JP7811936B2 - ロボット故障予兆検出装置及びロボット故障予兆検出方法 - Google Patents

ロボット故障予兆検出装置及びロボット故障予兆検出方法

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Publication number
JP7811936B2
JP7811936B2 JP2023511002A JP2023511002A JP7811936B2 JP 7811936 B2 JP7811936 B2 JP 7811936B2 JP 2023511002 A JP2023511002 A JP 2023511002A JP 2023511002 A JP2023511002 A JP 2023511002A JP 7811936 B2 JP7811936 B2 JP 7811936B2
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JP
Japan
Prior art keywords
robot
series
evaluation value
data
judgment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2023511002A
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English (en)
Japanese (ja)
Other versions
JPWO2022210072A1 (https=
JPWO2022210072A5 (https=
Inventor
淳 川井
恭秀 永浜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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Publication of JPWO2022210072A1 publication Critical patent/JPWO2022210072A1/ja
Priority to JP2023120550A priority Critical patent/JP7500839B2/ja
Publication of JPWO2022210072A5 publication Critical patent/JPWO2022210072A5/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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G05B23/0245—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model based on a qualitative model, e.g. rule based; if-then decisions
    • G05B23/0248—Causal models, e.g. fault tree; digraphs; qualitative physics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/021—Gearings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/028—Acoustic or vibration analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings
    • G01M13/045—Acoustic or vibration analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39412—Diagnostic of robot, estimation of parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42332—Detect failure of servo controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Numerical Control (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
JP2023511002A 2021-03-29 2022-03-22 ロボット故障予兆検出装置及びロボット故障予兆検出方法 Active JP7811936B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023120550A JP7500839B2 (ja) 2021-03-29 2023-07-25 ロボット保守支援装置、ロボット保守支援方法、及びロボット保守支援プログラム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021054667 2021-03-29
JP2021054667 2021-03-29
PCT/JP2022/013021 WO2022210072A1 (ja) 2021-03-29 2022-03-22 ロボット故障予兆検出装置及びロボット故障予兆検出方法

Related Child Applications (1)

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JP2023120550A Division JP7500839B2 (ja) 2021-03-29 2023-07-25 ロボット保守支援装置、ロボット保守支援方法、及びロボット保守支援プログラム

Publications (3)

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JPWO2022210072A1 JPWO2022210072A1 (https=) 2022-10-06
JPWO2022210072A5 JPWO2022210072A5 (https=) 2023-12-28
JP7811936B2 true JP7811936B2 (ja) 2026-02-06

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JP2023120550A Active JP7500839B2 (ja) 2021-03-29 2023-07-25 ロボット保守支援装置、ロボット保守支援方法、及びロボット保守支援プログラム

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Country Status (6)

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

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

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US6282498B1 (en) 1997-08-01 2001-08-28 Tsubakimoto Chain, Co. Load monitoring apparatus
JP2007260803A (ja) 2006-03-27 2007-10-11 Toyota Motor Corp ロボットとロボットの動作制御方法
US9509131B2 (en) 2012-08-03 2016-11-29 Mitsubishi Electric Corporation Numerical control apparatus

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JPH09311715A (ja) * 1996-05-22 1997-12-02 Fanuc Ltd ロボットの異常発生履歴表示方法
EP1955830B1 (en) * 2007-02-06 2014-04-09 Abb Research Ltd. A method and a control system for monitoring the condition of an industrial robot
JP5363927B2 (ja) * 2009-09-07 2013-12-11 株式会社日立製作所 異常検知・診断方法、異常検知・診断システム、及び異常検知・診断プログラム
WO2011036809A1 (ja) * 2009-09-28 2011-03-31 株式会社 東芝 異常判定システムおよびその方法
JP6418782B2 (ja) * 2014-05-16 2018-11-07 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、ロボットシステム、及び診断装置
JP6664893B2 (ja) * 2014-12-19 2020-03-13 川崎重工業株式会社 ロボット保守支援装置および方法
WO2019103091A1 (ja) * 2017-11-22 2019-05-31 川崎重工業株式会社 機械装置の劣化診断装置、劣化診断装置において実行される機械装置の劣化診断方法、及び、機械装置の劣化診断方法
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JP2021160031A (ja) * 2020-03-31 2021-10-11 セイコーエプソン株式会社 故障予測方法および故障予測装置
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US6282498B1 (en) 1997-08-01 2001-08-28 Tsubakimoto Chain, Co. Load monitoring apparatus
JP2007260803A (ja) 2006-03-27 2007-10-11 Toyota Motor Corp ロボットとロボットの動作制御方法
US9509131B2 (en) 2012-08-03 2016-11-29 Mitsubishi Electric Corporation Numerical control apparatus

Also Published As

Publication number Publication date
EP4316755A1 (en) 2024-02-07
EP4316755A4 (en) 2025-04-09
CN121733628A (zh) 2026-03-27
WO2022210072A1 (ja) 2022-10-06
KR20230159880A (ko) 2023-11-22
JPWO2022210072A1 (https=) 2022-10-06
JP7500839B2 (ja) 2024-06-17
US20240192674A1 (en) 2024-06-13
JP2024002993A (ja) 2024-01-11
CN117222878A (zh) 2023-12-12

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