DE112021007501T5 - Robotersystem - Google Patents

Robotersystem Download PDF

Info

Publication number
DE112021007501T5
DE112021007501T5 DE112021007501.2T DE112021007501T DE112021007501T5 DE 112021007501 T5 DE112021007501 T5 DE 112021007501T5 DE 112021007501 T DE112021007501 T DE 112021007501T DE 112021007501 T5 DE112021007501 T5 DE 112021007501T5
Authority
DE
Germany
Prior art keywords
reduction
torque
time series
series data
determination unit
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
DE112021007501.2T
Other languages
German (de)
English (en)
Inventor
Naoki Fujioka
Kazuki WAKABAYASHI
Keita SUYAMA
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 DE112021007501T5 publication Critical patent/DE112021007501T5/de
Pending legal-status Critical Current

Links

Images

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
    • B25J9/16—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
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error 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
    • G01M13/02—Gearings; Transmission mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/01—Monitoring wear or stress of gearing elements, e.g. for triggering maintenance
    • F16H2057/018—Detection of mechanical transmission failures
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40599—Force, torque sensor integrated in joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
DE112021007501.2T 2021-07-28 2021-07-28 Robotersystem Pending DE112021007501T5 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/027965 WO2023007634A1 (ja) 2021-07-28 2021-07-28 ロボットシステム

Publications (1)

Publication Number Publication Date
DE112021007501T5 true DE112021007501T5 (de) 2024-04-04

Family

ID=85087700

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021007501.2T Pending DE112021007501T5 (de) 2021-07-28 2021-07-28 Robotersystem

Country Status (6)

Country Link
US (1) US20240278428A1 (https=)
JP (1) JP7772797B2 (https=)
CN (1) CN117651632A (https=)
DE (1) DE112021007501T5 (https=)
TW (1) TW202315730A (https=)
WO (1) WO2023007634A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025025084A (ja) * 2023-08-08 2025-02-21 ニデックドライブテクノロジー株式会社 制御ユニット、駆動装置、および制御方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5927440U (ja) 1982-08-12 1984-02-20 株式会社明電舎 シヤシダイナモメ−タ

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001341092A (ja) * 2000-06-02 2001-12-11 Sharp Corp 多関節ロボットおよび多関節ロボットの位置教示方法
JP4269150B2 (ja) * 2003-05-20 2009-05-27 株式会社安川電機 ロボット制御装置
JP2006077980A (ja) * 2004-08-11 2006-03-23 Nabtesco Corp 産業ロボットの関節部に取り付けられる減速機
JP2006281421A (ja) * 2005-04-05 2006-10-19 Yaskawa Electric Corp ロボットおよびロボットの異常検出方法
JP4112594B2 (ja) * 2006-07-27 2008-07-02 ファナック株式会社 減速機異常診断方法及び減速機異常診断装置
EP1927440A1 (en) * 2006-11-30 2008-06-04 Abb Research Ltd. Method and device for monitoring the condition of an industrial robot
JP5177502B2 (ja) * 2008-01-07 2013-04-03 本田技研工業株式会社 アクチュエータおよびロボット
JP5482699B2 (ja) * 2011-03-16 2014-05-07 トヨタ自動車株式会社 減速機異常診断装置および減速機異常診断方法
JP6496937B2 (ja) * 2014-03-06 2019-04-10 ソニー株式会社 アクチュエータ及びロボットアーム装置
JP6210915B2 (ja) * 2014-03-24 2017-10-11 東芝三菱電機産業システム株式会社 誘導電動機駆動システム
CN104537244B (zh) * 2014-12-31 2017-08-01 大连理工大学 一种多自由度机器人腕部电机、减速器的计算与选型方法
ES2763004T3 (es) * 2015-05-25 2020-05-26 Nissan Motor Dispositivo de diagnóstico de fallos y método de diagnóstico de fallos
JP2017007023A (ja) * 2015-06-19 2017-01-12 ライフロボティクス株式会社 ロボット装置及びモータ制御装置
JP6843541B2 (ja) * 2016-07-27 2021-03-17 キヤノン株式会社 駆動機構、ロボット装置、物品の製造方法、及び制御方法
JP6860417B2 (ja) * 2017-05-18 2021-04-14 川崎重工業株式会社 減速機角度伝達誤差同定システム及び減速機角度伝達誤差同定方法
EP3752119B1 (en) * 2018-02-17 2025-06-11 President And Fellows Of Harvard College Wearable devices for protecting against musculoskeletal injuries and enhancing performance
JP7267688B2 (ja) * 2018-05-31 2023-05-02 キヤノン株式会社 ロボットシステム、ロボットアームの制御方法、物品の製造方法、駆動装置および駆動装置の制御方法
US11827222B2 (en) * 2018-06-04 2023-11-28 Nissan Motor Co., Ltd. Abnormality detection apparatus and abnormality detection method
CN112805536A (zh) * 2018-09-24 2021-05-14 株式会社尼康 编码器、驱动装置、机器人装置、控制系统及其控制方法
JP2020053550A (ja) * 2018-09-27 2020-04-02 株式会社荏原製作所 研磨装置、研磨方法、及び機械学習装置
JP7353755B2 (ja) * 2018-12-17 2023-10-02 キヤノン株式会社 ロボットシステム、ロボットシステムの制御方法、ロボットシステムを用いた物品の製造方法、検出装置、検出装置の制御方法、駆動装置、駆動装置の制御方法、制御プログラム及び記録媒体
JP7358049B2 (ja) * 2019-01-11 2023-10-10 キヤノン株式会社 制御方法、プログラム、記録媒体、ロボットシステム、および物品の製造方法
JP7391523B2 (ja) * 2019-03-22 2023-12-05 キヤノン株式会社 制御装置、ロボットシステム、制御方法、物品の製造方法、プログラム、及び記録媒体
JP7268722B2 (ja) * 2019-03-27 2023-05-08 日産自動車株式会社 異常検知装置、及び異常検知方法
WO2020246005A1 (ja) * 2019-06-06 2020-12-10 三菱電機株式会社 パラメータ算出装置、ロボット制御システム、ロボットシステム
JP7443013B2 (ja) * 2019-10-04 2024-03-05 株式会社ダイヘン ロボット制御装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5927440U (ja) 1982-08-12 1984-02-20 株式会社明電舎 シヤシダイナモメ−タ

