JP2019101893A - Drive control device, drive device, and assist control device - Google Patents

Abstract

To provide a drive control device capable of detecting an abnormality of a drive device due to deterioration or the like of a lubricant.SOLUTION: A manipulator device 200 comprises: a drive unit 109 for driving an arm 101; and a mechanism unit 110 connected between the arm 101 and the drive unit 109, and having a viscosity change including grease G. The control device 210 includes: a drive information detection unit 236 for detecting drive information of the mechanism unit 110 by the drive unit 109; and a storage unit 215 for recording a rotational speed ω detected by the drive information detection unit 236 and a rotational speed threshold during a certain constant current control. Then, if the difference between the rotational speed value recorded by the storage unit 215 and the current rotational speed value detected by the drive information detection unit 236 during the certain current control after driving for a prescribed time is larger than the rotational speed threshold, an abnormality is detected.SELECTED DRAWING: Figure 18

Description

  The present invention relates to a drive control device, a drive device, and an assist control device.

Conventionally, drive control is performed to control a drive unit including a drive unit that drives a drive target and a mechanism unit connected between the drive target and the drive unit and having a viscosity change including a lubricant such as grease. The device is known.
Further, as a drive control device as described above, one that detects an abnormality (state) of the drive device due to deterioration with time or the like of an element included in the drive unit or the mechanical unit is also known.

For example, Patent Document 1 includes a rotating machine having a permanent magnet in a driving unit, and a torque applying processing unit for applying a load torque to the rotating machine, and deterioration of the permanent magnet in the driving unit as follows. DESCRIPTION OF RELATED ART The drive control apparatus which detects the abnormality of the drive device by etc. (judges the presence or absence of demagnetization) is described.
Under the condition that load torque is applied to the rotating machine, the difference between the actual value and the reference value according to the load torque for the manipulated variable required to feedback control the rotational speed of the rotating machine to its target value Based on the above, it is determined whether or not the magnetic flux of the permanent magnet has decreased.

  However, in the conventional drive control device, there is a problem that it is not possible to detect an abnormality of the drive device due to deterioration of the lubricant and the like.

  In order to solve the problems described above, the invention according to claim 1 is a drive unit for driving an object to be driven, viscosity change including a lubricant, connected between the drive object and the drive unit. A drive control device for controlling a drive device comprising: a drive information detection unit detecting drive information of the mechanism unit by the drive unit; and the drive information detection unit at the time of constant current control And recording means for storing a rotational speed threshold value, and the rotational speed value recorded by the rotational speed recording means, and after driving the driven object for a predetermined time An abnormality is detected when the difference between the current rotation speed value detected by the drive information detection unit and the current speed control is larger than the rotation speed threshold.

  According to the present invention, it is possible to provide a drive control device capable of detecting an abnormality in a drive device due to deterioration of a lubricant and the like.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic block diagram of an example of the manipulator apparatus provided with the drive control apparatus which concerns on one Embodiment. Explanatory drawing which showed typically the connection state of the motor, the reduction gear, and arm which were provided in the manipulator apparatus. FIG. 2 is a block diagram showing the detailed configuration of the manipulator device shown in FIG. 1 including peripheral devices. Schematic which showed the external appearance structure of the input part with which a manipulator apparatus is equipped. Explanatory drawing which illustrated the circuit structure at the time of making a disturbance estimation part into a disturbance torque estimation part. The block diagram which showed the structural example of the torque control circuit in the case of performing torque control using the disturbance torque estimated value obtained by the disturbance torque estimation part shown in FIG.5 (b). The schematic diagram of the image which performs assist control using the torque control circuit shown in FIG. FIG. 7 is a flowchart relating to control in the case where assist control is performed using the torque control circuit shown in FIG. 6. The control block diagram of disturbance torque estimation based on FIG.5 (b). FIG. 10 is a characteristic diagram showing the relationship between the coefficient of friction and the frictional force with respect to the rotational speed when the disturbance torque estimation unit shown in FIG. 9 is applied. FIG. 10 is a diagram showing characteristic parameters in the case of correcting the viscous friction coefficient by changing the rotational speed corresponding to the drive time to the motor when the disturbance torque estimation unit shown in FIG. 9 is applied, in comparison with the rotational amount. The figure at the time of approximating the graph which changes rapidly like FIG. 11 by a linear function. The figure which showed the change of the viscous friction coefficient at the time of changing a rotational speed in the middle of a drive. FIG. 13A is a graph in the case where the rotational speed is changed before the value of the viscous friction coefficient approaches C1 and a sufficient time has elapsed since the start of driving at the rotational speed ω1. FIG. 7 is a flow chart relating to operation processing of viscous friction coefficient correction control based on a drive time after drive of a drive / detection unit and a motor of a drive unit to a reduction gear by a drive control unit. FIG. 7 is a flow chart relating to operation processing of viscous friction coefficient correction control based on the amount of rotation after driving of the drive / detection unit and the mechanical unit by the drive unit to the reduction gear by the drive control unit. The table which showed a plurality of threshold values used when detecting change of a coefficient of viscous friction, and coping operation corresponding to each. The flow figure concerning the method which detects and copes with the change of rotation speed that the presumed accuracy of the viscous friction coefficient fell. The flowchart concerning the method which detects and copes with the change of electric current that the presumed precision of the viscous friction coefficient fell.

Hereinafter, an embodiment of a drive control apparatus to which the present invention is applied and an embodiment of a manipulator apparatus 200 as a drive apparatus controlled by an assist control apparatus will be described in detail with reference to the drawings.
FIG. 1 is a schematic configuration diagram of an example of a manipulator device 200 provided with a drive control device according to the present embodiment. FIG. 1 (a) is a block diagram relating to the connection configuration between the main body of the manipulator device 200 equipped with the drive control device, the manipulator to be driven, and peripheral devices, and FIG. 1 (b) shows the appearance of the manipulator device 200 from the side direction. FIG.

The manipulator apparatus 200 shown in FIGS. 1A and 1B is a manipulator drive apparatus that drives a manipulator having one degree of freedom.
The manipulator device 200 is a joint pivotally supported between a base portion 102 fixed and fixed to a base 108 made of a base plate at the base of the other end of the arm 101 whose one end has a hand role.
Further, it is coupled to a reduction gear 106 which is a mechanism unit 110 as a driven object manipulator having one degree of freedom capable of rotating the arm 101 with the axis of the joint portion as a drive center 103. Further, the drive control device provided in the main body of the manipulator device 200 is configured to control the drive of the motor 105 of the drive unit 109 connected to the mechanical unit 110 (the reduction gear 106).

The drive center 103 of the arm 101 is connected to the reduction gear 106 and is rotationally driven by the power from the motor 105. Thus, the power of the motor 105 connected to the reduction gear 106 is transmitted, and the arm 101 is rotationally driven with respect to the drive center 103.
A motor encoder (ENC) 104 capable of measuring the amount of rotation is attached to the motor 105.

The base 102 functions as a support that supports the mechanism 110, the drive 109, and the arm 101 of the manipulator. The manipulator itself has a structure in which the reduction gear 106 and the motor 105 to which the motor encoder 104 is attached are fixed to the arm 101, and the drive center 103 is fixed to the base 102.
In addition, an external connection device 107 as an input unit described later is connected to the main body of the manipulator device 200.

  The mechanical unit 110 of the manipulator in the manipulator apparatus 200 described above is assumed to have a viscosity change including a lubricant. Incidentally, here, the control target is the manipulator device 200, and the driving object is the arm of the manipulator 101. In addition, a wave gear device including a lubricant such as grease or a machine tool is controlled, and its movable portion is It is also possible to apply to the configuration to be driven. In such a case, the motor 105 of the drive unit 109 can use a motor in a broad sense including other fluid machines and heat engines.

