KR102056261B1 - Central monitoring device for industrial robot, medium recording central monitoring program, and maintenance system - Google Patents

Abstract

The centralized monitoring apparatus includes a storage unit that stores a threshold value corresponding to a breakage state of the reducer, determination means for determining a breakage state of the reducer, and notification of a breakage state of the reducer determined by the reducer breakage state determination unit. It is provided with a reducer damage state transmission means for transmitting to the outside of the centralized monitoring device. When the value according to the color detected by the color light receiving element of the lubricating oil deterioration sensor reaches the threshold value stored in the storage unit, the reducer damage state determining means is configured to determine the speed of the reducer corresponding to this threshold value. The damage state is judged as the damage state of the speed reducer which is the object in which the lubricating oil deterioration sensor provided with this color light receiving element detects the degradation of the lubricating oil.

Description

CENTRAL MONITORING DEVICE FOR INDUSTRIAL ROBOT, MEDIUM RECORDING CENTRAL MONITORING PROGRAM, AND MAINTENANCE SYSTEM}

The present invention relates to a centralized monitoring device that integrates and monitors a plurality of industrial robots.

In general, the accuracy of the trajectory of an arm depends on the performance of the speed reducer used for the joint part. Therefore, it is important that the reducers for industrial robots be properly replaced when the performance is degraded. However, when the reducer for an industrial robot is replaced, the industrial robot provided with the reducer or the production line in which the industrial robot is installed should be stopped. Therefore, in order to grasp the replacement timing of the reduction gear for industrial robots, it is very important that the failure of the reduction gears for industrial robots is properly predicted.

Conventionally, a device for predicting a failure of a reducer for an industrial robot, the maintenance information output device for predicting a failure of the reducer when the iron content detected by the iron content detection device for detecting the iron content in the lubricating oil in the reducer is not less than a threshold value. Is known (refer patent document 1).

International Publication No. 2007/046505

The cause of deterioration of the lubricating oil of the reducer of the industrial robot is not only an increase in the amount of iron. Lubricant oil is also degraded due to changes in the components of the lubricant oil over time.

However, the technique described in Patent Literature 1 has a problem that there is a possibility that the failure of the reducer may not be properly predicted when the lubricating oil is deteriorated due to the aging change of the lubricating oil itself.

In addition, since a plurality of industrial robots are often provided in a production line, it is preferable to monitor a plurality of integrated robots.

An object of the present invention is to provide a centralized monitoring apparatus capable of transmitting a notification of an appropriate damage state to the outside of the reducers of each of a plurality of industrial robots.

According to an advantageous aspect of the present invention, there is provided a intensive monitoring device for monitoring a plurality of industrial robots equipped with a reducer and a lubricating oil deterioration sensor for detecting deterioration of lubricating oil of the reducer,

The lubricating oil deterioration sensor includes a light emitting element configured to emit light, a color light receiving element configured to detect a color of the received light, and an oil in which the lubricating oil penetrates and is disposed on an optical path from the light emitting element to the color light receiving element. A gap forming member having a gap formed therein for transmitting light, and a color information transmitting device configured to transmit information according to the color detected by the color light receiving element to the outside of the lubricating oil deterioration sensor,

The centralized monitoring device,

A threshold storing unit configured to store a threshold corresponding to the breakage state of the reducer;

Reducer damage state determining means configured to determine a breakage state of the reducer;

And reducer damage state transmitting means configured to transmit a notification of the damage state of the reducer determined by the reducer damage state determining means to the outside of the centralized monitoring device,

When the value according to the color detected by the said color light receiving element obtained from the information transmitted by the said color information transmission apparatus reached the said threshold value memorize | stored in the said memory | storage part, the said reducer damage state determination means, A concentrated monitoring apparatus is provided in which the damaged state of the speed reducer corresponding to this threshold value is determined by the lubricating oil deterioration sensor provided with the color light receiving element as the damaged state of the speed reducer which is the object of detecting the deterioration of the lubricating oil.

The centralized monitoring device may be configured as follows. The industrial robot includes a reducer use state sensor configured to detect a use state of the reducer, and a reducer information transmitting device configured to transmit information according to the use state detected by the reducer use state sensor to the outside of the industrial robot. The centralized monitoring device includes threshold setting means configured to set the threshold value for determination by the reducer damage state determining means among the threshold values stored in the threshold storage unit. The threshold value setting means sets the threshold value according to the use state based on the information transmitted by the speed reducer information transmitting device.

The centralized monitoring device may be configured as follows. The reducer use state sensor includes a lubricating oil temperature sensor configured to detect a temperature of the lubricating oil as a use state of the reducer, and the reducer information transmitting device is configured to provide information according to the temperature detected by the lubricating oil temperature sensor. It transmits outside of the said industrial robot, and the said threshold value setting means sets the said threshold value according to the said temperature based on the information transmitted by the said speed reducer information transmission apparatus.

The centralized monitoring device may be configured as follows. The reducer use state sensor includes a load sensor configured to detect a load applied to the reducer as a use state of the reducer, and the reducer information transmission device receives information according to the load detected by the load sensor. It transmits to the exterior of the said industrial robot, The said threshold value setting means sets the said threshold value according to the said load based on the information transmitted by the said speed reducer information transmission apparatus.

The centralized monitoring device may be configured as follows. The reducer damage state transmitting means includes at least two outputs of a notification of the damage state of the reducer determined by the reducer damage state determination means, outside the centralized monitoring device, by at least one of a display and a sound. Reducer information transmitting means for transmitting to the one notification output device, the centralized monitoring device transmitting information corresponding to a color detected by the color light receiving element and information corresponding to a use state of the reducer to only one of the notification output devices. Equipped with.

The centralized monitoring device may be configured as follows. The centralized monitoring apparatus is configured to determine a consumption state of the lubricating oil deterioration sensor determined by the sensor consumption state determining means configured to determine a consumption state of the lubricating oil deterioration sensor and the sensor consumption state determining means. And sensor consuming state transmitting means configured to transmit a signal.

The centralized monitoring device may be configured as follows. The lubricating oil deterioration sensor includes a battery configured to supply electric power to the light emitting element, and the sensor consumption state determining means determines a consumption state of the battery according to the remaining amount of power of the battery. It judges as a state.

The centralized monitoring device may be configured as follows. The sensor consumption state determining means determines the consumption state of the light emitting element according to the accumulated time of light emission by the light emitting element as the consumption state of the lubricating oil deterioration sensor.

The centralized monitoring device may be configured as follows. Robot state suitability determining means configured to judge suitability of the use state of the industrial robot, and robot state suitability configured to transmit a notification of the suitability of the use state determined by the robot state suitability determining means to the outside of the centralized monitoring device. The apparatus further includes a transmitting means, and the robot state suitability determining means acquires the temperature of the industrial robot according to the temperature of the lubricating oil based on the information transmitted by the reducer information transmitting device, and based on the acquired temperature. To determine the appropriateness of the use state of the industrial robot.

The centralized monitoring device may be configured as follows. Robot status adequacy determining means configured to determine adequacy of the use state of the industrial robot and notification of adequacy of the use state of the industrial robot determined by the robot state adequacy determining means to the outside of the centralized monitoring apparatus. Robot state suitability transmission means is further provided, The robot state suitability determination means acquires the load of the said industrial robot according to the load applied to the said reducer based on the information transmitted by the said speed reducer information transmission apparatus, The suitability of the use state of the industrial robot is determined based on the obtained load.

According to another advantageous aspect of the present invention, there is provided a medium on which a centralized monitoring program for operating a computer is recorded as the centralized monitoring apparatus described above.

According to another advantageous aspect of the present invention, it is possible to display and sound a notification of the damage state of the above-described concentrated monitoring device, the plurality of industrial robots monitored by the concentrated monitoring device, and the reducer transmitted by the concentrated monitoring device. A maintenance system having a notification output device for outputting by at least one of the above is provided.

Since the concentrated monitoring apparatus of the present invention determines the breakage state of the reducer in accordance with the color detected by the color light receiving element of the lubricating oil deterioration sensor, the breakage state of the reducer can be judged more appropriately than before. Further, the intensive monitoring apparatus of the present invention determines the breakage state of each reducer based on the value according to the color detected by the color light receiving element of the lubricating oil deterioration sensor of each reducer of the plurality of industrial robots, and determines the breakage of the determined reducer. Since the notification of the state is transmitted to the outside, the notification of the breakage state of the reducers of each of the plurality of industrial robots can be transmitted to the outside. Therefore, the intensive monitoring apparatus of this invention can transmit the notification of the damage state more appropriate than the conventional of the reducers of each of several industrial robots to the outside.

Since the intensive monitoring apparatus of this invention sets the threshold value for judging the breakage state of a reducer according to the actual use state of a reducer, it can notify the damage state of a reducer with high precision according to the actual use state of a reducer.

Since the intensive monitoring apparatus of this invention sets the threshold value for judging the breakage state of a reducer according to the actual temperature of lubricating oil, it can notify a high precision of the breakage state of a reducer according to the actual temperature of lubricating oil.

Since the intensive monitoring apparatus of this invention sets the threshold value for judging the breakage state of a reducer according to the load actually applied to a reducer, it can notify a high precision of the breakage state of a reducer according to the load actually applied to a reducer.

The centralized monitoring device of the present invention can transmit appropriate information according to the user of the notification output device to the notification output device.

Since the centralized monitoring apparatus of the present invention notifies the outside of notification of the consumption state of the lubricating oil deterioration sensor, it is possible to prevent the inappropriate lubricating oil deterioration sensor from being used, and as a result, it is possible to maintain the accuracy of the notification of the damaged state of the reducer. .

The centralized monitoring apparatus of the present invention transmits a notification of the battery consumption state to the outside as a consumption state of the lubricant deterioration sensor, so that it is possible to prevent the use of an inappropriate lubricant degradation sensor whose battery remaining amount is zero.

