JP2016020925A - Speed reducer failure state notification device, mechanical system having speed reducer failure state notification function and speed reducer failure state notification program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed reducer failure state notification device capable of providing accurate notification of a failure state of a speed reducer even if use conditions are different.SOLUTION: A speed reducer failure state notification device for providing notification of a failure state of a speed reducer of an industrial robot includes: a speed reducer; and a lubricant deterioration sensor having a clearance forming member, in which an oil clearance arranged on an optical path from a white LED to an RGB sensor, is formed to transmit light, where the oil clearance is a clearance for lubricant of the speed reducer to enter. A threshold is set (S226) in response to the inputted temperature (S222) of the lubricant. When color difference ΔE (S227) between color detected by the RGB sensor and black color reaches the threshold (Yes in S228 and No in S229, or Yes in S228 and Yes in S229), notification is provided of the failure state of the speed reducer corresponding to the threshold (S230 and S231).SELECTED DRAWING: Figure 14

Description

  The present invention relates to a speed reducer breakage state notification device for notifying a state of breakage of a speed reducer of a machine provided with a speed reducer and a lubricant deterioration sensor for detecting the deterioration of the lubricant of the speed reducer. .

  Conventionally, as a lubricating oil deterioration sensor for detecting deterioration of a lubricating oil of a machine, an oil intrusion gap for allowing the lubricating oil to enter is formed on an optical path from an infrared LED (Light Emitting Diode) to a photodiode. Oil degradation that determines the degree of deterioration of lubricating oil that correlates with the measured light absorption amount by measuring the light absorption amount by the lubricating oil in the oil intrusion gap with respect to the emitted light of the infrared LED by the amount of light received by the photodiode A degree sensor is known (for example, refer to Patent Documents 1 and 2).

  However, the oil deterioration level sensor described in Patent Documents 1 and 2 can measure the concentration of insoluble matter in the lubricating oil as the deterioration degree of the lubricating oil, but identifies the type of contaminant in the lubricating oil. There is a problem that you can not.

  The technology for identifying the type of pollutants in lubricating oil is to irradiate the membrane filter after filtering the lubricating oil with an LED, and the reflected light from the pollutants on the membrane filter is converted to RGB digital values by the light receiving element. And a technique for identifying the type of contaminant in the lubricating oil based on the converted RGB digital values is known (see, for example, Non-Patent Documents 1 and 2).

JP-A-7-146233 Japanese Patent Laid-Open No. 10-104160 Tomohiko Yamaguchi, 4 others, “Method of distinguishing the hue of lubricating oil contaminants”, Fukui University Faculty of Engineering Research Report, March 2003, Vol. 51, No. 1, p.81-88 Tomomi Honda, “Diagnosis and Inspection Technology of Lubricating Oil”, Journal of Precision Engineering, 2009, Vol. 75, No. 3, p.359-362

  However, the techniques described in Non-Patent Documents 1 and 2 have a problem of lack of immediacy because it is necessary to extract the lubricating oil from the machine and filter it with a membrane filter.

  Therefore, the inventor of the present application has developed a lubricant deterioration sensor that is provided in a machine equipped with a speed reducer and can immediately identify the type and amount of contaminants in the speed reducer lubricating oil. . This lubricant deterioration sensor (hereinafter referred to as “new sensor”) is a gap between a light emitting element that emits light, a color light receiving element that detects the color of the received light, and the lubricant oil of the reducer. An oil gap disposed on the optical path from the light emitting element to the color light receiving element is formed, and a gap forming member that transmits light is provided.

  Then, when the color difference between the color detected by the color light receiving element of the new sensor and the predetermined color reaches a predetermined threshold, the inventor of the present application notifies the state of damage to the speed reducer corresponding to this threshold. A reduction gear breakage notification device was developed.

  However, the present application shows that the relationship between the color difference between the color detected by the color light receiving element of the new sensor and the predetermined color and the state of damage to the speed reducer depends on the operating conditions of the speed reducer, such as the temperature of the lubricating oil. Discovered the inventor. When the relationship between the color difference between the color detected by the color light receiving element of the new sensor and the predetermined color and the state of damage to the speed reducer is not constant, the speed reducer damage state notification device indicates the state of damage to the speed reducer. There is a problem that notification cannot be made with high accuracy.

  Therefore, an object of the present invention is to provide a speed reducer breakage state notification device capable of accurately reporting the state of breakage of the speed reducer even when the use conditions of the speed reducer are different.

  The speed reducer breakage state notifying device of the present invention notifies the state of breakage of the speed reducer of a machine provided with the speed reducer and a lubricant deterioration sensor for detecting deterioration of the lubricant of the speed reducer. The reduction gear breakage state notification device of the present invention, wherein the lubricant deterioration sensor is a gap between the light emitting element that emits light, the color light receiving element that detects the color of the received light, and the lubricating oil intrusion. An oil gap disposed on an optical path from the light emitting element to the color light receiving element, and a gap forming member that transmits light, and the speed reducer breakage state notification device includes the speed reducer A breakage state notifying unit for notifying a breakage state, a threshold setting unit for setting a threshold for notification by the breakage state notifying unit, and a lubricant temperature receiving unit for receiving an input of the lubricant temperature. Before When the color difference between the color detected by the color light receiving element and a predetermined color reaches the threshold value set by the threshold value setting means, the breakage state notifying means notifies the damage of the speed reducer corresponding to the threshold value. The state is notified, and the threshold value setting means sets the threshold value according to the temperature of the lubricating oil received by the lubricating oil temperature receiving means.

  With this configuration, the speed reducer breakage state notification device of the present invention sets a threshold value for notifying the state of the speed reducer breakage according to the temperature of the lubricating oil. Even if they are different, it is possible to accurately notify the state of the reduction gear breakage.

  Further, in the speed reducer damage state notification device, the machine includes a lubricant temperature sensor for detecting a temperature of the lubricant, and the lubricant temperature receiving means is detected by the lubricant temperature sensor. You may receive the input of the temperature of the said lubricating oil.

  With this configuration, the speed reducer breakage state notification device sets a threshold value for notifying the state of the speed reducer breakage according to the actual temperature of the lubricating oil. Notification can be made with high accuracy according to the temperature.

  Further, in the speed reducer breakage state notifying device, the threshold setting means may set the threshold according to an average value of the temperature of the lubricating oil during a predetermined period of time when the input is received by the lubricating oil temperature receiving means. good.

  With this configuration, the speed reducer breakage state notification device sets the threshold value for notifying the state of breakage of the speed reducer according to the average value of the actual temperature of the lubricant oil during a predetermined period. It is possible to prevent erroneous notification of the state of the reduction gear when it suddenly changes suddenly.

  In the speed reducer breakage state notifying device, the breakage state notifying unit may be configured such that an increase amount of the average value of the temperature of the lubricating oil during a predetermined period when the input is received by the lubricating oil temperature receiving unit is not less than a predetermined value. In some cases, the state of damage to the speed reducer may be notified.

  In some cases, such as immediately after the lubricant is replaced with a new one, when the reducer is actually approaching damage, or even when it is already damaged, it may be difficult for the lubricant to deteriorate immediately. is there. If the lubricant is not deteriorated, the color difference between the color detected by the color light receiving element and the predetermined color does not reach the threshold value. However, when the speed reducer is actually approaching breakage or has already been damaged, the speed reducer generates intense heat, so the temperature of the lubricating oil rises rapidly. The reduction gear breakage state notification device notifies the state of the reduction gear breakage when the amount of increase in the average value of the actual temperature of the lubricating oil for a predetermined period is equal to or greater than the predetermined value. Even if the color difference between the color detected by the color light receiving element and the specified color does not reach the threshold when it is approaching to breakage or has already been broken, the reduction gear is properly damaged Can be notified.