Here, the connection state of the motor 105, the reduction gear 106, and the arm 101 will be described with reference to FIG.
FIG. 2 is an explanatory view schematically showing a connection state of the motor 105, the reduction gear 106, and the arm 101 included in the manipulator device 200. As shown in FIG.
As shown in FIG. 2, a first gear 106 a as a reduction gear 106 is connected to the drive center 103 of the output shaft of the motor 105. The second gear 106b and the third gear 106c are connected to the first gear 106a in this order, and the rotation shaft of the arm 101 is connected to the third gear 106c.
In FIG. 2, although the output shaft of the motor 105 and the rotation shaft of the arm 101 are described at different positions, when a planetary gear mechanism is used as the reduction gear 106, the axial center of the rotation shaft of the arm 101 is the motor It is arranged coaxially with the drive center 103 of the output shaft 105.
The mechanism unit 110 of this manipulator is coated with grease G as a lubricant at the places where the gears of the reduction gear 106 mesh with each other, and has a viscosity change.

Next, the detailed configuration of the manipulator device 200 and peripheral devices connected thereto will be described using a block diagram.
FIG. 3 is a block diagram showing the detailed configuration of the manipulator device 200 shown in FIG. 1 including peripheral devices.

As shown in FIG. 3, the manipulator device 200 includes a manipulator body 201, a power source 291, and a host controller 281.
That is, as the peripheral device connected to the manipulator main body 201, the power supply 291 and the host controller 281 are connected as the above-described external connection device 107.
When image information is required for manipulator operation, the image input device 271 is further connected to the host controller 281. Here, the configuration of the manipulator device 200 can be changed, and the manipulator main body 201, the host controller 281, and the power source 291 are separately provided, and all of them are mounted in the manipulator main body 201. It can also be done.

The manipulator body 201 includes a control device 210 that issues a drive command to the motor 105 of the drive unit 109 via the motor driver 235 of the drive / detection unit 230.
The control device 210 includes a CPU 211 which is a central processing unit. Then, the communication control unit 212 in the control device 210 is connected to the host controller 281 by the communication network 282, and various operations are performed on the drive control unit 214 in the control device 210 via the communication network 282 and the communication control unit 212 from the host controller 281. Information is transmitted.
The various information is operation mode information, various parameters necessary for drive control, target movement position information of the manipulator, and the like.

  Signals of various sensors 220 and various switches 221 are input to the control device 210. In addition, for example, the operation mode can be input and set from the input unit 239 connectable to the control device 210. At this time, an orbit stop operation such as emergency stop for the manipulator is performed based on the signal information according to an operation command of the drive control unit 214. Further, a clock 223 is connected to the control device 210 at an input terminal and an output terminal, and a clock signal is taken in.

In addition, in the control device 210, a storage unit (storage means) 215 having various memory functions for rewritably storing information necessary for operation control of the operation program and the manipulator and a timer 213 for counting are provided. It is done.
The drive control unit 214 connected to these outputs a drive command to the motor 105 of the drive unit 109 by the motor driver 235 of the drive / detection unit 230 as operation control of the manipulator. At this time, the drive control unit 214 controls the output of the drive command based on the change (viscosity change) of the viscous friction coefficient related to the motor 105 and the reduction gear 106 included in the load disturbance estimated by the disturbance torque estimation unit 238. Do.
That is, the joints of the manipulator are driven by driving the motor 105 of the drive unit 109 by driving by the motor driver 235 of the drive / detection unit 230 which has received the drive command from the drive control unit 214. In FIG. 2, a motor encoder 104 is attached to the motor 105 of the drive unit 109, and is shown as being included in the drive / detection unit 230.

The drive information of the motor 105 of the drive unit 109 is input to the drive information detection unit 236 of the drive / detection unit 230 as a signal from the motor encoder 104 attached to the motor 105. The drive information detection unit 236 converts the signal from the motor encoder 104 into drive information such as a movement amount, a movement speed, and a movement acceleration.
Further, the current flowing through the motor 105 of the drive unit 109 is detected by the current detection unit 234 of the drive / detection unit 230 in the drive / detection unit 230.

The drive information detected by the drive information detection unit 236 and the current detected by the current detection unit 234 are input to the disturbance torque estimation unit 238 in the control device 210. The disturbance torque estimation unit 238 estimates a load disturbance applied to the motor 105 of the drive unit 109 based on the input drive information and current, and sends it to the drive control unit 214 (is input).
Further, the operation profile can be program-inputted by the input unit 239, and the input program is inputted to the control device 210.

  Drive control unit 214 sets a target command based on the drive information detected by drive information detection unit 236, the load disturbance value estimated by disturbance torque estimation unit 238, and the operation mode and operation profile set by input unit 239 or the like. Generate a value At this time, the drive control unit 214 sends a drive command to the motor driver 235 of the drive / detection unit 230 so as to drive according to the target command value, and drives the motor 105 of the drive unit 109 by feedback control. As a result, the motor 105 shown in FIG. 1 is controlled to rotate along the target command value. The load disturbance estimated by the disturbance torque estimation unit 238 includes viscosity changes (changes in the viscosity coefficient of friction) with respect to the reduction gear 106 of the mechanical unit 110 and the motor 105 of the drive unit 109.

The drive unit 109 is connected to the drive information detection unit 236, the current detection unit 234, and the motor driver 235 of the drive / detection unit 230. The drive information detection unit 236 detects drive information of the motor 105 of the drive unit 109 by the motor driver 235 in the drive / detection unit 230. The current detection unit 234 detects the current flowing to the motor driver 235 in the drive / detection unit 230.
The storage unit 215 also stores current values detected by various detection units, information on rotational speed, and information necessary for driving.

Next, the input unit 239 provided in the manipulator device 200 (the manipulator main body 201) will be described.
FIG. 4 is a schematic view showing an appearance configuration of an input unit 239 provided in the manipulator device 200. As shown in FIG.

  Referring to FIG. 4, the input unit 239 includes a touch panel 239 a for a user to operate the manipulator or create an operation profile, and a ten-key 239 b for creating an operation profile. In addition, an execution button 239 c for operation start of the manipulator, a power button 239 d for power on, and an emergency stop button 239 e for stopping operation of the manipulator urgently are provided.

When the user uses the input unit 239, when the power button 239d is turned on, the touch panel 239a is displayed, and the manipulator can be operated according to the display content.
Then, after the user creates an operation profile using the touch panel 239a and the ten key 239b, the operation of the manipulator is started by the execution button 239c.
When an abnormality occurs in the manipulator, the touch panel 239a notifies (displays) that.

Next, a case where the disturbance torque estimation unit 238 provided in the above-described manipulator body 201 is a disturbance torque estimation unit will be described.
FIG. 5 is an explanatory view exemplifying a circuit configuration when the disturbance torque estimation unit 238 is a disturbance torque estimation unit, and FIG. 5A is an example of a circuit configuration diagram without using the low pass filter 405, FIG. Is an example of a circuit configuration diagram using a low-pass filter 405 and pseudo differentiation.

  The disturbance torque estimation unit shown in FIG. 5A corresponds to the case where the disturbance torque estimation unit 403A for the actual device unit 404 does not have (do not use) a low pass filter. On the other hand, the disturbance torque estimation unit shown in FIG. 5B corresponds to the case where the disturbance torque estimation unit 403B for the actual device unit 404 has (uses) the low-pass filter 405 for pseudo differentiation. With regard to any disturbance torque estimation unit, the actual machine unit 404 is generally a block diagram of a two-inertia system including the reduction gear 106, but here it is regarded as a one-inertia system and shown in a simplified manner. Also, the input is a current, and the output is a block diagram representing the rotation amount (angle) θ and rotation speed (angular velocity) ω of the motor shaft, and J (inertia moment) converts the moment of inertia of the mechanism or reduction gear to the motor shaft Use the same value.