The centralized monitoring apparatus of the present invention transmits a notification of the consumed state of the light emitting element to the outside as the consumed state of the lubricating oil deterioration sensor, thereby preventing the use of an inappropriate lubricating oil deterioration sensor in which the light emitting element has failed.

The centralized monitoring apparatus of the present invention can suppress improper use of the industrial robot such as the temperature of the industrial robot becomes an inappropriate temperature.

The centralized monitoring apparatus of the present invention can suppress improper use of an industrial robot, such as an improper load of an industrial robot.

The computer executing the intensive monitoring program of the present invention determines the breakage state of the reducer in accordance with the color detected by the color light receiving element of the lubricating oil deterioration sensor, so that the breakage state of the reducer can be judged more appropriately than before. Further, the computer which executes the concentrated monitoring program of the present invention determines the breakage state of each reducer based on the value according to the color detected by the color light receiving element of the lubricating oil deterioration sensor of each reducer of the plurality of industrial robots, Since the notification of the damage state of the decelerator which has been determined is transmitted to the outside, the notification of the damage state of the reducers of each of a plurality of industrial robots can be transmitted to the outside. Therefore, the computer which executes the intensive monitoring program of this invention can transmit the notification of the damage state more appropriate than the conventional of the reducers of each of several industrial robots to the exterior.

In the maintenance system of the present invention, since the intensive monitoring device determines the damage state of the reducer according to the color detected by the color light receiving element of the lubricating oil deterioration sensor, the damage state of the reducer can be more appropriately judged by the intensive monitoring device than before. have. In addition, in the maintenance system of the present invention, the centralized monitoring apparatus determines the damage state of each reducer based on the value according to the color detected by the color light receiving element of the lubricating oil deterioration sensor of each of the plurality of industrial robots. Since the centralized monitoring device transmits a notification of the damage state of the reduction gear determined by the monitoring device to the notification output device, the notification output device can output the notification of the damage state of each reduction gear of the plurality of industrial robots. Therefore, the maintenance system of this invention can output the notification of the damage state more appropriate than the conventional of the reducer of each of several industrial robots by the notification output apparatus.

The centralized monitoring apparatus of the present invention can transmit a notification of a damage state more appropriate than that of the reducers of each of a plurality of industrial robots to the outside.

1 is a configuration diagram of a maintenance system according to an embodiment of the present invention.
FIG. 2 is a side view of the industrial robot shown in FIG. 1.
3 is a cross-sectional view of the joint portion of the industrial robot shown in FIG. 1.
4 is a front view of the lubricating oil deterioration sensor shown in FIG. 3.
FIG. 5 is a front sectional view of the lubricating oil deterioration sensor shown in FIG. 4 in a state of being attached to an arm. FIG.
FIG. 6A is a plan view of the lubricating oil deterioration sensor shown in FIG. 4. FIG. 6B is a bottom view of the lubricating oil deterioration sensor shown in FIG. 4.
FIG. 7 is a diagram showing an optical path from the white LED shown in FIG. 5 to the RGB sensor.
8 is a block diagram of the centralized monitoring device shown in FIG. 1.
9 is a diagram illustrating an example of user information shown in FIG. 8.
It is a figure which shows an example of the robot information shown in FIG.
It is a figure for demonstrating the calculation method of the robot load shown in FIG.
It is a figure which shows an example of the speed reducer information shown in FIG.
It is a figure which shows an example of sensor information shown in FIG.
It is a figure which shows an example of the threshold information for robots shown in FIG.
It is a figure which shows an example of the threshold value table for reducers shown in FIG.
It is a figure which shows an example of the table selection table shown in FIG.
It is a figure which shows an example of the threshold information for sensors shown in FIG.
(A) is a graph which shows an example of the experiment result of the time change of the black color difference (DELTA) E when the oil temperature shown in FIG. 3 is 40 degreeC, the reducer load moment is 0.5Mo, and the reducer load torque is 1.0To. to be. (B) is a graph which shows an example of the experiment result of the time change of the black color difference (DELTA) E when the oil temperature shown in FIG. 3 is 60 degreeC, the reducer load moment is 0.5Mo, and the reducer load torque is 1.0To. to be. (C) is a graph which shows an example of the experiment result of the time change of the black color difference (DELTA) E when the oil temperature shown in FIG. 3 is 60 degreeC, the reducer load moment is 0.5Mo, and the reducer load torque is 2.0To. to be.
FIG. 19 is a block diagram of the service provider apparatus shown in FIG. 1.
20 is a block diagram of the user apparatus shown in FIG. 1.
21 is a flowchart of the operation of the centralized monitoring device shown in FIG. 8 when the robot information is updated.
FIG. 22A illustrates an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot temperature exceeds the recommended temperature range upper limit threshold. to be. FIG. 22B is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot temperature is less than the recommended temperature range lower limit threshold. FIG. 22C is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot temperature is equal to or higher than the high temperature warning threshold value. FIG. 22D is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot temperature is equal to or lower than the low temperature warning threshold value.
FIG. 23A illustrates an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot load exceeds the recommended load range upper limit threshold. to be. FIG. 23B is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot load is equal to or higher than the high load warning threshold value.
24 is a flowchart of the operation of the concentration monitoring device shown in FIG. 8 when the speed reducer information is updated.
FIG. 25A is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the black color difference ΔE is equal to or less than the threshold for inspection and repair. FIG. 25B shows the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the black color difference DELTA E exceeds the inspection repair threshold and is equal to or less than the warning threshold value. It is a figure which shows an example of the screen which becomes.
FIG. 26 is a flowchart of the operation of the centralized monitoring device shown in FIG. 8 when the sensor information is updated.
FIG. 27A is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the battery remaining amount reaches the battery replacement threshold; FIG. to be. FIG. 27B is a diagram showing an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the remaining battery level is equal to or less than the battery warning threshold value.
FIG. 28A is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the cumulative light emission time is equal to or greater than the threshold for LED replacement. FIG. 28B is a diagram illustrating an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the cumulative emission time is equal to or higher than the LED warning threshold value.

EMBODIMENT OF THE INVENTION Hereinafter, one Embodiment of this invention is described using drawing.

First, the structure of the maintenance system which concerns on this embodiment is demonstrated.

1 is a configuration diagram of a maintenance system 10 according to the present embodiment.

As shown in FIG. 1, the maintenance system 10 includes a plurality of industrial robots 20, a centralized monitoring device 100 that collectively monitors a plurality of industrial robots 20, and an industrial robot 20. A service provider device 130, which is a device used by a service provider that provides a related service, and a plurality of user devices 160, which are devices used by a user of the industrial robot 20, are provided. The industrial robot 20, the centralized monitoring device 100, the service provider device 130, and the user device 160 are connected to each other via a network 11 such as the Internet so as to be able to communicate with each other.

The some industrial robot 20 is arrange | positioned in several places, such as the factory 12A and the factory 12B, for example.

The centralized monitoring device 100 is disposed at a place far from the place where the industrial robot 20 is disposed.

The service provider device 130 may be disposed at a place remote from the place where the industrial robot 20 is disposed and the place where the centralized monitoring device 100 is arranged.

The user apparatus 160 should just be provided one for every group of several industrial robots 20, for example, every factory, every company which runs a factory. The user device 160 is disposed at a place remote from a place where the industrial robot 20 is disposed, a place where the centralized monitoring device 100 is disposed, and a place where the service provider device 130 is disposed. You may be.

2 is a side view of the industrial robot 20.

As shown in FIG. 2, the industrial robot 20 includes mounting portions 21 mounted on mounting portions 90 such as floors and ceilings, arms 22, 23, 24, 25 and 26, and mounting portions 21. ) And the joint portion 31 for connecting the arm 22, the joint portion 32 for connecting the arm 22 and the arm 23, the joint portion 33 for connecting the arm 23 and the arm 24, Joints 34 for connecting arms 24 and 25, articulations 35 for connecting arms 25 and 26, arms 26 and hands not shown The joint part 36 is provided.

3 is a cross-sectional view of the joint portion 32. In addition, although the joint part 32 is demonstrated below, the same also applies to the joint parts 31 and 33-36.

As shown in FIG. 3, the joint part 32 includes a speed reducer 40 connecting the arm 22 and the arm 23, a motor 50 fixed to the arm 22 by a bolt 51, Lubricant deterioration sensor 60 for detecting the deterioration of lubricant 40a for reducing friction generated in the movable part of the reducer 40, and strain gauge as a load sensor for detecting the load applied to the reducer 40 ( 80 and a wireless communication device 81 that communicates with an external device by wireless.

The reduction gear 40 has the inner gear 41a, and the case 41 fixed to the arm 22 by the bolt 41b, and three pillars arrange | positioned at equal intervals around the central axis of the reduction gear 40 are shown. The support 42 fixed to the arm 23 by the bolt 42b, the gear 43 fixed to the output shaft of the motor 50, the center shaft of the reducer 40, and the like. Three gears arranged at intervals and engaged with the gear 43; three crankshafts 45 disposed at equal intervals around the central axis of the reducer 40 and fixed to the gear 44; And two external gears 46 engaged with the inner gear 41a of the case 41.

The support body 42 is rotatably supported by the case 41 via the bearing 41c. Between the case 41 and the support body 42, the sealing member 41d for preventing the leakage of the lubricating oil 40a is provided.

The crankshaft 45 is rotatably supported by the support body 42 through the bearing 42c, and is rotatably supported by the outer gear 46 via the bearing 46a. The crankshaft 45 rotates the outer gear 46 eccentrically with respect to the case 41 according to the rotational motion input from the gear 44.

The lubricating oil deterioration sensor 60 is fixed to the arm 23.