  In the reduction gear breakage state notification device, the machine has an oil storage space that is a space in which the lubricating oil can be stored, and the reduction gear is a part of the oil storage space. A reduction gear internal oil storage space is formed, and the reduction gear breakage state notification device includes an oil sealing ratio reception means for receiving an input of an oil sealing ratio that is an amount of the lubricating oil with respect to a volume of the reduction gear internal oil storage space. The threshold value setting means may set the threshold value further corresponding to the oil filling ratio received by the oil filling ratio receiving means.

  With this configuration, the speed reducer breakage state notification device sets the threshold value for notifying the state of breakage of the speed reducer according to the temperature of the lubricating oil and the oil filling ratio. Even if the oil filling ratios are different, it is possible to accurately notify the state of damage to the speed reducer.

  The speed reducer breakage state notification device is a speed reducer for notifying a state of breakage of the speed reducer of a machine including a speed reducer and a lubricant deterioration sensor for detecting deterioration of the lubricant of the speed reducer. In the breakage state notification device, the machine has an oil storage space in which the lubricating oil can be stored, and the speed reducer is a part of the oil storage space. An oil storage space is formed, and the lubricant deterioration sensor includes a light emitting element that emits light, a color light receiving element that detects a color of received light, and a gap through which the lubricant enters, and the light emitting element. An oil gap disposed on an optical path from an element to the color light receiving element, and a gap forming member that transmits light, and the speed reducer breakage state notifying device is provided with a breakage of the speed reducer. Damage status to notify the status of An oil filling ratio reception for receiving an input of an oil filling ratio which is an amount of the lubricating oil with respect to the volume of the oil storage space in the reduction gear The breakage state notifying means sets the threshold when the color difference between the color detected by the color light receiving element and a predetermined color reaches the threshold set by the threshold setting means. The corresponding reduction gear state is notified, and the threshold value setting means sets the threshold value in accordance with the oil filling ratio received by the oil filling ratio receiving means.

  With this configuration, the speed reducer breakage state notification device sets the threshold value for notifying the state of the speed reducer breakage according to the oil filling ratio, so that the oil filling ratio is different as the use condition of the speed reducer. In addition, it is possible to accurately notify the state of the reduction gear breakage.

  The speed reducer breakage state notification device further includes a model volume correspondence storage unit that stores the volume of the oil storage space in the speed reducer corresponding to the type of the speed reducer, and the oil filling ratio receiving means includes the speed reducer A speed reducer type receiving means for receiving the input of the type of oil and a lubricating oil amount receiving means for receiving the input of the amount of the lubricating oil. The oil filling ratio receiving means is input by the speed reducer type receiving means. The volume of the reducer internal oil storage space stored in the model volume correspondence storage unit corresponding to the received type of the reduction gear, and the amount of the lubricating oil received by the lubricating oil amount receiving means The oil filling ratio is indirectly received by calculating the oil filling ratio, and the threshold setting means receives the input by the speed reducer type receiving means. Further, the threshold may be set according to the type of the speed reducer that is.

  With this configuration, the speed reducer breakage state notification device simply sets the threshold value for notifying the state of the speed reducer breakage and the ratio of the oil filling ratio and the speed reducer only by inputting the amount of lubricating oil and the speed reducer type. It can be set according to the model.

  The speed reducer breakage state notifying device includes an oil storage space receiving unit that receives an input of the volume of the oil storage space, and the threshold setting unit is configured to receive the oil received by the oil storage space receiving unit. You may set the said threshold value further according to the volume of storage space.

  With this configuration, the speed reducer breakage state notification device sets the threshold value for notifying the state of the speed reducer breakage according to the volume of the oil storage space, so that the volume of the oil storage space varies as the use condition of the speed reducer Even in this case, it is possible to accurately notify the state of damage to the speed reducer.

  In the reduction gear breakage state notification device, the threshold value may include a plurality of threshold levels corresponding to the possibility of breakage of the reduction gear.

  With this configuration, the speed reducer breakage state notification device can notify the state of the speed reducer breakage in a plurality of stages as the possibility of the speed reducer breakage.

  The mechanical system with a speed reducer breakage state notification function according to the present invention includes the speed reducer breakage state notification device and the machine that is notified of the breakage state of the speed reducer by the speed reducer breakage state notification device. Features.

  With this configuration, the mechanical system with a speed reducer breakage state notification function according to the present invention can accurately notify the state of breakage of the speed reducer even when the use condition of the speed reducer is different.

  The mechanical system with a speed reducer breakage state notification function includes a speed reducer breakage state notification device, and the machine that is notified of the state of breakage of the speed reducer by the speed reducer breakage state notification device. The sensor is built in the lubricant deterioration sensor.

  With this configuration, the mechanical system with a speed reducer breakage state notification function can accurately notify the state of the speed reducer breakage even when the use conditions of the speed reducer are different. In addition, the mechanical system with a speed reducer damage state notification function has a built-in lubricating oil temperature sensor in the lubricating oil deterioration sensor, so compared to a configuration in which the lubricating oil temperature sensor is provided separately from the lubricating oil deterioration sensor. Can be easily built.

  The speed reducer breakage state notification program according to the present invention causes a computer to function as a speed reducer breakage state notification device.

  With this configuration, the computer that executes the speed reducer breakage state notification program of the present invention can accurately notify the state of the speed reducer breakage even when the use condition of the speed reducer is different.

  The speed reducer breakage state notification device of the present invention can accurately notify the state of breakage of the speed reducer even when the use conditions of the speed reducer are different.

It is a block diagram of a mechanical system with a speed reducer breakage state notification function according to an embodiment of the present invention. It is a side view of the industrial robot shown in FIG. It is sectional drawing of the joint part of the industrial robot shown in FIG. FIG. 4 is a front view of the lubricant deterioration sensor shown in FIG. 3. FIG. 5 is a front sectional view of the lubricant deterioration sensor shown in FIG. 4 in a state attached to an arm. (A) is a top view of the lubricating oil deterioration sensor shown in FIG. (B) is a bottom view of the lubricant deterioration sensor shown in FIG. It is a figure which shows the optical path from white LED shown in FIG. 5 to RGB sensor. It is a block diagram of the reduction gear breakage state notification apparatus shown in FIG. It is a figure which shows an example of the model volume corresponding | compatible table shown in FIG. It is a figure which shows an example of the threshold value setting table shown in FIG. It is a figure which shows an example of the table for table selection shown in FIG. (A) is a graph which shows an example of the experimental result of the time change of color difference (DELTA) E in case the temperature of the lubricating oil shown in FIG. 3 is 40 degreeC, and an oil enclosure ratio is 80%. FIG. 12B is a graph showing an example of an experimental result of the change in color difference ΔE over time when the temperature of the lubricating oil shown in FIG. 3 is 60 ° C. and the oil filling ratio is 80%. FIG. 12C is a graph showing an example of the experimental result of the time change of the color difference ΔE when the temperature of the lubricating oil shown in FIG. 3 is 60 ° C. and the oil filling ratio is 110%. It is a flowchart of operation | movement of the reduction gear failure state notification apparatus shown in FIG. It is a flowchart of the operation | movement following the operation | movement shown in FIG. It is a figure which shows an example of the information input screen displayed on the display part shown in FIG. (A) is a figure displayed on the display part shown in FIG. 8, Comprising: It is a figure which shows an example of the screen of the notification which alert | reports that there is a high possibility that the reduction gear is damaged. (B) is a figure displayed on the display part shown in FIG. 8, Comprising: It is a figure which shows an example of the screen of a warning which alert | reports that the reduction gear may be damaged. (C) is a screen displayed on the display unit shown in FIG. 8, and is a diagram showing an example of a notification screen that prompts the user to check or repair the reduction gear. (A) is the schematic diagram of the joint part shown in FIG. 3 when the volume of the oil storage space in the joint part, the volume of the oil storage space in the reduction gear, and the amount of lubricating oil are 200 ml, 150 ml, and 120 ml, respectively. FIG. 4B is a schematic diagram of the joint portion shown in FIG. 3 when the volume of the oil storage space in the joint portion, the volume of the oil storage space in the reduction gear, and the amount of lubricating oil are 300 ml, 150 ml, and 120 ml, respectively.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  First, the structure of the mechanical system with a speed reducer breakage state notification function according to the present embodiment will be described.