The gravity term addition unit 401 of the actual machine unit 404 common to FIGS. 5A and 5B differs in force depending on the mechanism unit connected to the motor 105, so the amount of rotation (output angle) in each mechanism unit The function for is determined. The viscous friction coefficient 402 is a viscous friction coefficient included in the motor 105, the reduction gear 106, and the mechanism unit 110.
On the other hand, in each of the disturbance torque estimation unit 403A and the disturbance torque estimation unit 403B in FIG. 5A, the disturbance torque is estimated using a disturbance observer.
Also, since errors are included in various parameters (torque constant Kt, moment of inertia J, coefficient of viscous friction C, etc.) used in actual machine unit 404 and disturbance torque estimation units 403A and 403B, the parameters are identified and values are identified. Need to match. For example, experimental data can be used to perform statistical analysis of multiple regression analysis or frequency response analysis to identify parameters.

Next, a torque control and an assist control method using disturbance torque estimation will be described.
FIG. 6 is a block diagram showing a configuration example of a torque control circuit in a case where torque control is performed using the disturbance torque estimated value obtained by the disturbance torque estimating unit shown in FIG. 5 (b).

As shown in FIG. 6, this torque control circuit feeds back the disturbance torque estimated value detected by the disturbance torque estimating unit shown in FIG. 5 (b), compares it with the torque command value, and performs calculation in the PID controller 501, The current driver 502 causes a current to flow to the motor 105. By thus flowing the current to the motor 105, it is possible to perform torque control following the torque command value.
In this torque control circuit, dynamic compensation such as gravity compensation is not performed, but control with better followability can be performed by compensating for friction compensation, gravity compensation, inertial force and the like.

  FIG. 7 is a schematic view of an image in which assist control is performed using the torque control circuit shown in FIG. 7 (a) is a characteristic diagram of the force necessary for the operation shown by the relationship of the change of the force to the position change compared with the operation state transition of the manipulator 503, and FIG. 7 (b) is the operation for the operation force of the external force. It is the figure which showed the relationship of force command value.

As shown in FIG. 7A, when performing assist control with the torque control circuit shown in FIG. 6, when operating the manipulator 503 from one position P to another position P ′ to move it as a torque command value Set the target value for operating force. By setting in this manner, the motor output (assisting force) compensates for a part of the force necessary for the operation, so that the operation with a constant external force (the operation following the target value) becomes possible.
Further, as a target value of the operating force command value, as shown in FIG. 7A, there is a dead zone with respect to the target value F of the operating force of the external force as in the section of change of the operating force of external force -F1 to F1. By providing such a profile, it is possible to suppress sudden operation and oscillation, and stable operation becomes possible.

Next, an example of a control flow in the case of performing assist control using the torque control circuit shown in FIG. 6 will be described.
FIG. 8 is a flowchart relating to control in the case where assist control is performed using the torque control circuit shown in FIG.

As a control flow in the case of performing assist control, assist control is started by judging the presence or absence of operation from the change of position and speed of manipulator 503 and the change of external force, and assist control is started to compare with external force (operation force) The assist operation is performed by controlling the motor 105 so as to be the target value.
Specifically, as shown in FIG. 8, in the operation process related to assist control, first, setting of the operating force target value (step 101) that becomes a torque command is performed, and then the position of the manipulator 503 is detected by the joint angle (step 102). ). Thereafter, the drive control unit 214 detects the operation force of the external force of the manipulator 503 (step 103).
Next, based on the detection result, it is determined whether or not there is an operation (step 104). As a result of this determination, if there is no operation (NO in step 104), the process returns to before the process of detecting the position of the manipulator 503 by the joint angle (step 102), and the subsequent processes are repeated. On the other hand, if there is an operation (YES in step 104), assist control is started.

  When assist control is started, the drive control unit 214 performs operation target value error detection (step 105) based on the detection result of the operation force target value of the manipulator 503 set initially, and then the torque output of the motor 105 A value is calculated (step 106). Thereafter, the drive control unit 214 drives the motor with the calculated torque output value (step 107) and then detects the position of the manipulator 503 again with the joint angle (step 108), and then detects the operating force of the external force of the manipulator 503 ( Step 109) is performed.

  Further, based on the detection result, it is determined whether or not there is an operation (step 110). As a result of this determination, if there is an operation (YES in step 110), the process returns to the process before the operation target value error detection (step 105) and the subsequent processes are repeated. On the other hand, if there is no operation (NO at step 110), the assist control is ended. By adopting such a control flow, the operation of assist control can be performed accurately.

Next, the correction method of the viscous friction coefficient in the present embodiment will be described.
FIG. 9 is a control block diagram of disturbance torque estimation based on FIG. 5 (b).
As shown in FIG. 9, in a mechanism including a lubricant such as grease, the viscous friction coefficient C601 changes with the driving time t and the rotational speed (angular velocity) ω. In consideration of this, as the viscous friction coefficient ^ 602 used in the torque estimation unit 403B, data values corresponding to the drive time t and the rotational speed (angular velocity) ω previously acquired are used.
As the data, the change of the drive time t of the value of the viscous friction coefficient Cx when driving at a constant rotational speed ω and when changing the rotational speed ω is acquired in combination with a plurality of rotational speeds ω Keep it. Then, based on the data, torque estimation with high accuracy can be performed by functionalizing the value of the viscous friction coefficient Cx with respect to the driving time t and the rotational speed ω or implementing it as a plurality of tables.

  In addition, since the above-mentioned data often varies among individuals, it is desirable to acquire each individual. Although the circuit configuration shown in FIG. 9 has been exemplified and described based on FIG. 5B of disturbance torque estimation as a method of correcting the viscous friction coefficient Cx, the essence of this embodiment is the viscosity with respect to the driving time t and the rotational speed ω It is a correction method of the coefficient of friction. Therefore, the method of estimating from the polynomial of the current value, the method of estimating from the current and voltage, and the magnetic flux can be applied without being limited to the method described using the control block diagram shown in FIG. In addition, even in the case of friction compensation without torque estimation, the above-described method of correcting the viscous friction coefficient Cx is effective.

Here, the change of the viscous friction coefficient with respect to the driving time t and the rotational speed ω will be described with reference to the drawings.
FIG. 10 is a characteristic diagram showing the relationship between the coefficient of friction C and the frictional force f with respect to the rotational speed ω when the disturbance torque estimation unit shown in FIG. 9 is applied, and FIG. FIG. 10B is a characteristic diagram of the friction force f with respect to the rotational speed ω. FIG. 11 shows the amount of rotation of the characteristic parameter in the case of correcting the coefficient of viscous friction C by changing the rotational speed ω corresponding to the drive time t for the motor 105 when the disturbance torque estimation unit shown in FIG. It is the figure which made it contrast with rotation distance) and was shown.
However, as the same applies to the following, such characteristics and functions can be determined by various methods such as measurement by an experiment, simulation, logic calculation, etc. It is assumed that it is stored in the memory.

As shown in FIG. 10, when the drive to the mechanism unit 110 is turned on and the drive is started, the viscous friction coefficient C starts to change, and the viscous friction coefficient C becomes lower as the rotation speed becomes faster. Then, as shown in FIG. 11, the viscous friction coefficient C decreases as the drive time passes from t0 to t1 to t∞ or as the rotation amount increases.
The relationship between the rotational speed ω and the frictional force f is as shown in FIG. 10B, and as the rotational speed ω increases, the viscous friction coefficient C decreases, so the frictional force f is not proportional to the rotational speed ω, It becomes a form that inclination becomes small.
In FIG. 10 (a) and FIG. 11, the graph is such that the viscous friction coefficient C drops sharply with respect to the rotational speed ω and the driving time t, but this also differs depending on the type of grease used as a lubricant. The determination is not limited to the example and may be determined based on actual measurement. The manner of change is represented by an exponential function, a polynomial function, a proportion, etc. with respect to the drive time t and the rotational speed ω. Also, the formula may be changed by dividing into sections according to the manner of change.