Six strain gages 80 are attached to each of three pillars 42a of the support 42 in total. The strain gauge 80 detects the load applied to the speed reducer 40 as deformation generated in the pillar 42a. Here, the strain gauge 80 is coated with a coating for protecting it from the lubricating oil 40a. Moreover, the speed reducer 40 and the arm 23 are formed with the hole which is not shown for passing the electric wire for transmitting the output of the strain gauge 80 to the radio | wireless communication apparatus 81. As shown in FIG. This hole is filled with resin such as an epoxy resin after the electric wire has passed in order to prevent the lubricant 40a from leaking out of the reducer 40. The strain gauge 80 detects the load applied to the reducer 40 as the use state of the reducer 40, and constitutes the reducer use state sensor of the present invention.

The radio communication device 81 has a battery that supplies power to the radio communication device 81 itself. The radio communication apparatus 81 is a state in which the reducer 40 is used, and transmits the information according to the load detected by the strain gauge 80 to the centralized monitoring device 100, and the reducer information transmitting device of the present invention. Consists of.

4 is a front view of the lubricating oil deterioration sensor 60. 5 is a front sectional view of the lubricating oil deterioration sensor 60 in a state in which the arm 23 is mounted. 6A is a plan view of the lubricating oil deterioration sensor 60. 6B is a bottom view of the lubricating oil deterioration sensor 60.

As shown in FIGS. 4-6 (b), the lubricating oil deterioration sensor 60 enters the aluminum alloy housing 61 which supports each component of the lubricating oil deterioration sensor 60, and the lubricating oil 40a enters. Between a gap forming member 62 in which an oil gap 62a is formed, a support member 63 supporting the gap forming member 62, and a housing 61 and an arm 23. O-ring 64 to prevent leakage of lubricant 40a, O-ring 65 to prevent leakage of lubricant 40a from between housing 61 and support member 63, and housing 61 And an O-ring 66 disposed between the support members 63 and the electronic component group 70.

The housing 61 includes a screw portion 61a for fixing to the screw hole 23a of the arm 23 and a tool such as a spanner when the screw portion 61a is rotated with respect to the screw hole 23a of the arm 23. It is provided with the tool contact part 61b for holding by. In addition, the screw hole 23a of the arm 23 supplies the lubricating oil 40a to the reducer 40 and the lubricating oil 40a from the reducer 40 when the lubricating oil deterioration sensor 60 is removed. It may be used for the disposal of.

The clearance gap forming member 62 is comprised by the two glass right angle prisms 62b and 62c, and the oil clearance gap 62a which is a clearance gap for the lubricating oil 40a to penetrate is two right angle prism 62b, 62c. It is formed between). The rectangular prism 62b, 62c is being fixed to the support member 63 with an adhesive agent.

The support member 63 is fixed to the housing 61 by the hexagonal socket head bolt 67. The support member 63 is provided with the holder 63a made of aluminum alloy, and the holder cap 63c made of aluminum alloy fixed to the holder 63a by the hexagonal head bolt 63b.

The electronic component group 70 is a circuit board 71 fixed to the supporting member 63 by a hexagonal socket head bolt 69 via a spacer 68 and a light emitting element that emits white light. Lubricating oil 40a through a white LED (Light Emitting Diode) 72 mounted on the LED), an RGB sensor 73 mounted on a circuit board 71 that detects the color of the received light, and a holder 63a. Is a lubricating oil temperature sensor for detecting a temperature (hereinafter referred to as "oil temperature") and communicates with a temperature sensor 74 mounted on a circuit board 71 and an external device of the lubricating oil deterioration sensor 60 by radio. For supplying electric power to each of the electronic components on the circuit board 71 such as the wireless communication device 75 and the white LED 72, the RGB sensor 73, the temperature sensor 74, and the wireless communication device 75. The battery 76, the battery remaining sensor 77 for measuring the remaining amount of power of the battery 76 (hereinafter referred to as "battery remaining amount"), and the white LED 72 The light emission timing sensor 78 which detects a timing is provided. The circuit board 71 includes a white LED 72, an RGB sensor 73, a temperature sensor 74, a wireless communication device 75, a battery 76, a battery remaining sensor 77, and a light emission timing sensor 78. In addition, a plurality of electronic components are mounted.

The temperature sensor 74 detects the temperature of the lubricating oil 40a as the use state of the reducer 40, and comprises the reducer use state sensor of this invention.

The radio communication device 75 is configured to transmit information corresponding to the color detected by the RGB sensor 73 to the centralized monitoring device 100, and constitutes the color information transmission device of the present invention. In addition, the radio communication apparatus 75 transmits the information according to the oil temperature detected by the temperature sensor 74 to the intensive monitoring apparatus 100 as a use state of the reducer 40, and the reducer of this invention The information transmission device is configured. In addition, the wireless communication device 75 transfers the information according to the remaining battery amount measured by the battery remaining sensor 77 or the information according to the timing of light emission detected by the emission timing sensor 78 to the centralized monitoring device 100. It is supposed to transmit.

FIG. 7: is a figure which shows the optical path 72a from the white LED 72 to the RGB sensor 73. FIG.

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

The holder 63a surrounds at least a part of the optical path 72a from the white LED 72 to the RGB sensor 73. As for the holder 63a, the process which prevents reflection of light is given to the surface like the matte black alumite process, for example.

The rectangular prism 62b, 62c transmits the light emitted by the white LED 72. The incident surface and the exit surface of the rectangular prism 62b, 62c of the light emitted by the white LED 72 are optically polished.

The optical path 72a is bent at 90 degrees on the reflecting surface of the right angle prism 62b, and is also bent at 90 degrees on the reflecting surface of the right angle prism 62c. That is, the optical path 72a is bent 180 degrees by the gap forming member 62. Reflecting surfaces of the rectangular prism 62b, 62c of the light emitted by the white LED 72 are optically polished, and an aluminum vapor deposition film is applied. Then, to protect the weak aluminum vapor-deposited film hardness and adhesion, the SiO ₂ film is further carried out on the aluminum vapor deposition film.

The distance between the exit surface in the right angle prism 62b of the light emitted by the white LED 72 and the incident surface in the right angle prism 62c of the light emitted by the white LED 72, that is, the oil gap 62a. When the length of the oil gap 62a is too short, contaminants in the lubricating oil 40a are difficult to properly distribute the oil gap 62a, so that the detection accuracy of the color of the contaminants in the lubricating oil 40a is inferior. On the other hand, when the length of the oil gap 62a is too long, the light emitted from the white LED 72 is excessively absorbed by the contaminants in the lubricating oil 40a in the oil gap 62a to reach the RGB sensor 73. Since it is difficult, the detection accuracy of the color of the contaminant in the lubricating oil 40a is also inferior. Therefore, it is preferable that the length of the oil clearance 62a is suitably set so that the detection accuracy of the color of the contaminant in the lubricating oil 40a may become high. The length of the oil clearance 62a is 1 mm, for example.

The lubricating oil deterioration sensor 60 is an RGB sensor 73 for light of a wavelength which is not absorbed by contaminants in the lubricating oil 40a in the oil gap 62a among the white light emitted by the white LED 72. Since the color is detected by, the color of the contaminant in the lubricating oil 40a of the reducer 40 can be detected immediately. The centralized monitoring apparatus 100 can immediately specify the type and amount of the contaminant in the lubricating oil 40a of the reducer 40 based on the color detected by the RGB sensor 73. That is, the lubricating oil deterioration sensor 60 can detect the grade of deterioration of the lubricating oil 40a by detecting the color of the contaminant in the lubricating oil 40a.

The degree of deterioration of the lubricating oil 40a can be determined by the color difference ΔE (hereinafter referred to as “black color difference ΔE”) with respect to a predetermined index black of the color detected by the RGB sensor 73. Black color difference (DELTA) E can be calculated by the formula shown by following formula (1) using each value of R, G, and B of the color detected by the RGB sensor 73.

In general, the accuracy of the trajectory of an arm depends on the performance of the speed reducer used for the joint part. Therefore, it is important that the reducers for industrial robots be properly replaced when the performance is degraded. However, when the reducer for an industrial robot is replaced, the industrial robot provided with the reducer or the production line in which the industrial robot is installed should be stopped. Therefore, in order to grasp the replacement timing of the reduction gear for industrial robots, it is very important that the failure of the reduction gears for industrial robots is properly predicted. Here, each lubricating oil deterioration sensor of the industrial robot 20 concentrates the type and amount of contaminants in the lubricating oil 40a of the reducer 40 based on the color detected by the RGB sensor 73. Can be specified immediately by. Therefore, the maintenance system 10 can enable immediate prediction of the failure of the reducer for industrial robots.

In addition, the lubricant 40a includes a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) such as molybdenum dithiocarbamate (MoDTP) for reducing friction of the friction surface, and the sizing of the friction surface. Various additives, such as extreme pressure additives, such as SP type additive for improving the extreme pressure property which are the performance which suppresses, and dispersing agents, such as Ca sulfonate for suppressing generation | occurrence | production or adhesion of sludge, may be added. These additives are separated from the lubricating oil 40a together with deterioration of the lubricating oil 40a, for example by attaching to, bonding to, or settling the metal surfaces of the industrial robot 20 and the reducer. Each lubricating oil deterioration sensor detects not only the amount of iron in the lubricating oil 40a but also an increase in the degree of deterioration of base oil and contaminants such as sludge accompanied by the reduction of various additives added to the lubricating oil 40a. It can be specified based on one color. Therefore, the maintenance system 10 can improve the prediction accuracy of a failure compared with the technique which predicts the failure of a reducer based only on iron concentration.

Here, the assembly method of the lubricating oil deterioration sensor 60 is demonstrated.

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

Subsequently, the circuit board 71 on which the RGB sensor 73, the temperature sensor 74, the wireless communication device 75, the battery 76, the battery remaining amount sensor 77, and the light emission timing sensor 78 are mounted is disposed on a spacer ( 68 is fixed to the holder 63a by the hexagonal socket head bolt 69, and the white LED 72 is fixed to the circuit board 71 by soldering.

Next, the temperature sensor 74 is connected to the holder 63a.

