BR112017025292A2 - 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
BR112017025292A2
BR112017025292A2 BR112017025292-9A BR112017025292A BR112017025292A2 BR 112017025292 A2 BR112017025292 A2 BR 112017025292A2 BR 112017025292 A BR112017025292 A BR 112017025292A BR 112017025292 A2 BR112017025292 A2 BR 112017025292A2
Authority
BR
Brazil
Prior art keywords
fault diagnosis
torque value
disturbance torque
diagnosis device
fault
Prior art date
Application number
BR112017025292-9A
Other languages
English (en)
Japanese (ja)
Other versions
BR112017025292B1 (pt
Inventor
Kuno Masaki
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 BR112017025292A2 publication Critical patent/BR112017025292A2/pt
Publication of BR112017025292B1 publication Critical patent/BR112017025292B1/pt

Links

Classifications

    • 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
    • B25J19/06—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
    • B25J19/0095—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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • 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
    • 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
    • G05B19/402—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 control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)

Abstract

a presente invenção refere-se a um dispositivo de diagnóstico de falha desta invenção que é aplicável a um dispositivo mecânico fornecido com um motor como fonte para acionar um eixo de movimento. o dispositivo de diagnóstico de falha adquire 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 do que um limite de determinação de falha. em seguida, o dispositivo de diagnóstico de falha calcula uma alteração no valor do torque de perturbação antes e depois da realização de uma tarefa de manutenção quando a tarefa de manutenção é realizada no eixo de movimento e redefine o limite de determinação de falha somente quando a alteração no valor do torque de perturbação é maior do que um limite predeterminado.
BR112017025292-9A 2015-05-25 2015-05-25 dispositivo de diagnóstico de falha e método de diagnóstico de falha BR112017025292B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064849 WO2016189608A1 (ja) 2015-05-25 2015-05-25 故障診断装置及び故障診断方法

Publications (2)

Publication Number Publication Date
BR112017025292A2 true BR112017025292A2 (pt) 2018-08-07
BR112017025292B1 BR112017025292B1 (pt) 2021-02-02

Family

ID=57392982

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017025292-9A BR112017025292B1 (pt) 2015-05-25 2015-05-25 dispositivo de diagnóstico de falha e método de diagnóstico de falha

Country Status (11)

Country Link
US (1) US10112305B2 (pt)
EP (1) EP3305482B1 (pt)
JP (1) JP6428933B2 (pt)
KR (1) KR101889248B1 (pt)
CN (1) CN107614216B (pt)
BR (1) BR112017025292B1 (pt)
CA (1) CA2986736C (pt)
ES (1) ES2763004T3 (pt)
MX (1) MX365231B (pt)
RU (1) RU2678857C1 (pt)
WO (1) WO2016189608A1 (pt)

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* Cited by examiner, † Cited by third party
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JP6496338B2 (ja) 2017-03-14 2019-04-03 ファナック株式会社 工作機械の制御システム
JP6474450B2 (ja) 2017-04-17 2019-02-27 ファナック株式会社 工作機械の制御システム
JP6514264B2 (ja) 2017-04-20 2019-05-15 ファナック株式会社 工作機械の制御システム
EP3733361B1 (en) * 2017-12-26 2023-08-23 Nissan Motor Co., Ltd. Malfunction determination method and malfunction determination device
CN108152740A (zh) * 2018-01-02 2018-06-12 重庆长安汽车股份有限公司 驱动电机系统故障诊断的方法、装置及设备及电动汽车
WO2019211892A1 (ja) * 2018-05-01 2019-11-07 日産自動車株式会社 異常判定装置、異常判定システム及び異常判定方法
JP7131611B2 (ja) * 2018-06-04 2022-09-06 日産自動車株式会社 異常判定装置及び異常判定方法
KR102054771B1 (ko) * 2018-06-15 2019-12-11 두림야스카와(주) 로봇의 토크 부하율을 이용한 고장 예측방법
JP7056418B2 (ja) * 2018-07-05 2022-04-19 日産自動車株式会社 異常判定装置及び異常判定方法
EP3835750A4 (en) * 2018-08-06 2021-08-04 Nissan Motor Co., Ltd. ANOMALY DIAGNOSIS SYSTEM AND ANOMALY DIAGNOSIS METHOD
EP3920409A4 (en) * 2019-01-31 2022-09-07 Kabushiki Kaisha Yaskawa Denki MOTOR, ENCODER, AND SERVO MOTOR CONTROL SYSTEM
JP7343323B2 (ja) * 2019-07-25 2023-09-12 ファナック株式会社 故障予測システム
CN112834225A (zh) * 2021-01-05 2021-05-25 吉孚动力技术(中国)有限公司 一种混合动力系统驱动电机扭矩故障的测试及响应方法
CN114237199B (zh) * 2021-11-29 2023-10-24 中国航发沈阳发动机研究所 基于自适应比较器的航空发动机执行回路故障检测方法