FIG. 12 is a diagram in the case of approximating a graph that changes rapidly as shown in FIG. 11 by a linear function, and FIG. 12 (a) shows the whole, and FIG. It is a thing.
When there is a lot of data, as shown in Fig. 12 (a) and 12 (b), by providing a function or a table approximated by a linear function, calculation processing in the control device can be reduced or memory used. You can reduce the amount.

FIG. 13 is a diagram showing the change of the viscous friction coefficient C when the rotational speed ω is changed in the middle of driving, and FIG. 13 (a) shows the speed when the speed is slow, FIG. 13 (b) shows the speed It shows the case of getting faster.
As described above, since the viscous friction coefficient C decreases as the rotational speed ω increases, the viscous friction coefficient C increases in FIG. 13A, and the viscous friction coefficient decreases in FIG. 13B. The values C3 and C4 of the asymptotic viscous friction coefficient C are the same as the asymptotic values when driven by ω3 and ω4 respectively from the beginning.
When the time is based on the driving time t of each rotational speed ω, and based on the amount of rotation (moving rotational distance), the viscous friction coefficient C changes with the amount of rotation at each rotational speed ω Make it

FIG. 14 is a graph in the case where the rotational speed ω is changed before the value of the viscous friction coefficient C approaches the value C1 after a sufficient time has elapsed since the start of driving at the rotational speed ω1 in FIG. is there.
As shown in FIG. 14, the viscous friction coefficient C at the time of switching the rotational speed ω is smaller than C4 in the rotational speed pattern A and larger than C4 in the rotational speed pattern B. However, in either of the rotational speed patterns A and B, the value of the viscous friction coefficient C changes so as to asymptotically approach C4.

Next, the control flow of the viscous friction coefficient correction method will be described with reference to the drawings.
FIG. 15 is a flow relating to the operation processing of viscous friction coefficient correction control based on the drive time t after the drive / detection unit 230 by the drive control unit 214 and the drive of the mechanical unit 110 by the drive unit 109 to the reduction gear 106 by the drive unit t. FIG. FIG. 16 is a flowchart relating to operation processing of viscous friction coefficient correction control based on the amount of rotation (moving rotation distance) after driving of the drive / detection unit 230 by the drive control unit 214 and the reduction gear 106 by the motor 105 of the drive unit 109. It is.
In these operation processes, a function or a table is prepared from data acquired in advance, and the driving time t and the rotational speed ω (or the amount of rotation and the rotational speed during driving) are being driven at regular intervals from the start of driving. The coefficient of viscous friction C is updated based on In addition, the change in the coefficient of viscous friction C is not a change in units of several milliseconds, but is often a change in units of several seconds or tens of seconds. Therefore, considering arithmetic processing, the control flow shown in FIG. It is desirable that processing be performed at intervals, but the values may be updated sequentially.

  As shown in FIG. 15, in the case of being based on the drive time t after driving, in the drive control unit 214, viscous friction coefficient data to be acquired by reading data of the viscous friction coefficient C stored in the storage unit 215 in table form first. The process of acquisition (step 201) is performed. Next, it is checked whether or not the driving of the motor 105 of the driving unit 109 is instructed by the operation of the input unit 239 or the like, and it is judged whether or not the driving is started (step 202). As a result of this determination, if the drive has not been started (NO in step 202), the process returns to the front of this determination (step 202) to repeat the processing and stands by. On the other hand, if the drive is started (YES in step 202), the process of the drive time measurement start (step 203) to start the measurement of the drive time t of the reduction gear 106 of the mechanical unit 110 by the motor 105 of the drive unit 109. I do. Further, the drive control unit 214 performs processing of drive time acquisition (step 204) for acquiring the drive time t.

  Thereafter, the drive control unit 214 determines whether or not a predetermined time has elapsed (step 205). As a result of the determination, if the predetermined time has not elapsed (NO in step 205), the process returns to the process of the drive time acquisition (step 204) and the subsequent processes are repeated. On the other hand, if the predetermined time has elapsed (YES in step 205), the rotational speed detection for detecting the rotational speed ω of the motor 105 detected by the drive information detection unit 236 from the motor encoder 104 of the drive unit 109 (step The process of 206) is performed. Further, the drive control unit 214 performs a process of updating the viscous friction coefficient C (step 207) from the acquired drive time t and the detected rotational speed ω. Finally, the drive control unit 214 determines whether or not the drive end of the reduction gear 106 of the mechanical unit 110 by the motor 105 of the drive unit 109 is instructed by the operation of the input unit 239 or the like, Perform step 208). As a result of this determination, if the drive is not completed (NO in step 208), the process returns to the process of drive time acquisition (step 204) and the subsequent processes are repeated. On the other hand, if the driving is completed (YES in step 208), the operation processing is ended.

Here, the flow shown in the flow chart of FIG. 16 is the rotational speed detection (step 206 of FIG. 16, FIG. 16) from the viscous friction coefficient data acquisition (step 201 of FIG. 15, step 301 of FIG. The processing up to 16 steps 306) is common. Therefore, the description of these processing processes is omitted.
In the flow shown in the flowchart of FIG. 16, after the processing of rotational speed detection (step 306), the drive control unit 214 performs processing of rotational amount calculation (step 307) for calculating the amount of rotation (moving rotational distance). Further, the drive control unit 214 performs processing of updating the viscous friction coefficient C from the calculated rotation amount and the detected rotation speed ω (step 308). Finally, the drive control unit 214 confirms whether the end of driving of the motor 105 by the driving unit 109 is instructed by the operation of the input unit 239 or the like, and determines whether the driving is ended (step 309). As a result of this determination, if the drive is not completed (NO in step 309), the process returns to the process of drive time acquisition (step 304) and the subsequent processes are repeated. On the other hand, if the driving is completed (YES in step 309), the operation processing is ended.

Next, a method of detecting the change of the viscous friction coefficient C, more specifically, the decrease in the estimation accuracy of the viscous friction coefficient C, which is the most characteristic feature of the present embodiment, will be described.
FIG. 17 is a table showing a plurality of threshold values used when detecting a change in the coefficient of viscous friction C and coping actions corresponding to each. FIG. 17A shows a case where a plurality of rotational speed thresholds are used. 17 (b) shows the case where a plurality of current thresholds are used. FIG. 18 is a flow chart according to a method of detecting and coping with the decrease in the estimation accuracy of the viscous friction coefficient C by the change of the rotational speed [r / min]. FIG. 19 is a flowchart according to a method of detecting and coping with the decrease in the estimation accuracy of the viscous friction coefficient C by a change in current [mA].
Here, the information on the rotational speed threshold and the current threshold shown in FIGS. 17A and 17B is stored in, for example, a storage unit 215 provided in the control device 210 (CPU 211).

Here, in a conventional drive control apparatus for controlling a drive apparatus provided with a mechanism having a viscosity change including a lubricant such as grease as the control apparatus 210 of the present embodiment, the drive apparatus due to deterioration of the lubricant or the like Even if an abnormality occurred, it could not be detected properly.
In addition, in a drive control apparatus that controls a drive device including a mechanism having a viscosity change including a lubricant, the drive control is performed by estimating the coefficient of viscous friction related to the drive unit and the mechanism. However, in the conventional drive control device, the estimation accuracy of the viscous friction coefficient decreases and deviates from the allowable range, and even if an abnormality that can not maintain normal drive control occurs, the abnormality can be appropriately detected. It was not.
Therefore, when there are abnormalities in the drive device due to deterioration of the lubricant, etc., or in the case where the estimation accuracy of the viscous friction coefficient falls and deviates from the allowable range, it becomes impossible to maintain normal drive control, After examining whether the anomaly could not be detected properly, the following method was found.