Subsequently, the holder cap 63c is fixed to the holder 63a by a hexagon socket head bolt 63b.

Finally, the holder 63a is fixed to the housing 61 on which the O-ring 64, the O-ring 65, and the O-ring 66 are mounted by a hexagonal socket head bolt 67.

Moreover, the installation method of the lubricating oil deterioration sensor 60 to the arm 23 is demonstrated.

First, the tool contact portion 61b of the housing 61 is gripped by the tool, and the screw portion 61a of the housing 61 is twisted into the screw hole 23a of the arm 23, thereby lubricating the arm 23. The degradation sensor 60 is fixed.

8 is a block diagram of the centralized monitoring apparatus 100.

The centralized monitoring device 100 shown in FIG. 8 is a computer such as a personal computer (PC). The centralized monitoring apparatus 100 displays an operation unit 101 which is an input device such as a mouse or a keyboard to which various operations by the user of the centralized monitoring apparatus 100 are input, and a display such as an LCD (Liquid Crystal Display) that displays various information. A storage device such as a display unit 102 that is a device, a network communication unit 103 that is a network communication device that communicates via a network 11 (see Fig. 1), and a hard disk drive (HDD) that stores various data. A phosphor storage unit 104 and a control unit 105 for controlling the centralized monitoring apparatus 100 as a whole are provided.

The memory | storage part 104 memorize | stores the intensive monitoring program 104a for notifying the damage state of the reducer of the industrial robot 20. As shown in FIG.

The centralized monitoring program 104a may be installed in the centralized monitoring device 100 at the manufacturing stage of the centralized monitoring device 100, and may be a USB (Universal Serial Bus) memory, a CD (Compact Disc), or a DVD (Digital Versatile Disc). It may be installed in the centralized monitoring apparatus 100 from a storage medium such as, or may be additionally installed in the centralized monitoring apparatus 100 from the network 11.

The storage unit 104 includes a user of the industrial robot 20, an industrial robot 20 owned by the user, a speed reducer 40 included in the industrial robot 20, and a speed reducer 40. The user information 104b which is the information which shows the relationship of the attached lubricating oil deterioration sensor 60 is memorize | stored.

9 is a diagram illustrating an example of the user information 104b.

As shown in Fig. 9, in the user information 104b, the user's ID (hereinafter referred to as "user ID") and the ID of the industrial robot 20 owned by the user (hereinafter referred to as "robot ID"). ), An ID of the reduction gear 40 (hereinafter, referred to as a reduction gear ID) of the industrial robot 20, and an ID of the lubricating oil deterioration sensor 60 provided in the reduction gear 40 (hereinafter, Sensor ID ".

In addition, a user ID, a robot ID, a reducer ID, and a sensor ID are information input by the service provider through the device for service providers 130.

The memory | storage part 104 memorize | stores the robot information 104c which is the information which shows the relationship between the industrial robot 20 and the various information of the industrial robot 20. As shown in FIG.

10 is a diagram illustrating an example of the robot information 104c.

As shown in FIG. 10, in the robot information 104c, the robot ID of the industrial robot 20, the temperature of the industrial robot 20 (hereinafter referred to as “robot temperature”), and the industrial robot 20 The load (hereinafter referred to as the "robot load") corresponds.

The robot ID is information input by the service provider through the service provider device 130.

The robot temperature of the industrial robot 20 is based on at least one of the oil temperatures stored in the reducer information 104d described later for the plurality of reducers 40 included in the industrial robot 20. Information calculated by 105).

As shown in FIG. 11, the robot load F includes the distance L between the position of the rotation shaft of the reducer 40 of the joint portion 33, the position of the load point to which the load F is applied, and the reducer of the joint portion 33. It is the information calculated as T / L by the control part 105 based on the reducer load torque T mentioned later in 40). That is, the robot load is information calculated by the control unit 105 based on the reducer load torque stored in the reducer information 104d described later with respect to the reducer 40 of the joint portion 33 of the industrial robot 20. .

As shown in FIG. 8, the memory | storage part 104 memorize | stores the reducer information 104d which is information which shows the relationship between the reducer 40 and the various information of the reducer 40. As shown in FIG.

12 is a diagram illustrating an example of the speed reducer information 104d.

As shown in FIG. 12, in the reduction gear information 104d, the reduction gear ID, the type of the reduction gear 40, the lot number of the reduction gear 40, and the lubricant deterioration sensor provided in the reduction gear 40 are shown. Black color difference ΔE which is the color difference ΔE to black of the color detected by the RGB sensor 73 of 60, the oil temperature which is the temperature of the lubricating oil 40a of the reducer 40, and the case of the reducer 40. A load (hereinafter referred to as a "reducer load moment") applied to the reducer 40 in a rotational direction around an axis orthogonal to the rotation axis when the 41 and the support body 42 relatively rotate, and the reducer 40 The load (hereinafter, referred to as "reducer load torque") applied to the reducer 40 in the rotational direction around the rotation axis when the case 41 and the support body 42 of the () are relatively rotated corresponds.

In the speed reducer information 104d shown in FIG. 12, Mo is a rated moment of the speed reducer 40. In addition, To is the rated torque of the reducer 40.

In addition, the speed reducer ID, a form, and the lot number are information input by the service provider through the device 130 for service providers.

As shown in FIG. 8, the memory | storage part 104 memorize | stores the sensor information 104e which is information which shows the relationship between the lubricating oil deterioration sensor 60 and the various information of the lubricating oil deterioration sensor 60. As shown in FIG.

13 is a diagram illustrating an example of the sensor information 104e.

As shown in FIG. 13, in sensor information 104e, the battery ID which is a residual quantity of the sensor ID of the lubricating oil deterioration sensor 60, and the electric power amount of the battery 76 of the lubricating oil deterioration sensor 60, and the lubricating oil deterioration The cumulative time of light emission by the white LED 72 of the sensor 60 (hereinafter referred to as "cumulative light emission time") corresponds.

In addition, the sensor ID is information input by the service provider through the device 130 for service providers.

As shown in FIG. 8, the memory | storage part 104 memorize | stores robot threshold value information 104f which is threshold information for notification of the use state of the industrial robot 20. As shown in FIG.

14 is a diagram illustrating an example of the robot threshold value information 104f.

As shown in FIG. 14, the robot threshold information 104f includes a recommended temperature range upper limit threshold indicating an upper limit of a temperature range (hereinafter, referred to as a "recommended temperature range") recommended for the industrial robot 20. , A high temperature warning threshold to warn of being within the recommended temperature range but near the upper limit, a low temperature warning threshold to warn of being within the recommended temperature range but close to the lower limit, and a recommended temperature range lower limit to indicate the lower limit of the recommended temperature range. Recommended load range upper limit threshold indicating the threshold value and the upper limit of the recommended load range (hereinafter referred to as "recommended load range") for the industrial robot 20, and to warn that the recommended load range is close to the upper limit. Contains a high load warning threshold.

As shown in FIG. 8, the memory | storage part 104 memorize | stores two or more reducer threshold table 104g which is a table for setting the threshold for notification of the damage state of the reducer 40, and the threshold of this invention The value storage section is constructed. The plurality of reduction gear threshold values tables 104g stored in the storage unit 104 have different types of corresponding reduction gears, and IDs are assigned to them.

15 is a diagram illustrating an example of the reducer threshold table 104g.

As shown in FIG. 15, in the reducer threshold table 104g, the threshold value corresponding to oil temperature, a reducer load moment, and a reducer load torque is shown.

In addition, in the reducer threshold table 104g shown in FIG. 15, although a large number of blanks exist, a specific threshold value is actually contained. Moreover, in the reducer threshold table 104g shown in FIG. 15, when the reducer load moment is less than 0.25Mo, when it is 0.25Mo or more and less than 0.5Mo, when it is 0.75Mo or more and less than 1.0Mo, when it is 1.0Mo or more and less than 1.25Mo, And 1.25 Mo or more are omitted, but in reality, similarly to the case where the gear reducer load moment is 0.5 Mo or more and less than 0.75 Mo, specific threshold values are included for each range of the reducer load torque.

In the reducer threshold table 104g shown in FIG. 15, numerical values are described in two stages in the column of the threshold value. The numerical value at the upper end is very likely that the reduction gear 40 is broken, and is therefore a threshold for inspection and repair which is a threshold for prompting the user of the industrial robot 20 to inspect or repair. The lower numerical value is a warning threshold value which is a threshold value for warning that the reduction gear 40 may be broken. That is, the inspection repair threshold value and the warning threshold value are threshold values corresponding to the breakage state of the reducer 40. Here, the broken state of the reducer 40 is a broken state of the rolling surface of each bearing in the reducer 40 and the respective engagement portions inside the reducer 40. According to the reducer threshold table 104g shown in FIG. 15, for example, oil temperature is 40 degreeC or more and less than 50 degreeC, reducer load moment is 0.5 Mo or more and less than 0.75Mo, and reducer load torque is 1.0 To or more and 1.5 To. If less, the threshold for inspection and repair and the threshold for warning are 350 and 425, respectively.

In addition, the case where oil temperature is less than -10 degreeC and the case where oil temperature is 80 degreeC or more is outside the range of the specification of the lubricating oil deterioration sensor which concerns on this embodiment, and therefore, the reducer threshold table 104g shown in FIG. It is not prescribed in. In addition, when the reducer load torque is 3.0 To or more, since it is outside the range of the specification of the reducer which concerns on this embodiment, it is not prescribed | regulated in the reducer threshold table 104g shown in FIG.

As shown in FIG. 8, the memory | storage part 104 memorize | stores the table selection table 104h which is a table for selecting the appropriate reducer threshold table from the some reducer threshold table 104g.

16 is a diagram illustrating an example of the table selection table 104h.

As shown in FIG. 16, in the table selection table 104h, the ID of the reducer threshold table 104g corresponding to the form of a reducer is shown. According to the table selection table 104h shown in FIG. 16, for example, when the speed reducer type is "RV-XX1", the reducer threshold whose ID is "Table 1" among the plurality of reducer threshold tables 104g. The value table is selected.

