.
Publication of BR112017024895A2 publication Critical patent/BR112017024895A2/pt
Publication of BR112017024895B1 publication Critical patent/BR112017024895B1/pt

Links

Classifications

    • 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
    • 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
    • B25J19/02—Sensing devices
    • 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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Landscapes

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

Abstract

um dispositivo de diagnóstico de falha detecta a posição de movimento de cada um dos eixos de junta incluídos em um robô multieixos (s03) e detecta um torque de distúrbio (tq) aplicado ao eixo de junta (s01). o dispositivo de diagnóstico de falha determina se o robô multieixos está executando ou não uma operação de rotina predefinida, a partir da posição de movimento detectada, e calcula valores de referência de torque de distúrbio a partir do torque de distúrbio detectado durante a execução da operação de rotina predefinida (s07). o dispositivo de diagnóstico de falha corrige o torque de distúrbio usando os valores de referência de torque de distúrbio (s09) e realiza um diagnóstico de falha no robô multieixos (1) por comparação do torque de distúrbio corrigido (tq') e um limite (a) (s11 a s15).
BR112017024895-6A 2015-05-21 2015-05-21 dispositivo de diagnóstico de falha e método de diagnóstico de falha BR112017024895B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064552 WO2016185593A1 (ja) 2015-05-21 2015-05-21 故障診断装置及び故障診断方法

Publications (2)

Publication Number Publication Date
BR112017024895A2 true BR112017024895A2 (pt) 2018-07-31
BR112017024895B1 BR112017024895B1 (pt) 2021-06-08

Family

ID=57319689

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017024895-6A BR112017024895B1 (pt) 2015-05-21 2015-05-21 dispositivo de diagnóstico de falha e método de diagnóstico de falha

Country Status (10)

Country Link
US (1) US10543604B2 (pt)
EP (2) EP3299132B1 (pt)
JP (1) JP6409965B2 (pt)
KR (1) KR101849894B1 (pt)
CN (1) CN107614214B (pt)
BR (1) BR112017024895B1 (pt)
CA (1) CA2986554C (pt)
MX (1) MX365933B (pt)
RU (1) RU2682195C1 (pt)
WO (1) WO2016185593A1 (pt)

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Also Published As

Publication number Publication date
MX365933B (es) 2019-06-20
KR20170140333A (ko) 2017-12-20
EP3778157A1 (en) 2021-02-17
EP3299132A1 (en) 2018-03-28
EP3299132A4 (en) 2018-08-29
JP6409965B2 (ja) 2018-10-24
MX2017014682A (es) 2018-01-24
CN107614214B (zh) 2019-07-09
EP3299132B1 (en) 2020-10-14
JPWO2016185593A1 (ja) 2018-03-08
CA2986554C (en) 2018-07-17
US10543604B2 (en) 2020-01-28
RU2682195C1 (ru) 2019-03-15
BR112017024895B1 (pt) 2021-06-08
WO2016185593A1 (ja) 2016-11-24
US20180154529A1 (en) 2018-06-07
CA2986554A1 (en) 2016-11-24
CN107614214A (zh) 2018-01-19
EP3778157B1 (en) 2022-08-17
KR101849894B1 (ko) 2018-04-17

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Legal Events

Date Code Title Description
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 21/05/2015, OBSERVADAS AS CONDICOES LEGAIS.