(When using rotational speed threshold)
A procedure for detecting that the estimation accuracy of the viscous friction coefficient C is lowered due to the change of the rotational speed [r / min] will be described with reference to the flow chart of FIG.
First, for example, as shown in the table of FIG. 17A, after setting the plurality of rotational speed threshold values [r / min] (step 401), the coping operation corresponding to each threshold value is set (step 402). Then, before deterioration of the grease G as a lubricant, the manipulator (motor 105 of the drive unit 109) is driven at a specific current value [mA] (step 403), and the value of the rotational speed of the motor 105 at that time [ r / min] is recorded (step 404).
Thereafter, after driving the motor 105 for a predetermined time (predetermined time), that is, after a predetermined time has elapsed from the start of driving of the motor 105, manipulator driving is performed with the same current value as at the time of recording (step 405). Then, the rotational speed of the motor 105 at this time is measured and acquired as a current value (step 406), and the difference from the recorded rotational speed value is calculated (step 407).

Then, it is determined whether the calculated difference in rotational speed is larger than the smallest threshold (hereinafter referred to as threshold 1) (step 408). As a result, when it is smaller than the threshold value 1 (NO in step 408), it is determined that the manipulator device 200 as a drive device is normal. Then, after the driving of the manipulator device 200 is continued for a predetermined time, the process returns to before the processing of driving the manipulator (step 405) with the same current value as the time of recording, and the subsequent processing is repeated.
On the other hand, if the calculated difference in rotational speed is larger than threshold 1 (YES in step 408), it is determined whether it is larger than the next smaller threshold (hereinafter referred to as threshold 2) (step 409).

As a result, when it is smaller than the threshold 2 (NO in step 409), it is determined that the manipulator device 200 is abnormal, and an abnormality is notified as a coping operation (hereinafter referred to as countermeasure 1) corresponding to the threshold 1 (step 410). Thereafter, driving of the manipulator device 200 is continued for a predetermined time, and then the processing returns to before the processing of driving the manipulator (step 405) with the same current value as at the time of recording, and the subsequent processing is repeated.
On the other hand, if the calculated difference in rotational speed is larger than threshold 2 (YES in step 409), it is determined whether it is larger than the next smaller threshold (hereinafter referred to as threshold 3) (step 411).

As a result, when it is smaller than the threshold 3 (NO in step 411), it is determined that the manipulator device 200 is abnormal, and the maximum current to be supplied to the motor 105 as a countermeasure operation (hereinafter referred to as countermeasure 2) corresponding to the threshold 2. (Step 412). Thereafter, driving of the manipulator device 200 is continued for a predetermined time, and then the processing returns to before the processing of driving the manipulator (step 405) with the same current value as at the time of recording, and the subsequent processing is repeated.
On the other hand, when the calculated difference in rotational speed is larger than the threshold 3 (YES in step 411), the driving of the manipulator device 200 is stopped as the coping operation (hereinafter referred to as coping 3) corresponding to the threshold 3 (step 413). ).

That is, after calculating the difference from the recorded value of the rotational speed (step 407), the following processing is performed according to the difference in the rotational speed.
If it is smaller than the smallest threshold value 1 (NO in step 408), the manipulator device 200 as a drive device determines that it is normal and continues driving.
If larger than the smallest threshold 1 and smaller than the threshold 2 (NO in step 409), an abnormality is notified as a coping operation corresponding to the threshold 1 (step 410), and then driving of the manipulator device 200 is continued.
If the threshold current is larger than the threshold 2 and smaller than the threshold 3 (NO in step 411), the maximum current to be supplied to the motor 105 is limited as a countermeasure operation corresponding to the threshold 2, and then driving of the manipulator device 200 is continued.
If the threshold value is larger than 3 (YES in step 411), the driving of the manipulator device 200 is stopped as a countermeasure operation corresponding to the threshold 3 (step 413).

As described above, it is possible to detect an abnormality of the manipulator device 200 which is a driving device such as grease deterioration by comparing the rotation speed before the grease deterioration as the lubricant with the rotation speed over time as needed.
In this example, the processing when an abnormality is detected is divided into three types, but only one type of processing (for example, processing for notifying an abnormality) may be used.

  The manipulator device 200 includes the drive unit 109 (motor 105) for driving the arm 101 as described above, and the mechanical unit 110 connected between the arm 101 and the drive unit 109 and having viscosity change including grease G Equipped with The control device 210 detects a drive information detection unit 236 that detects drive information of the mechanical unit 110 by the drive unit 109, a rotational speed ω detected by the drive information detection unit 236 at the time of constant current control, and a rotational speed threshold And a storage unit 215 for recording the Then, the difference between the rotational speed value recorded by the storage unit 215 and the current rotational speed value detected by the drive information detection unit 236 at a certain current control after driving the arm 101 for a certain period of time is calculated. When the calculated difference is larger than the rotation speed threshold value, an abnormality of the manipulator device 200 due to grease deterioration or the like is detected.

By configuring in this manner, the control device 210 records the rotation speed value at the time of constant current control, and records the rotation speed value at the same time of current control and the recording after driving the manipulator device 200 for a constant time. You can compare values. Then, in a state where there is no abnormality in the manipulator device 200 due to grease deterioration or the like, the recorded rotational speed value does not deviate from the current value of the rotational speed at the same time of current control. An abnormality of the manipulator device 200 due to deterioration or the like can be appropriately detected.
Therefore, it is possible to provide the control device 210 capable of detecting an abnormality of the manipulator device 200 due to grease deterioration or the like.

In addition, the above-mentioned abnormality can be made into an abnormality in which normal drive control can not be maintained due to the change of the viscous friction coefficient C related to the drive unit 109 and the mechanical unit 110.
In this case, when the calculated difference is larger than the rotation speed threshold value, an abnormality in which normal drive control can not be maintained due to a change in the viscous friction coefficient C related to the drive unit 109 and the mechanism unit 110 is detected.

By configuring in this manner, the control device 210 records the rotation speed value at the time of constant current control, and records the rotation speed value at the same time of current control and the recording after driving the manipulator device 200 for a constant time. You can compare values. Then, in the state where the estimation accuracy of the viscous friction coefficient C can be maintained within the allowable range, the recorded rotational speed value does not deviate from the current value of the rotational speed at the same time of current control. Therefore, if there is a difference between the recorded rotational speed value and the current value of the rotational speed at the same time of current control, it can be determined as abnormal, and an abnormality that can not maintain normal drive control can be appropriately detected.
Accordingly, it is possible to provide the control device 210 capable of detecting an abnormality in which normal drive control can not be maintained due to the change of the viscous friction coefficient C related to the drive unit 109 and the mechanism unit 110.

(When using current threshold)
Also about the procedure which detects that the estimation precision of the viscous friction coefficient C fell by change of electric current value [mA], it carries out by the same view as the case where the rotational speed threshold value mentioned above is used.
The specific method is demonstrated using the flowchart of FIG.
First, for example, as shown in the table of FIG. 17B, after setting the threshold values [mA] of a plurality of current values (step 501), the coping operation corresponding to each threshold value is set (step 502). Then, before deterioration of the grease G as a lubricant, the manipulator (motor 105 of the drive unit 109) is driven at a certain rotation speed [r / min] (step 503), and the current value [mA ] Is recorded (step 504).
Thereafter, after driving the motor 105 for a predetermined time (predetermined time), that is, after a predetermined time has elapsed from the start of driving of the motor 105, manipulator driving is performed at the same rotational speed as at recording (step 505). Then, the current flowing through the motor 105 at this time is measured and obtained as a current value (step 506), and the difference from the recorded current value is calculated (step 507).

