CN117597220A - 诊断系统 - Google Patents

诊断系统 Download PDF

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Publication number
CN117597220A
CN117597220A CN202280031031.6A CN202280031031A CN117597220A CN 117597220 A CN117597220 A CN 117597220A CN 202280031031 A CN202280031031 A CN 202280031031A CN 117597220 A CN117597220 A CN 117597220A
Authority
CN
China
Prior art keywords
sensor
detection result
time point
unit
degradation
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.)
Pending
Application number
CN202280031031.6A
Other languages
English (en)
Chinese (zh)
Inventor
和田贵志
安藤清
白田卓也
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.)
Nabtesco Corp
Original Assignee
Nabtesco 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 Nabtesco Corp filed Critical Nabtesco Corp
Publication of CN117597220A publication Critical patent/CN117597220A/zh
Pending legal-status Critical Current

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
    • B25J9/16—Program controls
    • B25J9/1674—Program 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
    • B25J19/06—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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G01M13/04—Bearings
    • G01M13/045—Acoustic or vibration analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G01M7/02—Vibration-testing by means of a shake table
    • G01M7/025—Measuring arrangements
    • 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
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/024—Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Manipulator (AREA)
CN202280031031.6A 2021-04-26 2022-03-28 诊断系统 Pending CN117597220A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021073847 2021-04-26
JP2021-073847 2021-04-26
PCT/JP2022/014953 WO2022230532A1 (ja) 2021-04-26 2022-03-28 診断システム

Publications (1)

Publication Number Publication Date
CN117597220A true CN117597220A (zh) 2024-02-23

Family

ID=83848027

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280031031.6A Pending CN117597220A (zh) 2021-04-26 2022-03-28 诊断系统

Country Status (5)

Country Link
US (1) US20240051140A1 (https=)
EP (1) EP4331785A4 (https=)
JP (1) JP7537715B2 (https=)
CN (1) CN117597220A (https=)
WO (1) WO2022230532A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7541675B1 (ja) 2023-02-21 2024-08-29 国立研究開発法人海洋研究開発機構 異常検出システム及び異常検出方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190091861A1 (en) * 2016-03-29 2019-03-28 Sony Corporation Control apparatus and control method
US10335962B1 (en) * 2017-03-01 2019-07-02 Knowledge Initiatives LLC Comprehensive fault detection and diagnosis of robots
US20190354080A1 (en) * 2018-05-21 2019-11-21 Fanuc Corporation Abnormality detector
US20200042836A1 (en) * 2018-08-01 2020-02-06 Renesas Electronics Corporation Information processing device, information processing systems, and programs
CN112534236A (zh) * 2018-08-06 2021-03-19 日产自动车株式会社 异常诊断装置和异常诊断方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3726058B2 (ja) 2001-12-28 2005-12-14 本田技研工業株式会社 脚式移動ロボットおよびその床反力検出装置
US20140088766A1 (en) * 2012-09-21 2014-03-27 United Technologies Corporation Health management having system level diagnostic feedback and information fusion
JP6489235B2 (ja) * 2016-10-21 2019-03-27 日本電気株式会社 システム分析方法、システム分析装置、および、プログラム
JP2020039397A (ja) 2018-09-06 2020-03-19 株式会社デンソー 作業装置
US20210086361A1 (en) * 2019-09-19 2021-03-25 Hitachi, Ltd. Anomaly detection for robotic arms using vibration data

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190091861A1 (en) * 2016-03-29 2019-03-28 Sony Corporation Control apparatus and control method
US10335962B1 (en) * 2017-03-01 2019-07-02 Knowledge Initiatives LLC Comprehensive fault detection and diagnosis of robots
US20190354080A1 (en) * 2018-05-21 2019-11-21 Fanuc Corporation Abnormality detector
US20200042836A1 (en) * 2018-08-01 2020-02-06 Renesas Electronics Corporation Information processing device, information processing systems, and programs
CN112534236A (zh) * 2018-08-06 2021-03-19 日产自动车株式会社 异常诊断装置和异常诊断方法

Also Published As

Publication number Publication date
JPWO2022230532A1 (https=) 2022-11-03
EP4331785A1 (en) 2024-03-06
WO2022230532A1 (ja) 2022-11-03
EP4331785A4 (en) 2025-04-23
JP7537715B2 (ja) 2024-08-21
US20240051140A1 (en) 2024-02-15

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