JP7537715B2 - 診断システム - Google Patents

診断システム Download PDF

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Publication number
JP7537715B2
JP7537715B2 JP2023517183A JP2023517183A JP7537715B2 JP 7537715 B2 JP7537715 B2 JP 7537715B2 JP 2023517183 A JP2023517183 A JP 2023517183A JP 2023517183 A JP2023517183 A JP 2023517183A JP 7537715 B2 JP7537715 B2 JP 7537715B2
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Japan
Prior art keywords
sensor
detection result
deterioration
unit
estimation unit
Prior art date
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Application number
JP2023517183A
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English (en)
Japanese (ja)
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JPWO2022230532A1 (https=
Inventor
貴志 和田
清 安藤
卓也 白田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nabtesco Corp
KYOKKO ELECTRIC CO Ltd
Original Assignee
Nabtesco Corp
KYOKKO ELECTRIC CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nabtesco Corp, KYOKKO ELECTRIC CO Ltd filed Critical Nabtesco Corp
Publication of JPWO2022230532A1 publication Critical patent/JPWO2022230532A1/ja
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • G01M13/045—Acoustic or vibration analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • G01M7/02—Vibration-testing by means of a shake table
    • G01M7/025—Measuring arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/024—Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39412—Diagnostic of robot, estimation of parameters

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Manipulator (AREA)
JP2023517183A 2021-04-26 2022-03-28 診断システム Active JP7537715B2 (ja)

Applications Claiming Priority (3)

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

Publications (2)

Publication Number Publication Date
JPWO2022230532A1 JPWO2022230532A1 (https=) 2022-11-03
JP7537715B2 true JP7537715B2 (ja) 2024-08-21

Family

ID=83848027

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023517183A Active JP7537715B2 (ja) 2021-04-26 2022-03-28 診断システム

Country Status (5)

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

Families Citing this family (1)

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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003205484A (ja) 2001-12-28 2003-07-22 Honda Motor Co Ltd 脚式移動ロボットおよびその床反力検出装置
US20140088766A1 (en) 2012-09-21 2014-03-27 United Technologies Corporation Health management having system level diagnostic feedback and information fusion
JP2017177255A (ja) 2016-03-29 2017-10-05 ソニー株式会社 制御装置及び制御方法
WO2018073955A1 (ja) 2016-10-21 2018-04-26 日本電気株式会社 システム分析方法、システム分析装置、および、プログラム
JP2020021292A (ja) 2018-08-01 2020-02-06 ルネサスエレクトロニクス株式会社 情報処理装置、情報処理システム、及びプログラム
JP2021047183A (ja) 2019-09-19 2021-03-25 株式会社日立製作所 ロボット装置の異常を検出する方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10335962B1 (en) * 2017-03-01 2019-07-02 Knowledge Initiatives LLC Comprehensive fault detection and diagnosis of robots
JP6810097B2 (ja) * 2018-05-21 2021-01-06 ファナック株式会社 異常検出器
WO2020031225A1 (ja) * 2018-08-06 2020-02-13 日産自動車株式会社 異常診断装置及び異常診断方法
JP2020039397A (ja) 2018-09-06 2020-03-19 株式会社デンソー 作業装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003205484A (ja) 2001-12-28 2003-07-22 Honda Motor Co Ltd 脚式移動ロボットおよびその床反力検出装置
US20140088766A1 (en) 2012-09-21 2014-03-27 United Technologies Corporation Health management having system level diagnostic feedback and information fusion
JP2017177255A (ja) 2016-03-29 2017-10-05 ソニー株式会社 制御装置及び制御方法
WO2018073955A1 (ja) 2016-10-21 2018-04-26 日本電気株式会社 システム分析方法、システム分析装置、および、プログラム
JP2020021292A (ja) 2018-08-01 2020-02-06 ルネサスエレクトロニクス株式会社 情報処理装置、情報処理システム、及びプログラム
JP2021047183A (ja) 2019-09-19 2021-03-25 株式会社日立製作所 ロボット装置の異常を検出する方法

Also Published As

Publication number Publication date
JPWO2022230532A1 (https=) 2022-11-03
CN117597220A (zh) 2024-02-23
EP4331785A1 (en) 2024-03-06
WO2022230532A1 (ja) 2022-11-03
EP4331785A4 (en) 2025-04-23
US20240051140A1 (en) 2024-02-15

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