Then, it is judged whether or not the difference between the calculated current values is larger than the smallest threshold (hereinafter referred to as threshold 1) (step 508). As a result, when it is smaller than the threshold 1 (NO in step 508), it is determined that the manipulator device 200 as the drive device is normal. Then, after the driving of the manipulator device 200 is continued for a predetermined time, the process returns to before the processing of driving the manipulator (step 505) at the same rotational speed as the time of recording, and the subsequent processing is repeated.
On the other hand, if the difference between the calculated current values is larger than threshold 1 (YES in step 508), it is determined whether it is larger than the next smaller threshold (hereinafter referred to as threshold 2) (step 509).

As a result, if it is smaller than the threshold 2 (NO in step 509), it is determined that the manipulator device 200 is abnormal, and an abnormality is notified as a coping operation (hereinafter referred to as countermeasure 1) corresponding to the threshold 1 (step 510). After that, the driving of the manipulator device 200 is continued for a predetermined time, and then the processing returns to before the processing of driving the manipulator (step 505) at the same rotational speed as the time of recording, and the subsequent processing is repeated.
On the other hand, if the difference between the calculated current values is larger than threshold 2 (YES in step 509), it is determined whether it is larger than the next smaller threshold (hereinafter referred to as threshold 3) (step 511).

As a result, if it is smaller than the threshold 3 (NO in step 511), it is determined that the manipulator device 200 is abnormal, and the maximum speed of the motor 105 is taken as a countermeasure operation (hereinafter referred to as countermeasure 2) corresponding to the threshold 2. Restrict (step 512). After that, the driving of the manipulator device 200 is continued for a predetermined time, and then the processing returns to before the processing of driving the manipulator (step 505) at the same rotational speed as the time of recording, and the subsequent processing is repeated.
On the other hand, when the calculated difference between the current values is larger than the threshold 3 (YES in step 511), the drive of the manipulator device 200 is stopped as the coping operation (hereinafter referred to as coping 3) corresponding to the threshold 3 (step 513). ).

As described above, by comparing the current value before grease deterioration as the lubricant with the current value over time as needed, it is possible to detect an abnormality in the manipulator device 200 which is a driving device such as grease deterioration.
In this example, the process when detecting an abnormality is divided into three types, but as in the case of using the rotational speed threshold, only one type of process (for example, a process of notifying an abnormality) may be used.

That is, after calculating the difference from the recorded current value (step 507), the following processing is performed according to the difference in the rotational speed.
If it is smaller than the smallest threshold value 1 (NO in step 508), the manipulator device 200 as a drive device determines that it is normal and continues driving.
If larger than the smallest threshold 1 and smaller than the threshold 2 (NO in step 509), an abnormality is notified as a coping operation corresponding to the threshold 1 (step 510), and then driving of the manipulator device 200 is continued.
If it is larger than the threshold 2 and smaller than the threshold 3 (NO in step 511), the maximum rotational speed of the motor 105 is limited as a countermeasure operation corresponding to the threshold 2, and then the driving of the manipulator device 200 is continued.
If the threshold value is larger than 3 (YES in step 511), the driving of the manipulator device 200 is stopped as a countermeasure operation corresponding to the threshold 3 (step 513).

As described above, by comparing the current value before grease deterioration as a lubricant with the current value over time as needed, it is possible to detect an abnormality in the manipulator device 200 as a drive device such as grease deterioration.
In this example, the processing when an abnormality is detected is divided into three types, but only one type of processing (for example, processing for notifying an abnormality) may be used.

  The manipulator device 200 includes the drive unit 109 (motor 105) for driving the arm 101 as described above, and the mechanical unit 110 connected between the arm 101 and the drive unit 109 and having viscosity change including grease G Equipped with Then, the control device 210 includes a current detection unit 234 that detects the current flowing to the drive unit 109, and a storage unit 215 that stores the current value and the current threshold value detected by the current detection unit 234 at the time of constant rotational speed control. Have. Then, after driving the arm 101 for a certain period of time, the difference between the current value recorded by the storage unit 215 and the current value detected by the current detection unit 234 at the time of the certain rotation speed control described above is calculated. When the calculated difference is larger than the current threshold value, an abnormality of the manipulator device 200 due to grease deterioration or the like is detected.

By configuring in this manner, the control device 210 records the current value at the time of constant rotational speed control and records the current value at the time of similar rotational speed control and recording after driving the manipulator device 200 for a constant time. You can compare values. Then, in the state where there is no abnormality in the manipulator device 200 due to grease deterioration etc., the recorded current value does not deviate from the current value at the same time of the rotation speed control, so if it deviates, it can be judged as abnormal. It is possible to appropriately detect an abnormality of the manipulator device 200 due to the above.
Therefore, it is possible to provide the control device 210 capable of detecting an abnormality of the manipulator device 200 due to grease deterioration or the like.

In addition, the above-mentioned abnormality can be made into an abnormality in which normal drive control can not be maintained due to the change of the viscous friction coefficient C related to the drive unit 109 and the mechanical unit 110.
In this case, when the calculated difference is larger than the current threshold value, an abnormality in which normal drive control can not be maintained due to a change in the viscous friction coefficient C related to the drive unit 109 and the mechanism unit 110 is detected.

By configuring in this way, the control device 210 records the current value at the time of constant rotational speed control, and the current value at the time of similar rotational speed control and recording after driving the manipulator device 200 for a predetermined time You can compare values. Then, in the state where the estimation accuracy of the viscous friction coefficient C can be maintained within the allowable range, the recorded current value does not deviate from the current value of the current at the same time of the rotational speed control. Therefore, if there is a difference between the recorded current value and the current value of the current at the same time of rotational speed control, it can be judged as abnormal and it is possible to appropriately detect an abnormality that makes it impossible to maintain normal drive control.
Accordingly, it is possible to provide the control device 210 capable of detecting an abnormality in which normal drive control can not be maintained due to the change of the viscous friction coefficient C related to the drive unit 109 and the mechanism unit 110.

Further, in any of the case of using the rotational speed threshold value and the case of using the current threshold value, the above-mentioned predetermined time (predetermined time) is the following time. After the start of driving of the motor 105 (the manipulator device 200), it is a time in which the viscous friction coefficient C described with reference to FIGS. 11 to 12 (b) sufficiently approaches the predetermined values C1, C2, etc. It's time.
By performing the abnormality detection operation in a state in which the coefficient of viscous friction C gradually and stably approaches, it is possible to reliably detect the abnormality. Here, the time for the viscous friction coefficient C to be sufficiently approximated to a predetermined value varies depending on the characteristics of the grease and the like, but is usually about several seconds to several tens of seconds.

Further, as described above, it is possible to change the target value of the rotational speed ω of the drive unit 109 (motor 105) or the maximum value of the current supplied to the drive unit 109 when an abnormality is detected.
With this configuration, the controller 210 can reduce the target value of the rotational speed ω of the drive unit 109 in consideration of safety when detecting an abnormality.
Further, as described above, the driving of the manipulator device 200 can be stopped when an abnormality is detected.
By configuring in this manner, the control device 210 can also stop driving of the manipulator device 200 in consideration of safety when detecting an abnormality.

Further, as described above, the touch panel 239a may be provided to notify an abnormality when an abnormality is detected.
With this configuration, the control device 210 can first perform notification only, instead of reducing or stopping the target value of the rotational speed of the drive unit immediately upon detection of an abnormality. .
Further, as described above, the input unit 239 (ten-key pad 239b) for inputting the current threshold or the rotational speed threshold stored in the storage unit 215 can be provided, and the current threshold or the rotational speed threshold stored in the storage unit 215 can be configured to be switchable. .
By configuring in this way, it is possible to switch between when it is desired to detect even a few abnormalities and when it is not.

Further, as described above, a plurality of current thresholds or rotational speed thresholds stored in the storage unit 215 can be set, and processing when an abnormality is detected can be set for each threshold.
By configuring in this way, a plurality of current threshold values or rotational speed threshold values can be set, and for example, processing when abnormality is detected in stages, such as "notification of abnormality" → "change in rotational speed" → "stop driving". It can be set.