As shown in FIG. 8, the memory | storage part 104 memorize | stores the sensor threshold value 104i which is threshold information for notification of the consumption state of the lubricating oil deterioration sensor 60. As shown in FIG.

17 is a diagram illustrating an example of the sensor threshold information 104i.

As shown in FIG. 17, the sensor threshold information 104i is a battery replacement threshold which is a threshold for prompting replacement of the battery 76 of the lubricating oil deterioration sensor 60, and a warning that there is little battery residual amount. The threshold for battery warning, which is a threshold for the battery, The threshold for LED replacement, which is a threshold for promoting the replacement of the white LED 72, and the threshold for warning that the cumulative emission time is nearing the life of the white LED 72. It contains a threshold value for the LED warning value.

The control unit 105 shown in FIG. 8 includes, for example, a central processing unit (CPU), a read only memory (ROM) that stores programs and various data in advance, and a random access memory (RAM) used as a working area of the CPU. ). The CPU is configured to execute a program stored in the ROM or the storage unit 104.

The control unit 105 executes the centralized monitoring program 104a stored in the storage unit 104, whereby the robot state adequacy determination unit as the robot state adequacy determination means for determining the adequacy of the use state of the industrial robot 20 ( 105a), a robot state that transmits a notification of adequacy of the use state of the industrial robot 20 determined by the robot state suitability determination unit 105a to at least one of the service provider device 130 and the user device 160. The robot state adequacy transmitter 105b as the suitability transmission means, the robot information transmitter 105c for transmitting the robot information 104c to the service provider device 130, and the deceleration threshold table 104g of the storage unit 104. The reducer damage phase as the reducer damage state determination means for judging the damage state of the threshold value setting portion 105d and the reducer 40 as the threshold value setting means for setting a threshold value used among the stored threshold values. Reducer damage that transmits a notification of the damage state of the reducer 40 determined by the determiner 105e and the reducer damage state determiner 105e to at least one of the service provider device 130 and the user device 160. The consumption state of the reducer damage state transmitter 105f as the state transmission means, the reducer information transmitter 105g as the reducer information transmission means for transmitting the reducer information 104d to the service provider device 130 is determined. The service provider device 130 and the user are notified of the consumption state of the lubricating oil deterioration sensor 60 determined by the sensor consumption state determination unit 105h and the sensor consumption state determination unit 105h as the sensor consumption state determination means. Sensor information transmission unit for transmitting the sensor consumption state transmission unit 105i as the sensor consumption state transmission unit for transmitting to at least one of the device 160, and the sensor information 104e to the service provider device 130. It functions as the bride 105j.

Next, the calculation method of the reducer load moment and the reducer load torque by the control part 105 is demonstrated.

The stress which arises in the part to which the two strain gauges 80 attached to any one pillar 42a of the three pillars 42a of the support body 42 of the reducer 40 is called (sigma) 1 and (sigma) 2, respectively. The load torque calculated based on sigma 1 and sigma 2 is called T _A1 . The load moment calculated based on sigma 1 and sigma 2 is called M _A1 . By multiplying the T _A1 becomes a stress caused by the load torque T1 of σ1 is called a load factor calculation as possible. By multiplying the T _A1 becomes a stress caused by the load torque of σ2 is referred to the available load factor calculated T2. The working angle of the load moment applied to the support body 42 around the rotational axis of the support body 42 relative to the case 41 is referred to as φ. The stress caused by the load moment of σ1 becomes multiplied by M in the _A1 is referred to as the M1 (φ) function of the loading factors can calculate φ. The load coefficient from which the stress due to the load moment in σ2 can be calculated by multiplying by M _A1 is called M2 (φ) as a function of φ. The relationship shown in equation (2) is established between sigma 1, sigma 2, T _A1 , M _A1 , T1, T2, M1 (φ) and M2 (φ). In addition, M1 (φ) and M2 (φ) are functions of φ because stress due to the load moment in sigma 1 and stress due to the load moment in sigma 2 are relative to the relative rotation of the case 41 and the support 42. Therefore, it changes.

Here, the relationship shown in equations (3) and (4) is established from equation (2).

Moreover, it generate | occur | produces in the part in which the two strain gauges 80 attached to any one pillar 42a other than the pillar 42a mentioned above among the three pillars 42a of the support body 42 of the reducer 40 were attached. The stresses to be referred to as σ3 and σ4, respectively. The load torque calculated based on sigma 3 and sigma 4 is called T _A2 . The load moment calculated based on sigma 3 and sigma 4 is called M _A2 . By multiplying the T _A2 becomes the stress caused by the load torque of σ3 is referred to as T3 the load factor calculation as possible. By multiplying the T _A2 becomes the stress caused by the load torque of the σ4 is referred to the available load factor calculation T4. The load coefficient from which the stress due to the load moment in σ3 can be calculated by multiplying by M _A2 is called M3 (φ) as a function of φ. The load coefficient from which the stress due to the load moment in σ4 can be calculated by multiplying by M _A2 is called M4 (φ) which is a function of φ. The relationship shown in equation (5) is established between σ3, σ4, T _A2 , M _A2 , T3, T4, M3 (φ) and M4 (φ). In addition, M3 (φ) or M4 (φ) is a function of φ because stress due to the load moment in σ3 and stress due to the load moment in σ4 depend on the relative rotation of the case 41 and the support 42. Therefore, it changes.

Here, the relationship shown in equations (6) and (7) is established from equations (5).

Moreover, the part to which the two strain gauges 80 attached to the other one pillar 42a other than the two pillars 42a mentioned above among the three pillars 42a of the support body 42 of the reducer 40 are attached. The stresses generated at are called? 5 and? 6, respectively. The load torque calculated based on sigma 5 and sigma 6 is called T _A3 . The load moment calculated based on sigma 5 and sigma 6 is called M _A3 . By multiplying the T _A3 becomes the stress caused by the load torque of the σ5 referred to as the load factor calculated possible T5. By multiplying the T _A3 becomes the stress caused by the load torque of the σ6 referred to as the load factor calculated possible T6. The load coefficient from which the stress due to the load moment in sigma 5 can be calculated by multiplying by M _A3 is called M5 (φ) as a function of φ. The load coefficient from which the stress due to the load moment in sigma 6 can be calculated by multiplying by M _A3 is called M6 (φ) as a function of φ. The relationship shown in equation (8) is established between sigma 5, sigma 6, T _A3 , M _A3 , T5, T6, M5 (φ) and M6 (φ). In addition, M5 (φ) and M6 (φ) are functions of φ, which means that the stress due to the load moment in sigma 5 and the stress due to the load moment in sigma 6 depend on the relative rotation of the case 41 and the support 42. Therefore, it changes.

Here, the relationships shown in equations (9) and (10) are established from equations (8).

In addition, since T _A1 , T _A2 and T _A3 have the same values in theory, φ when T _A1 , T _A2 and T _A3 are closest to each other is closest to the actual operating angle of the load moment. Similarly, since M _A1 , M _A2 and M _A3 have the same values in theory, φ when M _A1 , M _A2 and M _A3 are closest to each other is closest to the actual operating angle of the load moment. That is, φ when the function δ (φ) shown in Equation 11 takes the minimum value is closest to the actual operating angle of the load moment.

Therefore, the control section 105 calculates φ when the function δ (φ) takes the minimum value based on the equations 3, 4, 6, 7, 9, 10, and 11, so that it is most effective for the actual operating angle of the load moment. It is supposed to calculate the close?. Here, the control unit 105 can calculate? 1 to? 6 based on the output of the strain gauge 80, respectively. In addition, T1-T6 and M1 (phi)-M6 (phi) are previously measured by the load test, respectively.

Subsequently, the control unit 105 calculates T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , and M _A3 from equations 3, 4, 6, 7, 9, and 10 based on the calculated φ. .

Finally, the control unit 105 calculates the speed reducer load torque T and the speed reducer load moment M based on the calculated T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , and M _A3 . It is supposed to calculate from 13.

Next, an example of the manufacturing method of the reducer threshold table 104g is demonstrated.

In the experimental apparatus manufactured in the structure equivalent to the structure of the joint part 32, after rotating the support body 42 in the forward direction 45 degrees with respect to the case 41 on the conditions that the maximum output rotation speed is 15 rpm, 45 degrees in the reverse direction. An experiment is performed to continue the reciprocating motion of rotating. In this experiment, the lubricating oil 40a uses new oil with a low degree of deterioration. Then, the time change of the black color difference ΔE is examined.

(A) is a graph which shows an example of the experiment result of the time change of the black color difference (DELTA) E when oil temperature is 40 degreeC, reducer load moment is 0.5Mo, and reducer load torque is 1.0To. FIG. 18B is a graph showing an example of an experimental result of time variation of the black color difference ΔE when the oil temperature is 60 ° C, the reducer load moment is 0.5Mo, and the reducer load torque is 1.0To. FIG. 18C is a graph showing an example of an experimental result of time variation of the black color difference ΔE when the oil temperature is 60 ° C., the reducer load moment is 0.5Mo, and the reducer load torque is 2.0To.

18 (a) to 18 (c), the rated conversion time is based on the output rotational speed of the reducer 40 and the reducer load torque when the experimental apparatus is actually driven. The time actually driven is converted into the time when the output rotation speed is 15 rpm and the reduction gear load torque is the rated torque of the reduction gear 40. In addition, the life time of the speed reducer 40 is defined as 6000 hours when the output speed is 15 rpm and the speed reducer 40 is continuously driven under the condition that the speed reducer load torque is the rated torque of the speed reducer 40.

