CN121733628A - 机器人维护支援装置以及机器人维护支援方法 - Google Patents

机器人维护支援装置以及机器人维护支援方法

Info

Publication number
CN121733628A
CN121733628A CN202610009698.6A CN202610009698A CN121733628A CN 121733628 A CN121733628 A CN 121733628A CN 202610009698 A CN202610009698 A CN 202610009698A CN 121733628 A CN121733628 A CN 121733628A
Authority
CN
China
Prior art keywords
value
robot
unit
evaluation value
time
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
CN202610009698.6A
Other languages
English (en)
Chinese (zh)
Inventor
川井淳
永浜恭秀
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.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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 Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of CN121733628A publication Critical patent/CN121733628A/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
    • 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
    • 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
    • G05B23/0243—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 model based detection method, e.g. first-principles knowledge model
    • G05B23/0245—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 model based detection method, e.g. first-principles knowledge model based on a qualitative model, e.g. rule based; if-then decisions
    • G05B23/0248—Causal models, e.g. fault tree; digraphs; qualitative physics
    • 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • 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
    • G01M13/021—Gearings
    • 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
    • G01M13/028—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
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • 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
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • 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
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42332—Detect failure of servo controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Numerical Control (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
CN202610009698.6A 2021-03-29 2022-03-22 机器人维护支援装置以及机器人维护支援方法 Pending CN121733628A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2021-054667 2021-03-29
JP2021054667 2021-03-29
CN202280026060.3A CN117222878A (zh) 2021-03-29 2022-03-22 机器人故障预兆检测装置以及机器人故障预兆检测方法
PCT/JP2022/013021 WO2022210072A1 (ja) 2021-03-29 2022-03-22 ロボット故障予兆検出装置及びロボット故障予兆検出方法

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN202280026060.3A Division CN117222878A (zh) 2021-03-29 2022-03-22 机器人故障预兆检测装置以及机器人故障预兆检测方法

Publications (1)

Publication Number Publication Date
CN121733628A true CN121733628A (zh) 2026-03-27

Family

ID=83456112

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202610009698.6A Pending CN121733628A (zh) 2021-03-29 2022-03-22 机器人维护支援装置以及机器人维护支援方法
CN202280026060.3A Pending CN117222878A (zh) 2021-03-29 2022-03-22 机器人故障预兆检测装置以及机器人故障预兆检测方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202280026060.3A Pending CN117222878A (zh) 2021-03-29 2022-03-22 机器人故障预兆检测装置以及机器人故障预兆检测方法

Country Status (6)

Country Link
US (1) US20240192674A1 (https=)
EP (1) EP4316755A4 (https=)
JP (2) JP7811936B2 (https=)
KR (1) KR20230159880A (https=)
CN (2) CN121733628A (https=)
WO (1) WO2022210072A1 (https=)

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CN117713630B (zh) * 2024-02-06 2024-06-07 深圳威洛博机器人有限公司 一种机器人传动电机速度波动的控制系统
CN117894491B (zh) * 2024-03-15 2024-06-11 济南宝林信息技术有限公司 一种用于评估精神活动的生理监测数据处理方法
JP7637836B1 (ja) * 2024-03-28 2025-02-28 川崎重工業株式会社 状態監視装置、状態監視方法及び状態監視プログラム
WO2025203925A1 (ja) * 2024-03-28 2025-10-02 川崎重工業株式会社 状態監視装置、状態監視方法及び状態監視プログラム
CN118857730B (zh) * 2024-07-31 2026-02-06 东风商用车有限公司 机器人操作耐久试验监控方法、装置、设备及存储介质
CN118585831B (zh) * 2024-08-02 2024-10-22 成都赛力斯科技有限公司 电机轴承剩余寿命预测方法、系统及模型训练方法
KR102756498B1 (ko) * 2024-10-15 2025-01-21 한화시스템 주식회사 이동형 로봇의 상태이상 감지 시스템 및 방법
CN119067640B (zh) * 2024-11-04 2025-01-03 杭州优服云科技有限公司 数控机床智能运维管理方法及系统
CN119723945B (zh) * 2024-12-12 2025-10-21 长沙理工大学 基于交通事故要素匹配的车辆预碰撞预警方法与系统
CN121061944B (zh) * 2025-11-06 2026-02-27 四川三思德科技有限公司 一种机器人紧急自救系统
CN121281061B (zh) * 2025-12-08 2026-03-24 重庆大学建筑规划设计研究总院有限公司 基于热红外成像的石质文物修复用表层劣化程度评价方法

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JPH09311715A (ja) * 1996-05-22 1997-12-02 Fanuc Ltd ロボットの異常発生履歴表示方法
JP3295753B2 (ja) 1997-08-01 2002-06-24 株式会社椿本チエイン 負荷監視装置
JP4492573B2 (ja) 2006-03-27 2010-06-30 トヨタ自動車株式会社 ロボットとロボットの動作制御方法
EP1955830B1 (en) * 2007-02-06 2014-04-09 Abb Research Ltd. A method and a control system for monitoring the condition of an industrial robot
JP5363927B2 (ja) * 2009-09-07 2013-12-11 株式会社日立製作所 異常検知・診断方法、異常検知・診断システム、及び異常検知・診断プログラム
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JP6418782B2 (ja) * 2014-05-16 2018-11-07 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、ロボットシステム、及び診断装置
JP6664893B2 (ja) * 2014-12-19 2020-03-13 川崎重工業株式会社 ロボット保守支援装置および方法
WO2019103091A1 (ja) * 2017-11-22 2019-05-31 川崎重工業株式会社 機械装置の劣化診断装置、劣化診断装置において実行される機械装置の劣化診断方法、及び、機械装置の劣化診断方法
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JP7577476B2 (ja) * 2020-07-31 2024-11-05 川崎重工業株式会社 ロボットシステムおよび回生抵抗の寿命予測方法

Also Published As

Publication number Publication date
EP4316755A1 (en) 2024-02-07
EP4316755A4 (en) 2025-04-09
WO2022210072A1 (ja) 2022-10-06
KR20230159880A (ko) 2023-11-22
JP7811936B2 (ja) 2026-02-06
JPWO2022210072A1 (https=) 2022-10-06
JP7500839B2 (ja) 2024-06-17
US20240192674A1 (en) 2024-06-13
JP2024002993A (ja) 2024-01-11
CN117222878A (zh) 2023-12-12

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