  It is particularly preferable to apply the detection process shown in FIGS. 18 and 19 to an apparatus provided with a disturbance estimation unit. By applying the detection process of the present embodiment to such an apparatus, it is possible to detect that the accuracy of the viscosity friction coefficient estimation and the accuracy of the disturbance torque estimation have decreased as an abnormality. Thus, for example, in an assist control device that controls the assist operation of the assist device, it is possible to detect that the accuracy of the assist operation based on the change of the position and angle or the change of the external force (operation force) has decreased.

  That is, the control device 210 includes the drive information detection unit 236 that detects the drive information of the mechanical unit 110 by the drive unit 109 as described above, and the current detection unit 234 that detects the current flowing to the drive unit 109. In addition, a disturbance torque estimation unit 238 is also provided, which estimates load disturbance such as an operating force applied to the mechanical unit 110 based on the current detected by the current detection unit 234 and the drive information detected by the drive information detection unit 236. . Further, the viscous friction coefficient C related to the drive unit 109 and the mechanical unit 110 included in the load disturbance such as the operating force estimated by the disturbance torque estimation unit 238 and the drive information detection unit 236 It also includes a drive control unit 214 that performs control based on the detected drive information. Then, when the load torque is estimated by the disturbance torque estimation unit 238, the drive control unit 214 asymptotically approaches the value of the viscous friction coefficient C to a value determined in advance after the drive unit 109 starts driving the drive unit 109, and the drive information. Set asymptotically to different values according to the change of.

  By configuring in this manner, the control device 210 can detect that the estimation accuracy of the viscous friction coefficient C and the estimation accuracy of the disturbance torque have decreased as an abnormality. Thus, it is possible to detect that the accuracy of the assist operation has decreased based on, for example, changes in the position and angle of the drive target of the assist drive device including the disturbance estimation unit and / or changes in external force (operation force).

  Although the present embodiment has been described above with reference to the drawings, the specific configuration is not limited to the configuration provided with the control device 210 as the drive control device of the above-described embodiment, and deviates from the gist. It is also possible to change the design of the range not to

The above-described one is an example, and each mode has the unique effect.
(Aspect A)
A viscosity change including a lubricant such as grease G, which is connected between a drive unit such as a drive unit 109 (motor 105) that drives a drive target such as the arm 101, and the drive target and the drive unit In a drive control device such as a control device 210 for controlling a drive device such as a manipulator device 200 including a mechanical portion such as a mechanical portion 110 (a reduction gear 106), the drive information of the mechanical portion detected by the drive portion Drive information detection unit such as a drive information detection unit 236 (motor encoder 104), and a storage unit 215 for recording a rotational speed value such as a rotational speed ω detected by the drive information detection unit at the time of constant current control Rotation speed recording means, and storage means such as a storage unit 215 for storing a rotation speed threshold value such as threshold 1; and the rotation speed recorded by the rotation speed recording means An abnormality is detected if the difference between the value and the current rotational speed value detected by the drive information detection unit during the constant current control after driving the driven object for a predetermined time is larger than the rotational speed threshold. It is characterized by

According to this, as described in the present embodiment, the following effects can be achieved.
In a conventional drive control device for controlling a drive device provided with a mechanism having a viscosity change including a lubricant, even if a failure of the drive device due to deterioration of the lubricant or the like occurs, the abnormality is appropriately detected. I could not
On the other hand, in the drive control device of the present aspect A, the rotational speed value at the time of constant current control is recorded, and the rotational speed value at the same time of current control after driving the drive device for a predetermined time It can be compared. Then, in the state where there is no abnormality of the drive device due to the deterioration of the lubricant, etc., the recorded rotational speed value does not deviate from the current value of the rotational speed at the same time of current control. It is possible to appropriately detect an abnormality of the drive device due to the deterioration of the lubricant and the like.
Therefore, it is possible to provide a drive control device capable of detecting an abnormality of the drive device due to deterioration of the lubricant and the like.

(Aspect B)
A viscosity change including a lubricant such as grease G, which is connected between a drive unit such as a drive unit 109 (motor 105) that drives a drive target such as the arm 101, and the drive target and the drive unit In a drive control device such as a control device 210 that controls a drive device such as a manipulator device 200 including a mechanical portion such as a mechanical portion 110 (a reduction gear 106), a current detection portion that detects a current flowing through the drive portion A current detection unit such as a current detection unit such as a storage unit 215 for recording the current value detected by the current detection unit during constant rotational speed control such as the rotational speed ω; and a storage unit for storing a current threshold Storage means such as 215, the current value recorded by the current recording means, and the current at the time of the constant rotational speed control after the driven object is driven for a predetermined time If the difference between the present current value detected by the detection section is greater than the current threshold, and detects an abnormality.

According to this, as described in the present embodiment, the following effects can be achieved.
In a conventional drive control device for controlling a drive device provided with a mechanism having a viscosity change including a lubricant, even if a failure of the drive device due to deterioration of the lubricant or the like occurs, the abnormality is appropriately detected. I could not
On the other hand, in the drive control device of the present aspect B, the current value at the time of constant rotational speed control is recorded, and the current value at the same time of rotational speed control and the recorded value after driving the drive device for a predetermined time It can be compared. Then, in the state where there is no abnormality of the drive device due to the deterioration of the lubricant, etc., the recorded current value does not deviate from the current value of the current at the same time of the rotational speed control. It is possible to appropriately detect an abnormality of the drive device due to the deterioration of the lubricant and the like.
Therefore, it is possible to provide a drive control device capable of detecting an abnormality of the drive device due to deterioration of the lubricant and the like.

(Aspect C)
In (Aspect A) or (Aspect B), the abnormality is an abnormality in which normal drive control can not be maintained due to a change in a viscous friction coefficient such as a viscous friction coefficient C related to the drive unit and the mechanical unit. It features.
According to this, as described in the present embodiment, the following effects can be achieved.
In a drive control apparatus that controls a drive device including a mechanism having a viscosity change including a lubricant, the drive control is performed by estimating a coefficient of viscous friction related to the drive unit and the mechanism. However, in the conventional drive control device, the estimation accuracy of the viscous friction coefficient decreases and deviates from the allowable range, and even if an abnormality that can not maintain normal drive control occurs, the abnormality can be appropriately detected. It was not.

On the other hand, in the drive control device of the present aspect C, the rotational speed value at the time of constant current control or the current value at the time of constant constant rotational speed control is recorded, and the same after driving the drive device for a predetermined time. The rotational speed value during current control or the current value during rotational speed control can be compared with the recorded value. Then, in a state where the estimation accuracy of the viscous friction coefficient can be maintained within the allowable range, the recorded rotational speed value or current value and the same rotational speed during current control or current value during rotation speed control It does not deviate from. Therefore, if the recorded rotational speed value or current value is different from the rotational speed during current control or the current value during rotational speed control, it can be determined as abnormal and normal drive control can be maintained. It is possible to properly detect an anomaly that disappears.
Therefore, it is possible to provide a drive control device capable of detecting an abnormality in which normal drive control can not be maintained due to a change in viscous friction coefficient related to the drive unit and the mechanism unit.

(Aspect D)
In any one of Aspects A to C, a drive information detection unit such as a drive information detection unit 236 (motor encoder 104) that detects drive information of the mechanical unit by the drive unit; A current detection unit such as a current detection unit 234 that detects a flowing current, a load disturbance such as an operating force applied to the mechanism unit, a current detected by the current detection unit, and drive information detected by the drive information detection unit; And a viscosity relating to the drive unit and the mechanism unit included in the load disturbance estimated by the disturbance estimation unit. And a control unit such as a drive control unit 214 that controls based on the friction coefficient and the drive information detected by the drive information detection unit, the control unit including the disturbance estimation unit. At the time of estimation of the load disturbance, the value of the viscous friction coefficient is asymptotically approached to a predetermined value after the drive unit starts driving the mechanism unit, and ascent to different values according to changes in the drive information. It is characterized by setting.