As shown in Figs. 18A and 18B, even when the speed reducer load moment and the speed reducer load torque are the same, when the oil temperature is different, when the rated conversion time reaches 6000 hours as the life time, The black color difference ΔE (hereinafter referred to as “color difference at nominal lifetime”) is different. As shown in Figs. 18B and 18C, even when the oil temperature and the reducer load moment are the same, when the reducer load torque is different, the color difference at the rated life is different. By the same experiment, it can be confirmed that the color difference at the rated life is different when any one of the oil temperature, the reducer load moment, and the reducer load torque is different. Therefore, it is preferable that the threshold for notifying the breakage state of the reducer 40 is determined corresponding to the oil temperature, the reducer load moment, and the reducer load torque.

In addition, when several experiments are performed, even if an oil temperature, a reducer load moment, and a reducer load torque are the same in each experiment, a deviation arises in the color difference at the rated lifetime. Therefore, the minimum value of the color difference at the rated lifetime in a plurality of experiments is set as the inspection and repair threshold value, and the maximum value is set as the warning threshold value.

For example, in the reduction gear threshold table 104g shown in FIG. 15, oil temperature is 40 degreeC or more and less than 50 degreeC, reducer load moment is 0.5 Mo or more and less than 0.75Mo, and reducer load torque is 1.0 To or more 1.5 As a result of a plurality of experiments performed under the condition that the oil temperature is 40 ° C, the reducer load moment is 0.5Mo, and the reducer load torque is 1.0To, 350, which is a check and repair threshold when less than To, It was the minimum value of the color difference at the rated life. Similarly, in the reducer threshold table 104g shown in FIG. 15, the oil temperature is 40 ° C or more and less than 50 ° C, the reducer load moment is 0.5Mo or more and less than 0.75Mo, and the reducer load torque is 1.0To or more and less than 1.5To. 425, which is a warning value in the case of a plurality of experiments under the condition that the oil temperature is 40 DEG C, the reducer load moment is 0.5Mo, and the reducer load torque is 1.0 To, It was the maximum value among the color differences.

Threshold value table 104g for speed reducers is created as mentioned above. Moreover, the experiment is performed on the conditions which differ in the form of a reducer, and the several threshold value table 104g for reducers is created.

19 is a block diagram of a service provider device 130.

The service provider device 130 shown in FIG. 19 is a computer such as a PC. The service provider apparatus 130 is a display device such as an operation unit 131 which is an input device such as a mouse or a keyboard to which various operations by the user of the service provider apparatus 130 are input, and an LCD which displays various information. The display unit 132, a speaker 133 for outputting various information by sound, a network communication unit 134 which is a network communication device for communicating via the network 11 (see Fig. 1), and various data are stored. A storage unit 135, which is a storage device such as an HDD, and a control unit 136 for controlling the entire service provider device 130 are provided.

The storage unit 135 includes the same user information 135a as the user information 104b, the same robot information 135b as the robot information 104c, the same decelerator information 135c as the decelerator information 104d, and a sensor. The same sensor information 135d as the information 104e can be stored. The user information 135a, the robot information 135b, the reducer information 135c, and the sensor information 135d are changed to the user information 104b, the robot information 104c, the reducer information 104d, and the sensor information 104e. Each time there is the information updated based on the user information 104b, the robot information 104c, the speed reducer information 104d, and the sensor information 104e transmitted from the centralized monitoring device 100.

The service provider device 130 notifies the display unit 132 of the damaged state of the reducer 40 determined by the reducer damage state determining unit 105e of the centralized monitoring device 100, and the speaker 133. Is output by the sound of the present invention, and the notification output device of the present invention is constituted.

20 is a block diagram of the user device 160.

The user device 160 shown in FIG. 20 is a computer such as a PC. The user device 160 includes an operation unit 161, which is an input device such as a mouse and a keyboard, to which various operations by the user of the user device 160 are input, and a display unit that is a display device such as an LCD that displays various information ( 162, a speaker 163 for outputting various information by sound, a network communication unit 164 which is a network communication device for communicating via a network 11 (see Fig. 1), and various kinds of data are stored. A storage unit 165, which is a storage device such as an HDD, and a control unit 166 that controls the entire user device 160 are provided.

The user device 160 notifies the display unit 162 of the damaged state of the reducer 40 determined by the reducer damage state determining unit 105e of the centralized monitoring device 100, and the speaker 163. It outputs by the sound by this, and comprises the notification output apparatus of this invention.

Next, the operation of the maintenance system 10 will be described.

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

In addition, below, although the joint part 32 of the industrial robot 20 of one of the some industrial robot 20 is demonstrated, it is the same also about the joint parts 31, 33-36 of this industrial robot 20. FIG. The same applies to the joint portions 31 to 36 of the other industrial robot 20.

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

The lubricating oil deterioration sensor 60 of the joint part 32 emits white light from the white LED 72 by the electric power supplied from the battery 76. The lubricating oil deterioration sensor 60 concentrates the light quantity of each color of the RGB of the light received by the RGB sensor 73 together with the ID of the lubricating oil deterioration sensor 60 through the wireless communication device 75 as an electric signal. It transmits to the monitoring apparatus 100. In addition, the lubricating oil deterioration sensor 60 also measures the temperature detected by the temperature sensor 74, the battery remaining amount measured by the battery remaining sensor 77, and the timing of light emission detected by the emission timing sensor 78. Together with the ID of the lubricating oil deterioration sensor 60 itself, it transmits as an electric signal to the centralized monitoring device 100 via the wireless communication device 75.

In addition, the deformation degree detected by the strain gauge 80 together with the reducer ID of the reducer 40 on which the strain gauge 80 itself is installed, is the centralized monitoring device 100 as an electrical signal through the wireless communication device 81. Is sent).

Next, the operation of the centralized monitoring apparatus 100 will be described.

The control unit 105 of the centralized monitoring device 100 uses the amount of light of each color of RGB received by the RGB sensor 73 together with the sensor ID of the lubricating oil deterioration sensor 60 as the electric communication signal 103. When it receives through the control unit, the reducer ID corresponding to the sensor ID is determined based on the received sensor ID and the user information 104b. Subsequently, the control unit 105 calculates a black color difference ΔE based on the amount of light of each color of the received RGB. The control unit 105 updates the speed reducer information 104d using the calculated black color difference ΔE as the black color difference ΔE with respect to the speed reducer ID.

In addition, when the control part 105 receives the temperature detected by the temperature sensor 74 together with the sensor ID through the network communication part 103 as an electric signal, it is based on the received sensor ID and user information 104b. The speed reducer ID and the robot ID corresponding to this sensor ID are determined. The controller 105 updates the speed reducer information 104d using the received temperature as the oil temperature for the speed reducer ID. Moreover, the control part 105 calculates a robot temperature according to a predetermined formula based on this temperature. The control unit 105 updates the robot information 104c using the calculated robot temperature as the robot temperature for the robot ID.

In addition, when the control unit 105 receives the deformation detected by the strain gauge 80 together with the reducer ID through the network communication unit 103 as an electric signal, it is based on the received reducer ID and the user information 104b. The robot ID corresponding to this reducer ID is determined. Then, the controller 105 calculates the reducer load moment and the reducer load torque as described above based on the received deformation. The control unit 105 updates the reduced gear load moment and the reducer load torque as the reducer load moment and the reducer load torque for this reducer ID. Moreover, the control part 105 calculates a robot load as mentioned above based on this reducer load torque. The robot information 104c is updated using the calculated robot load as the load for this robot ID.

When the control unit 105 receives the battery remaining amount measured by the battery remaining amount sensor 77 together with the sensor ID through the network communication unit 103 as an electric signal, the controller 105 receives the received battery remaining amount as the sensor ID. The sensor information 104e is updated as the remaining battery charge.

In addition, when the control part 105 receives the timing of the light emission detected by the light emission timing sensor 78 together with the sensor ID through the network communication part 103 as an electric signal, it is based on all the light emission timings received till then. The cumulative light emission time by the white LED 72 is calculated. The control unit 105 updates the sensor information 104e using the calculated cumulative light emission time as the cumulative light emission time for the sensor ID.

First, the operation of the centralized monitoring apparatus 100 when the robot information 104c is updated will be described.

In addition, below, although the case where the robot information 104c about one industrial robot 20 (henceforth "target robot") of the some industrial robot 20 is updated is demonstrated, another industrial robot ( The same applies to the case where the robot information 104c related to 20) is updated.

21 is a flowchart of the operation of the centralized monitoring apparatus 100 when the robot information 104c is updated.

As shown in FIG. 21, the robot state adequacy determination part 105a of the control part 105 of the central monitoring apparatus 100 has the robot temperature corresponding to the robot ID of the target robot among the robot information 104c for a robot threshold. It is determined whether or not the recommended temperature range upper limit threshold on the value information 104f is exceeded (S201).

When the robot state suitability determining unit 105a determines that the robot temperature exceeds the recommended temperature range upper limit threshold in S201, the robot state suitability transmitting unit 105b of the control unit 105 is shown in Fig. 22A. As described above, the network communication unit 103 is notified of the fact that the robot temperature exceeds the upper limit of the recommended temperature range toward the service provider device 130 and the user device 160 of the user of the industrial robot 20. (S202). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

When the robot state suitability determination unit 105a determines in step S201 that the robot temperature does not exceed the recommended temperature range upper limit threshold value, the robot temperature corresponding to the robot ID of the target robot in the robot information 104c is the robot. It is determined whether or not it is less than the recommended temperature range lower limit threshold on the threshold information 104f (S203).

When the robot state adequacy determining unit 105a determines that the robot temperature is less than the recommended temperature range lower limit threshold in S203, the robot state adequacy transmitting unit 105b shows that the robot temperature is the recommended temperature as shown in Fig. 22B. Notification of the effect of being below the lower limit of the range is transmitted via the network communication unit 103 toward the service provider device 130 and the user device 160 of the user of the industrial robot 20 (S204). . When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

When the robot state adequacy determining unit 105a determines in step S203 that the robot temperature is not below the recommended temperature range lower limit threshold, the robot temperature corresponding to the robot ID of the target robot in the robot information 104c is the threshold for the robot. It is determined whether or not the temperature warning value on the value information 104f is equal to or greater than the threshold value (S205).