  FIG. 1 is a block diagram of a mechanical system 10 with a speed reducer breakage state notification function according to the present embodiment.

  As shown in FIG. 1, a mechanical system 10 with a speed reducer breakage state notification function includes an industrial robot 20 as a machine of the present invention and a speed reducer breakage for notifying the state of breakage of the speed reducer of the industrial robot 20. A status notification device 100. The industrial robot 20 and the speed reducer damage state notification device 100 are connected to each other via a network 11 such as a LAN (Local Area Network).

  FIG. 2 is a side view of the industrial robot 20.

  As shown in FIG. 2, the industrial robot 20 connects the attachment part 21 attached to the installation part 90 such as the floor, the ceiling, the arms 22, 23, 24, 25 and 26, and the attachment part 21 and the arm 22. The joint 31, the joint 32 connecting the arms 22 and 23, the joint 33 connecting the arms 23 and 24, the joint 34 connecting the arms 24 and 25, and the arms 25 and 26 A joint portion 35 to be connected and a joint portion 36 to which the arm 26 and a hand (not shown) are connected are provided.

  FIG. 3 is a cross-sectional view of the joint portion 32. In the following, the joint portion 32 will be described, but the same applies to the joint portions 31, 33 to 36.

  As shown in FIG. 3, the joint portion 32 reduces friction generated in the speed reducer 40 connecting the arm 22 and the arm 23, the motor 50 fixed to the arm 22 by the bolt 51, and the movable portion of the speed reducer 40. And a lubricant deterioration sensor 60 for detecting deterioration of the lubricant oil 40a.

  In the joint portion 32, an oil storage space 30 in the joint portion as an oil storage space that is a space in which the lubricating oil 40 a can be stored is formed by the arms 22 and 23 and the speed reducer 40. Further, the speed reducer 40 is formed with a speed reducer internal oil storage space 30 a that is a part of the joint internal oil storage space 30.

  The speed reducer 40 includes a case 41 fixed to the arm 22 by a bolt 41a, a support 42 fixed to the arm 23 by a bolt 42a, a gear 43 fixed to the output shaft of the motor 50, and the center of the speed reducer 40. Three gears 44 arranged at regular intervals around the shaft and meshing with the gear 43; a crankshaft 45 arranged at three regular intervals around the central axis of the speed reducer 40 and fixed to the gear 44; Two external gears 46 that mesh with internal gears provided in the case 41 are provided.

  The support 42 is rotatably supported by the case 41 via a bearing 41b. A seal member 41c for preventing leakage of the lubricating oil 40a is provided between the case 41 and the support 42.

  The crankshaft 45 is rotatably supported by the support 42 via a bearing 42b, and is rotatably supported by the external gear 46 via a bearing 46a.

  The lubricant deterioration sensor 60 is fixed to the arm 23.

  FIG. 4 is a front view of the lubricant deterioration sensor 60. FIG. 5 is a front sectional view of the lubricant deterioration sensor 60 attached to the arm 23. FIG. 6A is a plan view of the lubricant deterioration sensor 60. FIG. 6B is a bottom view of the lubricant deterioration sensor 60.

  As shown in FIGS. 4 to 6, the lubricant deterioration sensor 60 is for oil which is a gap between the aluminum alloy casing 61 that supports each component of the lubricant deterioration sensor 60 and the lubricant 40 a. A gap forming member 62 in which a gap 62a is formed, a support member 63 that supports the gap forming member 62, an O-ring 64 that prevents leakage of the lubricating oil 40a from between the casing 61 and the arm 23, and a casing An O-ring 65 that prevents leakage of the lubricating oil 40 a from between 61 and the support member 63, an O-ring 66 disposed between the housing 61 and the support member 63, and an electronic component group 70 are provided.

  The housing 61 is a screw part 61a for being fixed to the screw hole 23a of the arm 23, and a tool for being grasped by a tool such as a spanner when the screw part 61a is rotated with respect to the screw hole 23a of the arm 23. And a contact portion 61b. The screw hole 23a of the arm 23 is used for supplying the lubricating oil 40a to the speed reducer 40 and discarding the lubricating oil 40a from the speed reducer 40 when the lubricating oil deterioration sensor 60 is removed. May be.

  The gap forming member 62 is constituted by two glass right-angle prisms 62b and 62c, and an oil gap 62a, which is a gap for the lubricating oil 40a to enter, is formed between the two right-angle prisms 62b and 62c. ing. The right-angle prisms 62b and 62c are fixed to the support member 63 with an adhesive.

  The support member 63 is fixed to the housing 61 with hexagon socket bolts 67. The support member 63 includes a holder 63a made of aluminum alloy, and a holder cap 63c made of aluminum alloy fixed to the holder 63a by a hexagon socket head cap screw 63b.

  The electronic component group 70 detects a color of the received light, a circuit board 71 fixed to the support member 63 by screws 68, a white LED 72 that is a light emitting element that emits white light and is mounted on the circuit board 71, and the like. An RGB sensor 73 which is a color light receiving element and mounted on the circuit board 71, a circuit board 74 disposed on the opposite side of the circuit board 71 from the white LED 72 and the RGB sensor 73 side, the circuit board 71 and the circuit board A plurality of pillars 75 for fixing 74, a lubricating oil temperature sensor for detecting the temperature of the lubricating oil 40a via the holder 63a, a temperature sensor 76 mounted on the circuit board 74, and the circuit board 74 A circuit board 77 disposed on the side opposite to the circuit board 71 side, a plurality of pillars 78 for fixing the circuit board 74 and the circuit board 77, and the circuit board 74 side And a connector 79 mounted on the circuit board 77 on the opposite side. A plurality of electronic components are mounted on the circuit board 71, the circuit board 74, and the circuit board 77. The circuit board 71, the circuit board 74, and the circuit board 77 are electrically connected to each other.

  The connector 79 is connected to a connector 80 of a device external to the lubricant deterioration sensor 60, and power is supplied from the external device via the connector 80, the detection result of the RGB sensor 73, and the detection of the temperature sensor 76. The result is output as an electrical signal to an external device via the connector 80.