  According to this, as described in the present embodiment, it is possible to detect that the estimation accuracy of the viscous friction coefficient and the estimation accuracy of the disturbance torque have decreased as an abnormality. Accordingly, it is possible to detect that the accuracy of the assist operation has decreased based on, for example, changes in the position and angle of the drive target of the assist drive device including the disturbance estimation unit and changes in external force (operation force).

(Aspect E)
In any of (Aspect A) to (Aspect D), the target value of the rotational speed of the drive unit or the maximum value of the current supplied to the drive unit is changed when the abnormality is detected.
According to this, as described in the present embodiment, it is possible to slow the target value of the rotational speed of the drive unit in consideration of safety when detecting an abnormality.

(Aspect F)
In any of (Aspect A) to (Aspect E), driving of the drive device is stopped when the abnormality is detected.
According to this, as described in the present embodiment, it is possible to stop driving of the drive device in consideration of safety when detecting an abnormality.

(Aspect G)
In any one of (Aspect A) to (Aspect F), a notification means such as a touch panel 239a for notifying an abnormality when the abnormality is detected is provided.
According to this, as described in the present embodiment, when abnormality is detected, the target value of the rotational speed of the drive unit is not immediately delayed or stopped, but at first, only notification is performed. it can.

(Aspect H)
In any of (Aspect A) to (Aspect G), an input unit such as an input unit 239 (ten-key pad 239b) for inputting the current threshold value or the rotational speed threshold value stored in the storage unit is provided. The current threshold or the rotational speed threshold may be switchable.
According to this, as described in the present embodiment, it is possible to switch between when it is desired to detect even a slight abnormality and when it is not.

(Aspect I)
In any of (Aspect A) to (Aspect H), a plurality of current threshold values or rotational speed threshold values stored in the storage means can be set, and processing when an abnormality is detected can be set for each threshold value. Do.
According to this, as described in the present embodiment, a plurality of current threshold values or rotational speed threshold values are set, and for example, "abnormality notification" → "rotational speed change" → "drive stop" abnormality in stages. It is possible to set the process when it is detected.

(Aspect J)
A viscosity change including a lubricant such as grease G, which is connected between a drive unit such as a drive unit 109 (motor 105) that drives a drive target such as the arm 101, and the drive target and the drive unit In a drive device such as a manipulator device 200 provided with a mechanical unit such as the mechanical unit 110 (the reduction gear 106) and a drive control unit that controls the drive of the drive unit, the drive control unit includes (aspect A) And a drive control device such as the control device 210 according to any one of (I).
According to this, as described in the present embodiment, it is possible to provide a drive device capable of achieving the same effect as the drive control device of any one of (Aspect A) to (Aspect I).

(Aspect K)
A viscosity change including a lubricant such as grease G, which is connected between a drive unit such as a drive unit 109 (motor 105) that drives a drive target such as the arm 101, and the drive target and the drive unit The movement of the object to be driven which is moved by the drive of a drive device such as a manipulator device 200 provided with a mechanism such as a mechanism 110 (decelerator 106) and drive control means for controlling the drive of the drive An assist control apparatus for controlling an assist operation for assisting includes a drive control device such as the control device 210 in any one of (Aspect A) to (Aspect I) as the drive control means.
According to this, as described in the present embodiment, it is possible to provide an assist control device capable of achieving the same effect as the drive control device of any one of (Aspect A) to (Aspect I).

101 Arm 104 Motor Encoder 105 Motor 106 Reducer 109 Drive Unit 110 Mechanism Unit 200 Manipulator Device 210 Control Device 214 Drive Control Unit 215 Storage Unit 234 Current Detection Unit 236 Drive Information Detection Unit 238 Disturbance Torque Estimation Unit 239 Input Unit 239a Touch Panel 239b Numeric keypad G grease

JP, 2013-001185, A

Claims (11)

A drive control apparatus for controlling a drive device comprising: a drive unit for driving a drive target; and a mechanical unit connected between the drive target and the drive unit and having a viscosity change including a lubricant. ,
A drive information detection unit for detecting drive information of the mechanical unit by the drive unit; rotation speed recording means for recording a rotation speed value detected by the drive information detection unit at the time of constant current control; And storage means for storing
The difference between the rotational speed value recorded by the rotational speed recording means and the current rotational speed value detected by the drive information detection unit during the constant current control after driving the driven object for a predetermined time is the rotational speed A drive control apparatus characterized by detecting an abnormality when it is larger than a threshold. A drive control apparatus for controlling a drive device comprising: a drive unit for driving a drive target; and a mechanical unit connected between the drive target and the drive unit and having a viscosity change including a lubricant. ,
A current detection unit that detects a current flowing through the drive unit; a current recording unit that records a current value detected by the current detection unit at a time of constant rotational speed control; and a storage unit that stores a current threshold.
When the difference between the current value recorded by the current recording means and the current value detected by the current detection unit during the constant rotation speed control after driving the driven object for a predetermined time is larger than the current threshold value A drive control apparatus characterized by detecting an abnormality. In the drive control device according to claim 1 or 2,
The drive control apparatus according to claim 1, wherein the abnormality is an abnormality in which normal drive control can not be maintained due to a change in a coefficient of viscous friction related to the drive unit and the mechanism unit. The drive control device according to any one of claims 1 to 3.
A drive information detection unit for detecting drive information of the mechanical unit by the drive unit, a current detection unit for detecting a current flowing through the drive unit, and a current detected by the current detection unit for load disturbance applied to the mechanical unit A disturbance estimation unit that estimates based on the drive information detected by the drive information detection unit, and the drive unit included in the load disturbance estimated by the disturbance estimation unit, and a drive command to the drive unit And a control unit configured to control based on the viscous friction coefficient related to the mechanical unit and the drive information detected by the drive information detection unit.
The control unit asymptotically approaches the value of the viscous friction coefficient to a predetermined value after the drive unit starts driving the mechanical unit when the load estimation is estimated by the disturbance estimation unit, and changes in the drive information The drive control device is set to be asymptotically different values in accordance with. The drive control device according to any one of claims 1 to 4.
A drive control apparatus characterized by changing the target value of the rotational speed of the drive unit or the maximum value of the current supplied to the drive unit when the abnormality is detected. The drive control device according to any one of claims 1 to 5.
A drive control apparatus characterized by stopping the drive of said drive device when said abnormality is detected. The drive control device according to any one of claims 1 to 6.
A drive control apparatus comprising: notification means for notifying an abnormality when the abnormality is detected. The drive control device according to any one of claims 1 to 7.
It has an input means for inputting a current threshold or a rotational speed threshold stored in the storage means,
A drive control apparatus characterized in that the current threshold or the rotational speed threshold stored in the storage means is switchable. The drive control apparatus according to any one of claims 1 to 8.
A plurality of current threshold values or rotational speed threshold values stored in the storage means can be set, and processing when an abnormality is detected can be set for each threshold value. A drive unit for driving a drive target, a mechanism unit connected between the drive target and the drive unit and having a viscosity change including a lubricant, and drive control means for controlling the drive of the drive unit In the drive provided with
A driving device comprising the driving control device according to any one of claims 1 to 9 as the driving control means. A drive unit for driving a drive target, a mechanism unit connected between the drive target and the drive unit and having a viscosity change including a lubricant, and drive control means for controlling the drive of the drive unit An assist control device for controlling an assist operation for assisting the operation of the driven object, which is moved by the drive of a drive device comprising:
An assist control device comprising the drive control device according to any one of claims 1 to 9 as the drive control means.

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