When the robot state suitability determining unit 105a determines that the robot temperature is equal to or higher than the high temperature warning threshold value, the robot state suitability transmitting unit 105b determines that the robot temperature is in the recommended temperature range as shown in Fig. 22C. A notification that warns that the internal limit is close to the upper limit is transmitted via the network communication unit 103 toward the service provider device 130 and the user device 160 of the user of the industrial robot 20 (S206). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

When the robot state suitability determination unit 105a determines in step S205 that the robot temperature is not equal to or higher than the high temperature warning threshold value, the robot temperature corresponding to the robot ID of the target robot in the robot information 104c is the robot threshold value. It is determined whether or not the low temperature warning threshold value on the information 104f is present (S207).

When the robot state suitability determining unit 105a determines that the robot temperature is equal to or lower than the low temperature warning threshold value in S207, the robot state suitability transmitting unit 105b indicates that the robot temperature is in the recommended temperature range as shown in Fig. 22D. A notification for warning that the inner limit is close to the lower limit is transmitted via the network communication unit 103 toward the service provider device 130 and the user device 160 of the user of the industrial robot 20 (S208). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

The robot state suitability determination unit 105a determines in step S207 that the robot temperature is not below the low temperature warning threshold value, or when the processing of S202, S204, S206, and S208 ends, the robot of the target robot in the robot information 104c. It is determined whether the robot load corresponding to the ID exceeds the recommended load range upper limit threshold on the robot threshold information 104f (S209).

When the robot state suitability determining unit 105a determines that the robot load exceeds the recommended load range upper limit threshold in S209, the robot state suitability transmitting unit 105b displays the robot load as shown in Fig. 23A. Notifies the service provider apparatus 130 and the user apparatus 160 of the user of this industrial robot 20 via the network communication unit 103 that the user is exceeding the upper limit of the recommended load range. (S210). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

When the robot state adequacy determining unit 105a determines in step S209 that the robot load does not exceed the recommended load range upper limit threshold value, the robot load corresponding to the robot ID of the target robot in the robot information 104c is the robot. It is determined whether or not the high load warning threshold value on the application threshold value information 104f is equal to or greater than the threshold value (S211).

When the robot state suitability determining unit 105a determines that the robot load is equal to or higher than the high load warning threshold value, the robot state suitability transmitting unit 105b determines that the robot load is recommended as shown in Fig. 23B. A notification for warning that it is within the range but close to the upper limit is transmitted through the network communication unit 103 toward the service provider device 130 and the user device 160 of the user of the industrial robot 20 (S212). . When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can review the operation | movement performed by the industrial robot 20 so that this notification may not be displayed on the display part 162. FIG.

When the robot state adequacy determining unit 105a determines in S211 that the robot load is not equal to or higher than the high load warning threshold value, or when the processing in S212 ends, the robot information transmitting unit 105c of the control unit 105 receives the robot information 104c. The information corresponding to the robot ID of the target robot is transmitted to the service provider device 130 through the network communication unit 103 (S213). The control unit 136 of the service provider device 130 receives the information corresponding to the robot ID of the target robot among the robot information 104c from the centralized monitoring device 100 through the network communication unit 134. Based on the information, the robot information 135b is updated.

The control part 105 complete | finishes the process shown in FIG. 21, after complete | finishing the process of S213.

Next, the operation of the centralized monitoring apparatus 100 when the speed reducer information 104d is updated will be described.

In addition, below, gear reducer information 104d regarding the reducer 40 (hereinafter referred to as "target reducer") of the plurality of reducers 40 of the industrial robot 20 of one of the plurality of industrial robots 20 will be described. The case where) is updated is explained, but the same applies to the case where the speed reducer information 104d regarding the other speed reducer 40 is updated.

24 is a flowchart of the operation of the centralized monitoring apparatus 100 when the speed reducer information 104d is updated.

As shown in FIG. 24, the threshold value setting part 105d of the control part 105 of the intensive monitoring apparatus 100 has the form and memory | storage of the reducer 40 corresponding to ID of the target reducer among the reducer information 104d. Based on the table selection table 104h on the unit 104, the ID of the reducer threshold table 104g is obtained, and the reducer threshold table 104g to which the acquired ID is assigned is subjected to subsequent processing. It sets as the threshold value table for decelerators to be used (S231).

Subsequently, the threshold value setting section 105d includes the oil temperature, the speed reducer load moment and the speed reducer load torque corresponding to the ID of the target speed reducer in the speed reducer information 104d, and the speed reducer threshold table 104g set in S231. Based on this, the inspection repair threshold and warning threshold of the speed reducer 40 are set as the inspection repair threshold and the warning threshold to be used in subsequent processing (S232).

Subsequently, the decelerator damage state determining unit 105e of the control unit 105 determines whether or not the black color difference ΔE corresponding to the ID of the target decelerator in the decelerator information 104d is equal to or less than the threshold for inspection repair set in S232. (S233).

When the reducer damage state determining unit 105e determines in step S233 that the black color difference ΔE is equal to or less than the threshold for inspection and repair, the reducer damage state transmitting unit 105f of the control unit 105 is as shown in Fig. 25A. In addition, a notice for prompting the user to inspect or repair the reduction gear 40 is provided as a notification of the damage state of the reduction gear 40, and the service robot device 130 and the industrial robot 20 including the reduction gear 40 are provided. (S234) via the network communication unit 103 toward the user device 160 of the user. In other words, when the black color difference DELTA E reaches the inspection repair threshold, the reduction gear damage state transmitter 105f transmits a notification of the damage state of the reduction gear 40 corresponding to the inspection repair threshold. When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can perform inspection or repair of the reduction gear 40 based on the notification displayed on the display part 162, for example.

If the reducer damage state determining unit 105e determines in step S233 that the black color difference ΔE is not equal to or less than the threshold for inspection and repair, the black color difference ΔE corresponding to the ID of the target reducer in the reducer information 104d is determined in S232. It is determined whether or not the set warning threshold value or less (S235).

When the reducer breakage state determining unit 105e determines that the black color difference ΔE is equal to or less than the warning threshold value, the reducer breakage state transmitting unit 105f breaks the reducer 40 as shown in Fig. 25B. A notice for warning that there is a possibility that the device is damaged is used as a notification of the damage state of the reducer 40, for the user of the user of the apparatus 130 for the service provider and the industrial robot 20 provided with the reducer 40. Transmitting through the network communication unit 103 toward the device 160 (S236). That is, when the black color difference DELTA E reaches the warning threshold value, the reduction gear damage state transmitter 105f transmits a notification of the damage state of the reducer 40 corresponding to the warning threshold value. When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, the service provider who is a user of the service provider apparatus 130 is, for example, based on the notification displayed on the display unit 132, for example, to the manufacturer or the user of the industrial robot 20 equipped with the speed reducer 40. It is possible to send a replacement reducer 40, dispatch a serviceman to the place where the industrial robot 20 equipped with the reducer 40 is installed, or adjust the output of the reducer 40 for replacement. . In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can perform the preparation for inspection or repair of the reduction gear 40, for example, based on the notification displayed on the display unit 162.

When the reducer damage state determining unit 105e determines in S235 that the black color difference ΔE is not equal to or less than the warning threshold value, or when the processing of S234 or S236 ends, the reducer information transmitting unit 105g of the control unit 105 receives the reducer information ( Information corresponding to the ID of the target speed reducer in 104d) is transmitted via the network communication unit 103 toward the service provider device 130 (S237). The control unit 136 of the service provider device 130 receives the information corresponding to the ID of the target speed reducer from the decelerator information 104d through the network communication unit 134 from the centralized monitoring device 100. Based on the above, the speed reducer information 135c is updated.

The control part 105 complete | finishes the process shown in FIG. 24, after complete | finishing the process of S237.

Next, the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated will be described.

In addition, below, the lubricating oil deterioration sensor 60 (henceforth a "target sensor") of the speed reducer 40 of one of the plurality of speed reducers 40 of the industrial robot 20 of one of the several industrial robots 20 is called. Although the case where the sensor information 104e regarding () is updated is demonstrated, the same also applies to the case where the sensor information 104e regarding the other lubricating oil deterioration sensor 60 is updated.

26 is a flowchart of the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated.

As shown in FIG. 26, the sensor consumption state determination part 105h of the control part 105 of the intensive monitoring apparatus 100 has the battery residual quantity corresponding to ID of the target sensor among the sensor information 104e for a sensor threshold. It is determined whether or not the threshold for battery replacement on the value information 104i has been reached (S261).

If the sensor consumption state determining unit 105h determines that the battery remaining amount has reached the battery replacement threshold in S261, the sensor consumption state transmitting unit 105i of the control unit 105 is as shown in Fig. 27A. For the user of the user of the industrial robot 20 provided with the apparatus 130 for a service provider and this lubricating oil deterioration sensor 60, the notification which prompts replacement | exchange of the battery 76 of the lubricating oil deterioration sensor 60 is carried out. It transmits through the network communication unit 103 toward the device 160 (S262). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can perform the replacement of the battery 76 of the lubricating oil deterioration sensor 60 based on the notification displayed on the display part 162, for example.

When the sensor consumption state determining unit 105h determines in S261 that the battery remaining amount has not reached the battery replacement threshold value, the battery remaining amount corresponding to the ID of the target sensor in the sensor information 104e corresponds to the sensor threshold. It is determined whether or not the battery warning threshold value on the value information 104i is present (S263).