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JPH0751998A (ja) * 1993-08-09 1995-02-28 Fanuc Ltd 工具の寿命推定方法
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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
JP3080617B1 (ja) * 1999-07-19 2000-08-28 ファナック株式会社 射出成形機の金型保護装置
JP2002175104A (ja) 2000-12-05 2002-06-21 Murata Mach Ltd 異常負荷監視機能付き工作機械
JP3870052B2 (ja) * 2001-09-20 2007-01-17 株式会社日立製作所 半導体装置の製造方法及び欠陥検査データ処理方法
DE602005010539D1 (de) * 2004-12-28 2008-12-04 Fanuc Ltd Bestimmung eines Schwellwertes für ein Gerät zur Schadenserkennung auf einem Werkzeug
JP4515939B2 (ja) * 2005-03-07 2010-08-04 株式会社東芝 プラント監視方法
JP2008183680A (ja) * 2007-01-31 2008-08-14 Yaskawa Electric Corp 負荷機械の制御装置とその衝突検出しきい値更新方法
JP4523977B2 (ja) 2008-03-19 2010-08-11 関東自動車工業株式会社 ロボット内蔵減速機の故障診断方法及び装置
JP5381968B2 (ja) * 2010-12-21 2014-01-08 株式会社デンソー トルクセンサ、トルク検出装置、および、これを用いた電動パワーステアリング装置。
JP2013086930A (ja) * 2011-10-19 2013-05-13 Mitsubishi Electric Corp ブレーキ診断装置
JP5961566B2 (ja) * 2012-03-13 2016-08-02 Ｋｙｂ株式会社 トルクセンサの異常診断装置及び異常診断方法
KR101376831B1 (ko) * 2012-03-27 2014-03-20 삼성전기주식회사 표면결함 검사방법
WO2016189584A1 (ja) * 2015-05-22 2016-12-01 日産自動車株式会社 故障診断装置及び故障診断方法
ES2857001T3 (es) * 2015-05-29 2021-09-28 Nissan Motor Dispositivo de diagnóstico de fallos y método de diagnóstico de fallos

Also Published As

Publication number Publication date
CA2986736C (en) 2018-12-04
US20180133901A1 (en) 2018-05-17
US10112305B2 (en) 2018-10-30
EP3305482A4 (en) 2018-08-29
BR112017025292B1 (pt) 2021-02-02
CA2986736A1 (en) 2016-12-01
WO2016189608A1 (ja) 2016-12-01
EP3305482B1 (en) 2019-10-09
MX365231B (es) 2019-05-27
EP3305482A1 (en) 2018-04-11
CN107614216B (zh) 2018-09-18
KR20170139608A (ko) 2017-12-19
ES2763004T3 (es) 2020-05-26
CN107614216A (zh) 2018-01-19
KR101889248B1 (ko) 2018-08-16
JPWO2016189608A1 (ja) 2018-03-08
MX2017014937A (es) 2018-04-13
JP6428933B2 (ja) 2018-11-28
RU2678857C1 (ru) 2019-02-04

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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 25/05/2015, OBSERVADAS AS CONDICOES LEGAIS.