  FIG. 7 is a diagram showing an optical path 72 a from the white LED 72 to the RGB sensor 73.

  As shown in FIG. 7, the oil gap 62 a of the gap forming member 62 is disposed on the optical path 72 a from the white LED 72 to the RGB sensor 73.

  The holder 63 a surrounds at least a part of the optical path 72 a from the white LED 72 to the RGB sensor 73. The holder 63a is subjected to a treatment for preventing reflection of light, for example, a matte black alumite treatment.

  The right-angle prisms 62b and 62c transmit the light emitted by the white LED 72. The entrance surface and the exit surface of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished.

  The optical path 72a is bent 90 degrees at the reflecting surface of the right-angle prism 62b, and is also bent 90 degrees at the reflecting surface of the right-angle prism 62c. That is, the optical path 72 a is bent 180 degrees by the gap forming member 62. The reflecting surfaces of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished and are provided with an aluminum vapor deposition film. And in order to protect the aluminum vapor deposition film with weak hardness and adhesion, SiO2 film is further given on the aluminum vapor deposition film.

  The distance between the exit surface of the right-angle prism 62b of the light emitted by the white LED 72 and the entrance surface of the right-angle prism 62c of the light emitted by the white LED 72, that is, the length of the oil gap 62a is, for example, 1 mm. If the oil gap 62a is too short, it is difficult for the contaminants in the lubricating oil 40a to properly flow through the oil gap 62a, so that the accuracy of detecting the color of the contaminants in the lubricant 40a is reduced. On the other hand, when the oil gap 62a is too long, the light emitted from the white LED 72 is too absorbed by the contaminants in the lubricating oil 40a in the oil gap 62a and hardly reaches the RGB sensor 73. The detection accuracy of the color of the contaminant in the oil 40a is lowered. Therefore, the length of the oil gap 62a is preferably set appropriately so that the color detection accuracy of the contaminant in the lubricating oil 40a is increased.

  The lubricant deterioration sensor 60 detects the color of the white light emitted by the white LED 72 by the RGB sensor 73 with respect to light having a wavelength that is not absorbed by the contaminant in the lubricant 40a in the oil gap 62a. Therefore, the color of the contaminant in the lubricating oil 40a of the speed reducer 40 can be detected immediately. The speed reducer breakage state notifying device 100 can immediately specify the type and amount of the contaminant in the lubricating oil 40a of the speed reducer 40 based on the color detected by the RGB sensor 73. That is, the lubricant deterioration sensor 60 can detect the degree of deterioration of the lubricant 40a by detecting the color of the contaminant in the lubricant 40a.

The degree of deterioration of the lubricating oil 40a can be determined by the color difference ΔE with respect to black, which is a predetermined color detected by the RGB sensor 73. The color difference ΔE of the color detected by the RGB sensor 73 with respect to black can be calculated by the following equation 1 using the R, G, and B values of the color detected by the RGB sensor 73. .

  In general, the accuracy of an arm trajectory and the like of an industrial robot is greatly affected by the performance of a reduction gear used in a joint. Therefore, it is important that the reducer for the industrial robot is appropriately replaced when the performance deteriorates. However, when the reducer for an industrial robot is replaced, the industrial robot equipped with the reducer and the production line where the industrial robot is installed must be stopped. Therefore, in order to grasp the replacement time of the reducer for the industrial robot, it is very important that the failure of the reducer for the industrial robot is appropriately predicted. Here, each of the lubricating oil deterioration sensors of the industrial robot 20 immediately notifies the type and amount of contaminants in the lubricating oil 40a of the speed reducer 40 based on the color detected by the RGB sensor 73 by the speed reducer breakage state notification device 100. Can be specified. Therefore, the mechanical system 10 with a speed reducer breakage state notification function can enable immediate prediction of a failure of a speed reducer for an industrial robot.

  The lubricating oil 40a has a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) for reducing friction on the friction surface, and performance to suppress seizure of the friction surface. Various additives such as an extreme pressure additive such as an SP-based additive for improving the extreme pressure and a dispersant such as Ca sulfonate for suppressing the generation and adhesion of sludge may be added. These additives are separated from the lubricating oil 40a as the lubricating oil 40a deteriorates, for example, by adhering to, bonding to, or sinking to the metal surfaces of the industrial robot 20 and the speed reducer. Each lubricant deterioration sensor detects not only the amount of iron powder in the lubricant 40a, but also the degree of deterioration of the base oil and the increase in contaminants such as sludge as the various additives added to the lubricant 40a decrease. Can be identified based on the detected color. Therefore, the mechanical system 10 with a speed reducer breakage state notification function can improve the accuracy of failure prediction as compared with a technique for predicting a speed reducer failure based only on the iron powder concentration.

  Here, a method for assembling the lubricant deterioration sensor 60 will be described.

  First, the right-angle prisms 62b and 62c and the white LED 72 are fixed to the holder 63a with an adhesive.

  Next, the circuit board 71 on which the RGB sensor 73 is mounted is fixed to the holder 63a with screws 68, and the white LED 72 is fixed to the circuit board 71 with solder. Further, various electronic components such as the temperature sensor 76 and the connector 79 are assembled, and the electronic component group 70 is supported by the holder 63a.

  Next, the holder cap 63c is fixed to the holder 63a with a hexagon socket bolt 63b.

  Finally, the holder 63 a is fixed to the casing 61 to which the O-ring 64, the O-ring 65, and the O-ring 66 are attached by using a hexagon socket bolt 67.

  A method for installing the lubricant deterioration sensor 60 on the arm 23 will be described.

  First, the tool contact portion 61 b of the housing 61 is gripped by a tool, and the screw portion 61 a of the housing 61 is screwed into the screw hole 23 a of the arm 23, whereby the lubricant deterioration sensor 60 is fixed to the arm 23.

  A connector 80 of a device outside the lubricant deterioration sensor 60 is connected to the connector 79.

  FIG. 8 is a block diagram of the reduction gear breakage state notification device 100.

  A reduction gear breakage state notification device 100 shown in FIG. 8 is a PC (Personal Computer). The reduction gear breakage state notification device 100 is an operation unit 101 that is an input device such as a mouse and a keyboard for inputting various operations by a user, and a display device such as an LCD (Liquid Crystal Display) that displays various information. It is a storage device such as a display unit 102, a network communication unit 103 that is a network communication device that performs communication via the network 11 (see FIG. 1), and an HDD (Hard Disk Drive) that stores various data. A storage unit 104 and a control unit 105 that controls the speed reducer breakage state notification device 100 as a whole are provided.

  The storage unit 104 stores a speed reducer breakage state notification program 104 a for notifying the state of breakage of the speed reducer of the industrial robot 20.

  The reducer breakage state notification program 104a may be installed in the reducer breakage state notifying device 100 at the manufacturing stage of the reducer breakage state notifying device 100, or a USB (Universal Serial Bus) memory, a CD (Compact Disc), It may be additionally installed in the reduction gear breakage state notification device 100 from a storage medium such as a DVD (Digital Versatile Disc), or may be additionally installed in the reduction gear breakage state notification device 100 from the network 11.

  The storage unit 104 stores a model volume correspondence table 104b which is a table indicating the volume of the reducer oil storage space 30a corresponding to the model of the reducer. That is, the memory | storage part 104 comprises the model volume corresponding | compatible memory | storage part of this invention.

  FIG. 9 is a diagram showing an example of the model volume correspondence table 104b.

