CN116457165B - 张力估计装置、寿命评价装置以及机器人系统 - Google Patents

张力估计装置、寿命评价装置以及机器人系统

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Publication number
CN116457165B
CN116457165B CN202180077650.4A CN202180077650A CN116457165B CN 116457165 B CN116457165 B CN 116457165B CN 202180077650 A CN202180077650 A CN 202180077650A CN 116457165 B CN116457165 B CN 116457165B
Authority
CN
China
Prior art keywords
tension
belt
motor
transmission mechanism
estimating
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN202180077650.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN116457165A (zh
Inventor
清水亮太
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Publication of CN116457165A publication Critical patent/CN116457165A/zh
Application granted granted Critical
Publication of CN116457165B publication Critical patent/CN116457165B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program 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
    • G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/023—Power-transmitting endless elements, e.g. belts or chains
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32234—Maintenance planning
    • 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
    • G05B2219/37351—Detect vibration, ultrasound
    • 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
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
CN202180077650.4A 2020-11-26 2021-11-19 张力估计装置、寿命评价装置以及机器人系统 Active CN116457165B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-196020 2020-11-26
JP2020196020 2020-11-26
PCT/JP2021/042594 WO2022113901A1 (ja) 2020-11-26 2021-11-19 張力推定装置、寿命評価装置及びロボットシステム

Publications (2)

Publication Number Publication Date
CN116457165A CN116457165A (zh) 2023-07-18
CN116457165B true CN116457165B (zh) 2025-09-19

Family

ID=81754278

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180077650.4A Active CN116457165B (zh) 2020-11-26 2021-11-19 张力估计装置、寿命评价装置以及机器人系统

Country Status (6)

Country Link
US (1) US20230405807A1 (https=)
JP (1) JP7538246B2 (https=)
CN (1) CN116457165B (https=)
DE (1) DE112021004859T5 (https=)
TW (1) TWI891941B (https=)
WO (1) WO2022113901A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024049638A (ja) * 2022-09-29 2024-04-10 セイコーエプソン株式会社 水平多関節ロボット
WO2025069127A1 (ja) * 2023-09-25 2025-04-03 三菱電機株式会社 異常診断装置及び異常診断方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015093360A (ja) * 2013-11-13 2015-05-18 キヤノン株式会社 駆動装置、ロボット装置、駆動装置の制御方法、プログラム及び記録媒体
JP2020008472A (ja) * 2018-07-10 2020-01-16 ファナック株式会社 温度推定装置、寿命評価装置、およびロボットシステム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2827042B1 (fr) * 2001-07-06 2003-10-03 Renault Procede d'evaluation de la duree de vie restante d'une courroie de transmission, et son dispositif de mise en oeuvre
JP2004020388A (ja) * 2002-06-17 2004-01-22 Mitsubishi Electric Corp 寿命評価装置
JP4133768B2 (ja) * 2003-11-27 2008-08-13 三ツ星ベルト株式会社 伝動ベルトの振動解析方法及び装置、並びにプログラム
JP4087435B2 (ja) * 2007-07-30 2008-05-21 三菱電機株式会社 寿命評価装置
JP2014092198A (ja) * 2012-11-01 2014-05-19 C I Kasei Co Ltd ベルト交換時期推定システム
US9205560B1 (en) * 2013-06-24 2015-12-08 Redwood Robotics, Inc. System and method for failure detection of a robot actuator
US9347372B2 (en) * 2014-09-13 2016-05-24 GM Global Technology Operations LLC Method for determining belt life
KR101924724B1 (ko) * 2017-06-20 2018-12-03 한국광기술원 장력 조절 기능을 가지는 벨트 동력 전달 장치 및 그 제어 방법
JP6592061B2 (ja) * 2017-11-02 2019-10-16 ファナック株式会社 ベルトの交換判定装置および交換判定方法
JP6694016B2 (ja) * 2018-07-10 2020-05-13 ファナック株式会社 寿命評価装置およびロボットシステム
JP7103878B2 (ja) * 2018-07-10 2022-07-20 ファナック株式会社 温度推定装置及び寿命評価装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015093360A (ja) * 2013-11-13 2015-05-18 キヤノン株式会社 駆動装置、ロボット装置、駆動装置の制御方法、プログラム及び記録媒体
JP2020008472A (ja) * 2018-07-10 2020-01-16 ファナック株式会社 温度推定装置、寿命評価装置、およびロボットシステム

Also Published As

Publication number Publication date
JPWO2022113901A1 (https=) 2022-06-02
DE112021004859T5 (de) 2023-07-20
WO2022113901A1 (ja) 2022-06-02
TWI891941B (zh) 2025-08-01
JP7538246B2 (ja) 2024-08-21
TW202221296A (zh) 2022-06-01
US20230405807A1 (en) 2023-12-21
CN116457165A (zh) 2023-07-18

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