Also Published As

Publication number Publication date
TW202315730A (zh) 2023-04-16
WO2023007634A1 (ja) 2023-02-02
CN117651632A (zh) 2024-03-05
US20240278428A1 (en) 2024-08-22
JPWO2023007634A1 (https=) 2023-02-02
JP7772797B2 (ja) 2025-11-18

Similar Documents

Publication Publication Date Title
DE102019219332A1 (de) Lerndatenprüfung-Unterstütztungsvorrichtung, Maschinelles-Lernen-Vorrichtung und Ausfallvorhersagevorrichtung
DE102007037634B4 (de) Verfahren zum Steuern einer Parallel-Kinematik-Mechanismus-Maschine und Steuerungsvorrichtung hierfür
DE102018104400B4 (de) Lebensdauerbewertungsvorrichtung und robotersystem
EP2628575B1 (de) Verfahren zum Ermitteln eines Drehmoments und Industrieroboter
DE112015001924B4 (de) Motorsteuereinrichtung
DE112017002300T5 (de) Anomaliefeststellungsvorrichtung und Anomaliefeststellungsverfahren
DE102007048602A1 (de) Verfahren zum Diagnostizieren von Anomalitäten und Vorrichtung hierfür
DE112017002846T5 (de) Vorrichtung zur Abnormalitätsdiagnose und Verfahren zur Abnormalitätsdiagnose
DE102019104244B4 (de) Abnormalitätsfaktoridentifizierungsgerät
DE112019006789T5 (de) Arbeitsbestimmungsgerät und arbeitsbestimmungsverfahren
DE102019210795A1 (de) Spannungswellengetriebe und Verfahren für Spannungswellengetriebe
DE102018203280A1 (de) Zustandsdiagnosevorrichtung
DE102019124483A1 (de) Zustandsbestimmungsvorrichtung und zustandsbestimmungsverfahren
DE102022002464A1 (de) Verfahren und Vorrichtung zur Bestimmung der Restlebensdauer eines Getriebes
DE102004028559A1 (de) Verfahren und System zur Verschleißabschätzung von Achsen eines Roboterarmes
DE102020128435A1 (de) Diagnosegerät
DE102019115934A1 (de) Einstellerfordernis-bestimmungsvorrichtung
DE102020126209A1 (de) Roboter
DE102021126188B4 (de) Überwachungsverfahren für einen Roboter und zugehörige Roboteranlage
DE112021007501T5 (de) Robotersystem
DE112016004329T5 (de) Diagnosevorrichtung für eine Verbindungsgliedbetätigungsvorrichtung
DE102020213960A1 (de) Abnormalitäts-Diagnoseverfahren und Abnormalitäts-Diagnosevorrichtung für Vorschubachsenvorrichtung
WO2023169622A1 (de) Verfahren zum bestimmen eines drehmoments
DE202025100147U1 (de) Ein ANN-basiertes System zur Bewertung der hydrodynamischen Lagerleistung
DE102023207829A1 (de) Verfahren und System zum Erkennen von Anomalien in einem Satz von Signalen

Legal Events

Date Code Title Description
R012 Request for examination validly filed