  As shown in FIG. 9, in the model volume correspondence table 104b, the volume of the oil storage space 30a in the reducer is associated with each reducer type. According to the model volume correspondence table 104b shown in FIG. 9, for example, the volume of the reducer internal oil storage space 30a of the reducer whose model is “RV-XX2” is 100 ml.

  As shown in FIG. 8, the storage unit 104 stores a plurality of threshold setting tables 104 c that are tables for setting thresholds for notification of the state of damage to the speed reducer 40. The plurality of threshold setting tables 104c stored in the storage unit 104 have different types of reduction gears and corresponding volumes of the oil storage spaces in the joints, and are assigned IDs. .

  FIG. 10 is a diagram illustrating an example of the threshold setting table 104c. In the threshold setting table 104c shown in FIG. 10, there are a large number of blanks, but actual threshold values are actually entered.

  As shown in FIG. 10, in the threshold setting table 104c, threshold values corresponding to the temperature of the lubricating oil 40a and the oil filling ratio that is the amount of the lubricating oil 40a with respect to the volume of the reducer oil storage space 30a are shown. Yes. In the threshold setting table 104c shown in FIG. 10, two stages of numerical values are described in the threshold value column. The upper numerical value is an inspection / repair threshold that is a threshold for encouraging the user to perform inspection or repair because the reduction gear is very likely to be damaged. The lower numerical value is a warning threshold value that is a threshold value for warning that the reduction gear may be damaged. According to the threshold setting table 104c shown in FIG. 10, for example, when the temperature of the lubricating oil is 40 ° C. or higher and lower than 50 ° C. and the oil filling ratio is 80% or higher and lower than 90%, the threshold for inspection / repair, warning The threshold values are 285 and 335, respectively. In addition, the case where the temperature of the lubricating oil 40a is less than −10 ° C. and the case where the temperature of the lubricating oil 40a is 80 ° C. or more are outside the range of the specification of the lubricating oil deterioration sensor according to the present embodiment. This is not defined in the threshold setting table 104c shown in FIG. Further, when the oil filling ratio is less than 30%, it is outside the range of the specification of the reduction gear according to the present embodiment, and thus is not defined in the threshold setting table 104c shown in FIG.

  As shown in FIG. 8, the storage unit 104 stores a table selection table 104d that is a table for selecting an appropriate threshold setting table from a plurality of threshold setting tables 104c.

  FIG. 11 is a diagram illustrating an example of the table selection table 104d.

  As shown in FIG. 11, in the table selection table 104d, the ID of the threshold setting table 104c corresponding to the type of the reduction gear and the volume of the oil storage space in the joint is shown. According to the table selection table 104d shown in FIG. 11, for example, when the speed reducer model is “RV-XX2” and the volume of the joint internal oil storage space 30 is 100 ml or more and less than 150 ml, a plurality of threshold setting values are used. The threshold setting table whose ID is “Table 3” is selected from the table 104c.

  8 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs and various data in advance, and a RAM (Random Access Memory) used as a work area of the CPU. ). The CPU is configured to execute a program stored in the ROM or the storage unit 104.

  The control unit 105 executes the speed reducer breakage state notification program 104a stored in the storage unit 104, thereby causing a breakage state notifying unit 105a serving as a breakage state notifying unit for notifying the breakage state of the speed reducer 40. A threshold setting unit 105b as a threshold setting unit for setting a threshold for notification by the notification unit 105a, a lubricating oil temperature receiving unit 105c as a lubricating oil temperature receiving unit that receives an input of the temperature of the lubricating oil 40a, and an oil storage space in the joint unit An oil storage space receiving unit 105d serving as an oil storage space receiving unit that receives an input of a volume of 30 and an oil sealing that receives an input of an oil filling ratio that is an amount of the lubricating oil 40a with respect to the volume of the oil storage space 30a of the reducer It functions as an oil filling ratio receiving unit 105e as a ratio receiving means. The oil filling ratio receiving unit 105e is a speed reducer type receiving unit 105f as a speed reducer type receiving unit that receives an input of the type of the speed reducer 40, and a lubricating oil as a lubricating oil amount receiving unit that receives an input of the amount of the lubricating oil 40a. A quantity receiving unit 105g.

  Next, an example of a method for creating the threshold setting table 104c will be described.

  The experimental device created with a configuration equivalent to the configuration of the joint portion 32 has a maximum output rotational speed of 15 rpm, a maximum load torque of 2.5 times the rated torque of the reducer 40, and a load moment reduced. Under the condition that the moment is the rated moment of the machine 40, an experiment is conducted in which the support 42 is rotated 45 ° in the forward direction with respect to the case 41, and then the reciprocating rotational motion of 45 ° in the reverse direction is continued. In this experiment, the lubricating oil 40a is a new oil that is less degraded. Then, the time change of the color difference ΔE for the black color detected by the RGB sensor 73 of the lubricant deterioration sensor 60 is examined.

  FIG. 12A is a graph showing an example of an experimental result of a change in color difference ΔE over time when the temperature of the lubricating oil 40a is 40 ° C. and the oil filling ratio is 80%. FIG. 12B is a graph showing an example of an experimental result of a change in color difference ΔE over time when the temperature of the lubricating oil 40a is 60 ° C. and the oil filling ratio is 80%. FIG. 12C is a graph showing an example of the experimental result of the time change of the color difference ΔE when the temperature of the lubricating oil 40a is 60 ° C. and the oil filling ratio is 110%.

  In FIG. 12, the rated conversion time is the time that the experimental device is actually driven based on the output rotation speed and load torque of the speed reducer 40 when the experimental device is actually driven. The output rotational speed is 15 rpm, and the load torque is converted into the time when it is the rated torque of the speed reducer 40. The lifetime of the speed reducer 40 is defined to be 6000 hours when the speed reducer 40 is continuously driven under the condition that the output rotational speed is 15 rpm and the load torque is the rated torque of the speed reducer 40. Yes.

  As shown in FIGS. 12A and 12B, even when the oil filling ratio is the same, when the temperature of the lubricating oil 40a is different, when the rated conversion time reaches 6000 hours, which is the life time, Color difference ΔE (hereinafter referred to as “color difference at the rated life”) is different. Further, as shown in FIGS. 12B and 12C, even when the temperature of the lubricating oil 40a is the same, the color difference at the rated life is different when the oil filling ratio is different. Therefore, it is preferable that the threshold for notifying the state of damage to the speed reducer 40 is determined in association with the temperature of the lubricating oil 40a and the oil filling ratio.

  When a plurality of experiments are performed, even when the temperature of the lubricating oil 40a and the oil filling ratio in each experiment are the same, the color difference at the rated life varies. Therefore, among the color differences at the rated life in a plurality of experiments, the minimum value is set as a threshold for inspection and repair, and the maximum value is set as a warning threshold.

  For example, in the threshold setting table 104c shown in FIG. 10, 285, which is a threshold for inspection and repair when the temperature of the lubricating oil is 40 ° C. or more and less than 50 ° C. and the oil filling ratio is 80% or more and less than 90%, As a result of a plurality of experiments conducted under the condition that the temperature of the lubricating oil is 40 ° C. and the oil filling ratio is 80%, the numerical value is the minimum value among the color differences at the rated life in the plurality of experiments. Similarly, in the threshold setting table 104c shown in FIG. 10, the warning threshold value 335 when the temperature of the lubricating oil is 40 ° C. or more and less than 50 ° C. and the oil filling ratio is 80% or more and less than 90%, As a result of a plurality of experiments conducted under the condition that the temperature of the lubricating oil is 40 ° C. and the oil filling ratio is 80%, the value is the maximum value among the color differences at the rated life in the plurality of experiments.

