BR112017025020A2 - 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
BR112017025020A2
BR112017025020A2 BR112017025020A BR112017025020A BR112017025020A2 BR 112017025020 A2 BR112017025020 A2 BR 112017025020A2 BR 112017025020 A BR112017025020 A BR 112017025020A BR 112017025020 A BR112017025020 A BR 112017025020A BR 112017025020 A2 BR112017025020 A2 BR 112017025020A2
Authority
BR
Brazil
Prior art keywords
fault
disturbance torque
fault diagnosis
torque value
change
Prior art date
Application number
BR112017025020A
Other languages
English (en)
Other versions
BR112017025020B1 (pt
Inventor
Kuno Masaki
Urakawa Toshimichi
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 BR112017025020A2 publication Critical patent/BR112017025020A2/pt
Publication of BR112017025020B1 publication Critical patent/BR112017025020B1/pt

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • 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
    • G05B2219/37525—Mean, average values, statistical derived values
    • 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
    • G05B2219/37536—Rate of change, derivative
    • 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
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Testing And Monitoring For Control Systems (AREA)

Abstract

um dispositivo de diagnóstico de falha da presente invenção é aplicável a um dispositivo mecânico dotado de um motor como uma fonte para acionar um eixo de movimento. o dispositivo de diagnóstico de falha capta uma posição de movimento do eixo de movimento e um valor de torque de perturbação aplicado ao eixo de movimento em cada período predeterminado e diagnostica que uma falha está ocorrendo quando o valor de torque de perturbação adquirido é maior que um limiar de determinação de falha. a seguir, o dispositivo de diagnóstico de falha calcula uma alteração a partir de um valor de referência de cada dos valores de torque de perturbação adquiridos e acumula os valores de torque de perturbação exceto cada valor de torque de perturbação tendo a alteração a partir do valor de referência igual ou maior que um limiar predeterminado.
BR112017025020-9A 2015-05-22 2015-05-22 Dispositivo de diagnóstico de falha e método de diagnóstico de falha BR112017025020B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064742 WO2016189584A1 (ja) 2015-05-22 2015-05-22 故障診断装置及び故障診断方法

Publications (2)

Publication Number Publication Date
BR112017025020A2 true BR112017025020A2 (pt) 2018-08-07
BR112017025020B1 BR112017025020B1 (pt) 2022-05-10

Family

ID=57392631

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017025020-9A BR112017025020B1 (pt) 2015-05-22 2015-05-22 Dispositivo de diagnóstico de falha e método de diagnóstico de falha

Country Status (11)

Country Link
US (1) US10766151B2 (pt)
EP (1) EP3299133B1 (pt)
JP (1) JP6402825B2 (pt)
KR (1) KR101930198B1 (pt)
CN (1) CN107614215B (pt)
BR (1) BR112017025020B1 (pt)
CA (1) CA2986881C (pt)
ES (1) ES2828323T3 (pt)
MX (1) MX364634B (pt)
RU (1) RU2683151C1 (pt)
WO (1) WO2016189584A1 (pt)

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EP3425460A1 (de) * 2017-07-04 2019-01-09 Siemens Aktiengesellschaft Vorrichtung und verfahren zur bestimmung des zustands einer spindel einer werkzeugmaschine
EP3789165A4 (en) * 2018-05-01 2021-08-18 Nissan Motor Co., Ltd. MALFUNCTION DETERMINATION DEVICE, MALFUNCTION DETERMINATION SYSTEM, AND MALFUNCTION DETERMINATION PROCEDURE
EP3792017B1 (en) * 2018-05-11 2024-10-30 Nissan Motor Co., Ltd. Abnormality detection device and abnormality detection method
WO2020031225A1 (ja) * 2018-08-06 2020-02-13 日産自動車株式会社 異常診断装置及び異常診断方法
CN112034340B (zh) * 2019-06-03 2023-05-09 中国人民解放军63756部队 一种测控天线电机故障特征筛选方法
CN111761576A (zh) * 2020-06-15 2020-10-13 上海高仙自动化科技发展有限公司 健康监控方法及系统、智能机器人及可读存储介质
CN116817989A (zh) * 2022-03-22 2023-09-29 台达电子工业股份有限公司 马达编码器的故障诊断系统及故障诊断方法
TWI817402B (zh) * 2022-03-22 2023-10-01 台達電子工業股份有限公司 馬達編碼器的故障診斷系統及故障診斷方法

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Also Published As

Publication number Publication date
WO2016189584A1 (ja) 2016-12-01
CN107614215A (zh) 2018-01-19
BR112017025020B1 (pt) 2022-05-10
US10766151B2 (en) 2020-09-08
RU2683151C1 (ru) 2019-03-26
KR20180008608A (ko) 2018-01-24
MX364634B (es) 2019-05-03
CN107614215B (zh) 2021-06-08
JPWO2016189584A1 (ja) 2018-03-15
US20180154530A1 (en) 2018-06-07
MX2017014871A (es) 2018-04-20
EP3299133B1 (en) 2020-09-02
JP6402825B2 (ja) 2018-10-10
CA2986881A1 (en) 2016-12-01
CA2986881C (en) 2019-01-22
ES2828323T3 (es) 2021-05-26
EP3299133A1 (en) 2018-03-28
EP3299133A4 (en) 2018-08-29
KR101930198B1 (ko) 2018-12-17

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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 22/05/2015, OBSERVADAS AS CONDICOES LEGAIS