  The threshold setting table 104c is created as described above. In addition, a plurality of threshold setting tables 104c are created by performing an experiment under conditions where the type of the reduction gear and the volume of the oil storage space in the joint portion are different.

  Next, operation | movement of the mechanical system 10 with a reduction gear breakage state notification function is demonstrated.

  First, the operation of the industrial robot 20 will be described.

  In the following, the joint portion 32 will be described, but the same applies to the joint portions 31, 33 to 36.

  When the output shaft of the motor 50 of the joint portion 32 rotates, the rotational force of the motor 50 is decelerated by the speed reducer 40, and the support body of the speed reducer 40 against the arm 22 fixed to the case 41 of the speed reducer 40. The arm 23 fixed to 42 is moved.

  The lubricant deterioration sensor 60 of the joint portion 32 emits white light from the white LED 72 by electric power supplied from an external device via the connector 79. Then, the lubricant deterioration sensor 60 outputs the RGB light amounts received by the RGB sensor 73 to an external device via the connector 79 as electrical signals. The lubricant deterioration sensor 60 also outputs the temperature detected by the temperature sensor 76 to an external device through the connector 79 as an electrical signal.

  Next, the operation of the reduction gear breakage state notification device 100 will be described.

  In the following, the lubricant deterioration sensor 60 of the joint portion 32 will be described, but the same applies to the lubricant deterioration sensor of the joint portions 31, 33 to 36.

  FIG. 13 is a flowchart of the operation of the reduction gear breakage state notification device 100. FIG. 14 is a flowchart of the operation subsequent to the operation shown in FIG.

  As shown in FIGS. 13 and 14, the control unit 105 of the speed reducer breakage state notifying device 100 displays the information input screen shown in FIG. 15 which is a screen for inputting various information on the display unit 102 (S201). ).

  FIG. 15 is a diagram illustrating an example of an information input screen displayed on the display unit 102.

  The information input screen shown in FIG. 15 is enclosed in the text box 111 for inputting the model of the speed reducer 40, the text box 112 for inputting the volume of the joint internal oil storage space 30, and the joint internal oil storage space 30. A text box 113 for inputting the amount of the lubricating oil 40a and a setting button 114 which is a button for setting information input in the text boxes 111 to 113 are included. The user can input appropriate information into the text boxes 111 to 113 via the operation unit 101 and press the setting button 114.

  As shown in FIGS. 13 and 14, the control unit 105 determines whether or not the setting button 114 has been pressed until it is determined that the setting button 114 has been pressed (S202).

  When the speed reducer type receiving unit 105f of the control unit 105 determines in S202 that the setting button 114 has been pressed, it determines whether or not the type of the speed reducer 40 input to the text box 111 is normal (S203). . Here, the reduction gear model receiving unit 105f is input to the text box 111 only when the type of the reduction gear 40 included in the type volume correspondence table 104b on the storage unit 104 is input to the text box 111. It is determined that the type of the speed reducer 40 is normal.

  If it is determined in S203 that the type of the speed reducer 40 input to the text box 111 is normal, the speed reducer type reception unit 105f stores the type of the speed reducer 40 input to the text box 111 (S204). . That is, the speed reducer type receiving unit 105f receives an input of the type of the speed reducer 40.

  Next, the joint internal oil storage space receiving unit 105d of the control unit 105 determines whether or not the volume of the joint internal oil storage space 30 input to the text box 112 is normal (S205). Here, the joint internal oil storage space receiving unit 105d is equal to or larger than the capacity of the reducer internal oil storage space 30a associated with the model of the reduction gear 40 stored in S204 in the model volume correspondence table 104b on the storage unit 104. It is determined that the volume of the joint internal oil storage space 30 that is input in the text box 112 is normal only when the volume is input in the text box 112.

  When the joint oil storage space receiving unit 105d determines in S205 that the volume of the joint oil storage space 30 input to the text box 112 is normal, the joint oil storage space 30 input to the text box 112 is determined. Is stored (S206). That is, the joint internal oil storage space receiving unit 105 d receives the input of the volume of the joint internal oil storage space 30.

  Next, the lubricating oil amount receiving unit 105g of the control unit 105 determines whether or not the amount of lubricating oil 40a input to the text box 113 is normal (S207). Here, the lubricating oil amount receiving unit 105g corresponds to the volume of the reduction gear internal oil storage space 30a associated with the type of the reduction gear 40 stored in S204 in the type volume correspondence table 104b on the storage unit 104. The amount of the lubricating oil 40a input to the text box 113 is 30% or more, and the amount of the lubricating oil 40a input to the text box 113 is less than the volume of the joint internal oil storage space 30 stored in S206. Only when it is determined that the amount of the lubricating oil 40a input in the text box 113 is normal.

  When determining that the amount of the lubricating oil 40a input to the text box 113 is normal in S207, the lubricating oil amount receiving unit 105g stores the amount of the lubricating oil 40a input to the text box 113 (S208). . That is, the lubricating oil amount receiving unit 105g receives an input of the amount of the lubricating oil 40a.

  Next, the oil filling ratio receiving unit 105e of the control unit 105 sets the volume of the reduction gear internal oil storage space 30a associated with the type of the reduction gear 40 stored in S204 in the type volume correspondence table 104b on the storage unit 104. And the oil filling ratio is calculated based on the amount of the lubricating oil 40a stored in S208, and this oil filling ratio is stored (S209). That is, the oil filling ratio receiving unit 105e receives an input of the oil filling ratio.

  In S203, the control unit 105 determines that the type of the speed reducer 40 input to the text box 111 is not normal, or the volume of the joint internal oil storage space 30 input to the text box 112 is not normal. If it is determined in S205 or if it is determined in S207 that the amount of the lubricating oil 40a input to the text box 113 is not normal, an error screen is displayed on the display unit 102 (S210), and the process returns to S201 again.

  When executing the process of S209, the control unit 105 performs the table selection table 104d on the storage unit 104 with respect to the model of the speed reducer 40 stored in S204 and the volume of the joint internal oil storage space 30 stored in S206. ID of the threshold setting table 104c associated with the ID is acquired, and the threshold setting table 104c to which the acquired ID is attached is determined as a threshold setting table used in the subsequent processing (S221).

  Next, the lubricant temperature receiving unit 105c of the control unit 105 acquires the detection result of the temperature sensor 76 of the lubricant deterioration sensor 60 via the network communication unit 103 (S222). That is, the lubricating oil temperature receiving unit 105c receives an input of the temperature of the lubricating oil 40a.

  Next, the control unit 105 calculates the average value of the temperature of the lubricating oil 40a acquired in multiple times S222 in a predetermined period such as 10 minutes (S223). That is, the control unit 105 is based not only on the temperature of the lubricating oil 40a acquired in the immediately preceding S222 but also on the temperature of the lubricating oil 40a acquired in the most recent S222 executed before the immediately preceding S222. The average value of the temperature of the lubricating oil 40a is calculated.

  Next, the breakage state notifying unit 105a of the control unit 105 determines whether or not the amount of increase in the average temperature of the lubricating oil 40a calculated in S223 is equal to or higher than a predetermined value such as 20 ° C. or higher (S224). .

  When the damage state notification unit 105a determines in S224 that the increase amount of the average value of the temperature of the lubricating oil 40a calculated in S223 is equal to or greater than a predetermined value, the speed reducer 40 performs the following operation as illustrated in FIG. A notification that warns that there is a high possibility of being damaged is displayed on the display unit 102 as a notification of the damaged state of the speed reducer 40 (S225), and the process returns to S222 again.

  On the other hand, when the threshold value setting unit 105b of the control unit 105 determines in S224 that the increase amount of the average temperature of the lubricating oil 40a calculated in S223 is less than a predetermined value, the oil filling ratio stored in S209 is stored. And the threshold value for warning and inspection / repair used in the threshold setting table 104c determined in S221 with respect to the average temperature of the lubricating oil 40a calculated in S223 are used in the subsequent processing. Is set as a threshold value (S226).

  Next, the damage state notification unit 105a acquires the detection result of the RGB sensor 73 of the lubricant deterioration sensor 60, that is, the color of the lubricant 40a via the network communication unit 103, and the color difference ΔE of the acquired color with respect to black is described above. The calculation is performed using the formula shown in Equation 1 (S227).

  Next, the damage state notification unit 105a determines whether or not the color difference ΔE acquired in S227 is equal to or less than the warning threshold set in S226 (S228).

  If the damaged state notification unit 105a determines in S228 that the color difference ΔE acquired in S227 is not less than or equal to the warning threshold set in S226, the process returns to S222 again.

  On the other hand, when the damaged state notifying unit 105a determines in S228 that the color difference ΔE acquired in S227 is equal to or smaller than the warning threshold set in S226, the color difference ΔE acquired in S227 is equal to or smaller than the inspection repair threshold set in S226. Whether or not (S229).

  If the damage state notifying unit 105a determines in S229 that the color difference ΔE acquired in S227 is not less than or equal to the inspection / repair threshold set in S226, the speed reducer 40 may be damaged as shown in FIG. A notification for warning that there is a possibility is displayed on the display unit 102 as a notification of the state of damage to the speed reducer 40 (S230). That is, when the color difference ΔE between the color detected by the RGB sensor 73 and the black color reaches the warning threshold value, the damage state notification unit 105a notifies the damage state of the reduction gear 40 corresponding to the warning threshold value. After the process of S230, the control unit 105 returns to the process of S222 again.

  On the other hand, if the damage state notifying unit 105a determines in S229 that the color difference ΔE acquired in S227 is equal to or smaller than the inspection / repair threshold set in S226, the user is notified of the reduction gear 40 as shown in FIG. A notification for encouraging inspection or repair is displayed on the display unit 102 as a notification of the state of damage to the speed reducer 40 (S231). That is, when the color difference ΔE between the color detected by the RGB sensor 73 and the black color reaches the inspection / repair threshold, the breakage state notification unit 105a notifies the state of damage to the speed reducer 40 corresponding to the inspection / repair threshold. To do. The control unit 105 returns to the process of S222 again after the process of S231.

  As described above, the speed reducer breakage state notification device 100 sets the warning threshold and the inspection / repair threshold according to the temperature (S222) of the lubricating oil 40a and the oil filling ratio (S209) (S226). Even when the temperature of the lubricating oil 40a and the oil filling ratio are different as the use conditions of the speed reducer 40, the state of breakage of the speed reducer 40 can be notified with high accuracy. Even if the reduction gear breakage state notification device 100 is configured not to set the warning threshold and the inspection / repair threshold according to either the temperature of the lubricating oil 40a or the oil filling ratio. Although the accuracy is reduced as compared with the configuration in which the warning threshold value and the inspection / repair threshold value are set according to the temperature of the lubricating oil 40a and the oil filling ratio, it is possible to accurately notify the state of damage to the speed reducer 40.

  The reduction gear breakage state notification device 100 sets a warning threshold value and an inspection / repair threshold value according to the actual temperature (S222) of the lubricating oil 40a detected by the temperature sensor 76 (S226). This state can be notified with high accuracy according to the actual temperature of the lubricating oil 40a. Note that the speed reducer breakage state notifying device 100 sets the warning threshold and the inspection / repair threshold according to the temperature of the lubricating oil 40a other than the temperature of the lubricating oil 40a detected by the temperature sensor 76. good. For example, the speed reducer breakage state notification device 100 may set a warning threshold and an inspection / repair threshold according to the temperature of the lubricating oil 40 a input from the user via the operation unit 101.

  The reduction gear breakage state notifying device 100 sets the warning threshold value and the inspection / repair threshold value according to the average value (S222 and S223) of the actual temperature of the lubricating oil 40a during a predetermined period (S226). It is possible to prevent erroneous notification of the state of damage to the speed reducer 40 when the temperature of the engine suddenly changes temporarily. Note that the speed reducer breakage state notifying device 100 is not the average value of the actual temperature of the lubricating oil 40a in a predetermined period as the temperature of the lubricating oil 40a used in S226, but the actual value of the lubricating oil 40a acquired in the immediately preceding S222. Only the temperature of may be adopted.

  When the reduction gear 40 is actually approaching breakage, such as immediately after the replacement of the lubrication oil 40a with a new one, or even when it is already damaged, the deterioration of the lubrication oil 40a occurs immediately. It may be difficult. If the lubricating oil 40a has not deteriorated, the color difference ΔE between the color detected by the RGB sensor 73 and black does not reach the warning threshold value and the inspection / repair threshold value. However, when the speed reducer 40 is actually approaching breakage or has already been broken, the speed reducer 40 generates heat violently, so that the temperature of the lubricating oil 40a rapidly increases. The reduction gear breakage state notification device 100 breaks down the reduction gear 40 when the amount of increase in the average value (S222 and S223) of the actual temperature of the lubricating oil 40a during a predetermined period is equal to or greater than a predetermined value (YES in S224). (S225), the color difference ΔE between the color detected by the RGB sensor 73 and the black color when the speed reducer 40 is actually approaching or has already been damaged is used for warning. Even when the threshold value and the threshold value for inspection / repair are not reached, the state of breakage of the speed reducer 40 can be notified appropriately. The speed reducer breakage state notifying device 100 may be configured to execute the process of S226 immediately after the process of S223 without executing the processes of S224 and S225.

  The temperature sensor 76 detects the temperature of the lubricating oil 40a through the holder 63a, but directly detects the temperature of the lubricating oil 40a without using another member such as the holder 63a. Also good.

  In the mechanical system 10 with the speed reducer breakage state notification function, since the temperature sensor 76 is built in the lubricant deterioration sensor 60, compared with the configuration in which the temperature sensor 76 is provided separately from the lubricant deterioration sensor 60, Can be easily constructed. In the mechanical system 10 with the speed reducer breakage state notification function, the temperature sensor 76 may be provided separately from the lubricant deterioration sensor 60.

  The relationship between the state of damage to the speed reducer 40 and the state of deterioration of the lubricating oil 40a varies depending not only on the oil filling ratio but also on the rated torque of the speed reducer 40. The rated torque of the speed reducer 40 is determined according to the model of the speed reducer 40. The threshold setting unit 105b sets a warning threshold and an inspection / repair threshold that further correspond to the type of the reduction gear 40 whose input is received by the reduction gear type reception unit 105f (S221). Even if they are different, it is possible to accurately notify the state of damage to the speed reducer 40. Further, the oil filling ratio receiving unit 105e has a capacity of the reducer oil storage space 30a stored in the storage unit 104 corresponding to the model (S204) of the reducer 40 whose input is received by the reducer type receiving unit 105f. And by receiving the input of the oil filling ratio indirectly by calculating the oil filling ratio based on the amount (S208) of the lubricating oil 40a received by the lubricating oil amount receiving unit 105g (S208). it can. Therefore, the speed reducer breakage state notifying device 100 simply sets the warning threshold value and the inspection / repair threshold value to the oil filling ratio and the speed reducer 40 type only by inputting the amount of the lubricating oil 40a and the speed reducer 40 type. It can be set accordingly.

  When the volume of the reducer oil storage space 30a is directly input from the operation unit 101, the oil filling ratio reception unit 105e has a capacity of the reducer oil storage space 30a that is directly input, The oil filling ratio may be indirectly received by calculating the oil filling ratio based on the amount of the lubricating oil 40a received by the lubricating oil amount receiving unit 105g. The oil filling ratio receiving unit 105e may be configured such that the oil filling ratio itself is directly input from the operation unit 101.

  Further, the reduction gear breakage state notification device 100 may be configured not to set the warning threshold value and the inspection / repair threshold value according to the type of the reduction gear 40.

  FIG. 17A is a schematic diagram of the joint portion 32 when the volume of the joint portion oil storage space 30, the volume of the reducer oil storage space 30a, and the amount of the lubricating oil 40a are 200 ml, 150 ml, and 120 ml, respectively. FIG. 17B is a schematic diagram of the joint portion 32 when the volume of the oil storage space 30 in the joint portion, the volume of the oil storage space 30a of the reduction gear, and the amount of the lubricating oil 40a are 300 ml, 150 ml, and 120 ml, respectively.

  The oil filling ratio of the joint portion 32 shown in FIG. 17 (a) and the oil filling ratio of the joint portion 32 shown in FIG. 17 (b) are 120 ml, which is the amount of the lubricating oil 40a, and the oil storage space 30a in the reducer. It is a ratio with the volume of 150 ml, and both are 80%. However, the joint portion 32 shown in FIG. 17 (a) and the joint portion 32 shown in FIG. 17 (b) have the same oil filling ratio, but there is a difference in the volume of the oil storage space 30 in the joint portion. There is a difference in the amount of lubricating oil 40a actually present in the speed reducer 40. Therefore, the joint portion 32 shown in FIG. 17 (a) and the joint portion 32 shown in FIG. 17 (b) have a difference in the relationship between the state of damage to the speed reducer 40 and the state of deterioration of the lubricating oil 40a. . However, the speed reducer breakage state notifying device 100 sets the warning threshold and the inspection / repair threshold according to the volume of the joint internal oil storage space 30 (S221). Even if the volumes of 30 are different, it is possible to accurately notify the state of damage to the speed reducer 40. Note that the speed reducer breakage state notifying device 100 may be configured not to set the warning threshold and the inspection / repair threshold according to the volume of the joint internal oil storage space 30.

  The reduction gear breakage state notifying device 100 has two stages corresponding to the possibility of breakage of the speed reducer 40, that is, a warning threshold value and a threshold value for inspection and repair, as threshold values for notifying the damage state of the speed reducer 40. Therefore, the state of damage to the speed reducer 40 can be notified in two stages as the possibility of damage to the speed reducer 40 (S230, S231). When the state of damage to the speed reducer 40 is notified in multiple stages as the possibility of damage to the speed reducer 40, the user is suddenly notified that, for example, the possibility that the speed reducer 40 is damaged is very high. Compared to the configuration, it is possible to determine the necessity of replacing the reduction gear 40 with a margin. The reduction gear breakage state notification device 100 may have only one threshold value for notifying the damage state of the speed reducer 40, or as a threshold value for notifying the damage state of the speed reducer 40. The threshold value may include three or more steps corresponding to the possibility of the speed reducer 40 being damaged.

  The speed reducer breakage state notification device 100 is configured to perform notification by display in the present embodiment. However, in addition to display or instead of display, notification by a method other than display, such as audio output, is used. You may come to perform.

  The speed reducer breakage state notification device of the present invention is a PC that executes the speed reducer breakage state notification program in the present embodiment, but may be realized by other configurations. For example, the speed reducer breakage state notification device of the present invention may be realized by a control panel that controls the operation of the industrial robot 20 or may be realized by a computer that manages the operations of the plurality of industrial robots 20. .

  The machine of the present invention is an industrial robot in the present embodiment, but may be a machine other than an industrial robot.

10 Mechanical system with speed reducer damage status notification function 20 Industrial robot (machine)
30 Oil storage space in the joint (oil storage space)
30a Oil storage space in the reduction gear 40 Reduction gear 40a Lubricating oil 60 Lubricating oil deterioration sensor 62 Gap forming member 62a Oil gap 72 White LED (light emitting element)
72a Light path 73 RGB sensor (color light receiving element)
76 Temperature sensor (lubricating oil temperature sensor)
100 Reducer Damaged State Notification Device 104 Storage Unit (Model Volume Corresponding Storage Unit)
104a Reduction gear breakage state notification program 105a Breakage state notification unit (damage state notification means)
105b Threshold setting unit (threshold setting means)
105c Lubricating oil temperature receiving unit (lubricating oil temperature receiving means)
105d Oil storage space reception part in joint part (oil storage space reception means)
105e Oil filling ratio receiving section (oil filling ratio receiving means)
105f Reducer model receiving unit (Reducer model receiving means)
105g Lubricating oil amount receiving section (lubricating oil amount receiving means)

Claims (4)

A speed reducer breakage state notifying device for notifying a state of breakage of the speed reducer of a machine comprising a speed reducer and a lubricant deterioration sensor for detecting deterioration of lubricating oil of the speed reducer,
The lubricant deterioration sensor includes: a light emitting element that emits light; a color light receiving element that detects a color of the received light; and a light from the light emitting element to the color light receiving element that is a gap through which the lubricant enters. An oil gap disposed on the road is formed and includes a gap forming member that transmits light;
The speed reducer breakage state notifying device includes a breakage state notifying means for notifying a breakage state of the speed reducer, a threshold setting means for setting a threshold for notification by the breakage state notifying means, and a temperature of the lubricating oil. Lubricating oil temperature receiving means for receiving input,
When the color difference between the color detected by the color light receiving element and a predetermined color reaches the threshold value set by the threshold value setting unit, the damage state notification unit is damaged in the speed reducer corresponding to the threshold value. The status of
The speed reducer breakage state notification device, wherein the threshold value setting means sets the threshold value according to the temperature of the lubricating oil received by the lubricating oil temperature receiving means. The threshold includes a plurality of stages corresponding to the possibility of damage to the speed reducer,
The threshold value of at least one stage among the threshold values of the plurality of stages and the threshold value of at least one other stage among the threshold values of the plurality of stages are different from each other in a change pattern with respect to a change in temperature of the lubricant. The speed reducer breakage state notification device according to claim 1.   A reduction gear comprising: the speed reducer breakage state notifying device according to claim 1; and the machine that is notified of a breakage state of the speed reducer by the speed reducer breakage state notifying device. Machine system with machine damage status notification function.   A speed reducer breakage state notification program that causes a computer to function as the speed reducer breakage state notification device according to claim 1.

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