If the sensor consumption state determining unit 105h determines that the battery remaining amount is equal to or lower than the battery warning threshold value, in S263, the sensor consumption state transmitting unit 105i warns that the battery remaining amount is low, as shown in Fig. 27B. The notification to be transmitted is transmitted via the network communication unit 103 toward the service device device 130 and the user device 160 of the user of the industrial robot 20 equipped with the lubricant deterioration sensor 60 ( S264). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, the service provider who is a user of the apparatus for service provider 130 is a manufacturer of the industrial robot 20 equipped with this lubricating oil deterioration sensor 60 based on the notification displayed on the display part 132, for example. The battery 76 for replacement of the lubricating oil deterioration sensor 60 is sent to a user, the serviceman is dispatched to the place where the industrial robot 20 equipped with the lubricating oil deterioration sensor 60 is installed, or the battery for exchange. The output of (76) may be adjusted. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can perform preparation for replacement of the battery 76 of the lubricating oil deterioration sensor 60 based on the notification displayed on the display part 162, for example.

The sensor consumption state determining unit 105h determines in step S263 that the remaining battery level is not equal to or lower than the battery warning threshold value, or when the processing in S262 and S264 ends, the sensor consumption state determining unit 105h corresponds to the ID of the target sensor in the sensor information 104e. It is determined whether the cumulative light emission time is equal to or greater than the LED replacement threshold on the sensor threshold information 104i (S265).

When the sensor consumption state determining unit 105h determines that the cumulative emission time is equal to or greater than the threshold value for LED replacement in S265, the sensor consumption state transmitting unit 105i displays the white LED 72 as shown in Fig. 28A. The network communication unit 103 is directed toward the service device device 130 and the user device device 160 of the user of the industrial robot 20 equipped with the lubricating oil deterioration sensor 60. Transmit through (S266). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. In addition, when the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can perform the replacement of the white LED 72 based on the notification displayed on the display part 162, for example.

When the sensor consumption state determination unit 105h determines in step S265 that the cumulative light emission time is less than the threshold for LED replacement, the cumulative light emission time corresponding to the ID of the target sensor in the sensor information 104e includes the sensor threshold information. It is determined whether or not the LED warning threshold on the 104i is greater than or equal to (S267).

When the sensor consumption state determining unit 105h determines in S267 that the cumulative emission time is equal to or greater than the LED warning threshold value, the sensor consumption state transmission unit 105i has a cumulative emission time of white as shown in Fig. 28B. A notice to warn that the LED 72 is nearing the end of its life is directed to the service device 130 and the user device 160 of the user of the industrial robot 20 equipped with the lubricating oil deterioration sensor 60. The transmission is performed through the network communication unit 103 (S268). When the control unit 136 of the service provider device 130 receives a notification from the centralized monitoring device 100 through the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, the service provider who is a user of the apparatus for service provider 130 is a manufacturer of the industrial robot 20 equipped with this lubricating oil deterioration sensor 60 based on the notification displayed on the display part 132, for example. Send a white LED 72 for replacement of the lubricant deterioration sensor 60 to the user, or dispatch a serviceman to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed or for replacement. The output of the white LED 72 may be adjusted. In addition, when the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 through the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user apparatus 160 can perform preparation for replacement of the white LED 72 based on the notification displayed on the display part 162, for example.

When the sensor consumption state determining unit 105h determines in S267 that the cumulative emission time is less than the LED warning threshold value, or when the processing of S266 or S268 ends, the sensor information transmitting unit 105j of the control unit 105 determines the sensor information ( Information corresponding to the ID of the target sensor in 104e) is transmitted via the network communication unit 103 toward the service provider device 130 (S269). The control unit 136 of the service provider device 130 receives the information corresponding to the ID of the target sensor among the sensor information 104e from the centralized monitoring device 100 via the network communication unit 134. Based on the information, the sensor information 135d is updated.

The control part 105 complete | finishes the process shown in FIG. 26, after complete | finishing the process of S269.

As described above, the concentrated monitoring apparatus 100 determines the damage state of the reducer 40 in accordance with the color detected by the RGB sensor 73 of the lubricating oil deterioration sensor 60, and thus, the damage state of the reducer 40. Can be judged more appropriately than before.

In addition, the decelerator damage state determination unit 105e of the centralized monitoring device 100 is detected by the RGB sensor 73 based on the information transmitted by the radio communication device 75 of the lubricant deterioration sensor 60. The black color difference ΔE, which is a value corresponding to the color, and the inspection repair threshold value and the warning threshold value stored in the storage unit 104 are compared (S233, S235), and this black color difference ΔE is the threshold for repair and maintenance of the inspection. When the threshold value (Yes in S233, "Yes" in S235) is reached, the RGB sensor 73 indicates the breakage state of the reducer 40 corresponding to the check and repair threshold value and the warning threshold value. The deterioration of the lubricating oil 40 of the reduction gear 40, which is a target for detecting the deterioration of the lubricating oil 40a, is determined by the lubricating oil deterioration sensor 60 provided with (). That is, the centralized monitoring apparatus 100 is based on the values according to the color detected by the RGB sensor 73 of the lubricating oil deterioration sensor 60 of each reduction gear 40 of the plurality of industrial robots 20. Since the damage state of the reduction gear 40 is judged and the notification of the damage state of the reduction gear 40 is determined to the outside, the notification of the damage state of each reduction gear 40 of the plurality of industrial robots 20 is transmitted to the outside. can do.

Therefore, the centralized monitoring apparatus 100 can transmit the notification of the damage state more appropriate than the conventional one of the reduction gears 40 of the plurality of industrial robots 20 to the outside.

The threshold setting unit 105d of the centralized monitoring device 100 is for inspection and repair according to the use state of the reducer 40 based on the information transmitted by the radio communication device 75 and the radio communication device 81. Thresholds and warning thresholds are set (S232). That is, since the centralized monitoring device 100 sets the inspection repair threshold value and the warning threshold value for determining the damage state of the reducer 40 according to the actual use state of the reducer 40, The damage state can be notified with high accuracy in accordance with the actual use state of the reducer 40.

For example, the threshold value setting part 105d sets the inspection repair threshold value and the warning threshold value according to the temperature of the lubricating oil 40a based on the information transmitted by the radio communication apparatus 75. That is, since the centralized monitoring apparatus 100 sets the inspection repair threshold value and the warning threshold value for determining the damage state of the reducer 40 in accordance with the actual temperature of the lubricating oil 40a, the damage of the reducer 40 is reduced. The state can be notified with high accuracy according to the actual temperature of the lubricating oil 40a. In addition, the centralized monitoring apparatus 100 may be configured to set a warning threshold value and an inspection repair threshold value according to an oil temperature other than the oil temperature detected by the temperature sensor 74. For example, the centralized monitoring device 100 may be configured to set a warning threshold value and a check repair threshold value according to the oil temperature input from the user through the operation unit 101. In addition, the intensive monitoring apparatus 100 is an oil temperature used in the process shown in FIG. 21, and it is not only the actual temperature of the lubricating oil 40a acquired immediately before, but also the lubricating oil of predetermined periods, such as the recent 10 minutes. The average value of the actual temperature of 40a may be adopted.

In addition, the threshold value setting unit 105d sets the threshold value for inspection and repair according to the load applied to the reducer 40 and the warning threshold value based on the information transmitted by the radio communication device 81. That is, since the centralized monitoring device 100 sets the inspection repair threshold value and the warning threshold value for determining the damage state of the reducer 40 in accordance with the load actually applied to the reducer 40, The damage state can be notified with high accuracy according to the load actually applied to the reducer 40. In addition, a method other than the strain gauge 80 may be sufficient as the detection method of the load actually applied to the reducer 40. In addition, the intensive monitoring apparatus 100 is not only the load acquired immediately before, but also the average value of the actual load of a predetermined period of time, such as 10 minutes, as a load used in the process shown in FIG. You may be.

In addition, since the centralized monitoring device 100 transmits the speed reducer information 104d only to the service provider device 130 among the service provider device 130 and the user device 160 (S237), the device 130 for the service provider. ) And the user device 160 may transmit the appropriate information according to each user to the service provider device 130 and the user device 160. For example, the service provider who is a user of the service provider device 130 is based on the decelerator information 104d received by the service provider device 130 from the centralized monitoring device 100. The threshold table 104g for the phase reducer can be modified. Moreover, the service provider which is a user of the service provider device 130 is based on the speed reducer information 104d received from the centralized monitoring apparatus 100 by the service provider device 130, and the actual service of the reducer 40 is carried out. It is also possible to develop a new reducer 40 that is suitable for use.

In addition, the reducer threshold table 104g may be manually corrected by the service provider based on the reducer information 104d received from the centralized monitoring device 100 by the service provider device 130, and the reducer information. The correction may be made automatically by the centralized monitoring apparatus 100 based on 104d.

In addition, since the centralized monitoring device 100 notifies the service provider device 130 and the user device 160 of the notification of the consumption state of the lubricating oil deterioration sensor 60 (S262, S264, S266, S268), it is inappropriate. The use of the lubricating oil deterioration sensor 60 can be prevented, and as a result, the accuracy of the notification of the breakage state of the reducer 40 can be maintained. For example, the centralized monitoring device 100 transmits a notification of the depletion state of the battery 76 to the service provider device 130 and the user device 160 as the depletion state of the lubricating oil deterioration sensor 60 (S262). S264), it is possible to prevent the use of the improper lubricating oil deterioration sensor 60 with the battery remaining zero. In addition, the centralized monitoring device 100 transmits a notification of the consumed state of the white LED 72 as the consumed state of the lubricating oil deterioration sensor 60 to the service provider device 130 and the user device 160 (S266, S268), it is possible to prevent the use of the inappropriate lubricating oil degradation sensor 60 in which the white LED 72 is broken.

In addition, the centralized monitoring apparatus 100 acquires the robot temperature according to the oil temperature based on the information transmitted by the wireless communication device 75, and suitability of the use state of the industrial robot 20 based on the acquired robot temperature. Since it is judged (S202, S204, S206, S208), inappropriate use of the industrial robot 20 such that the robot temperature becomes an inappropriate temperature can be suppressed.

In addition, the centralized monitoring apparatus 100 acquires the robot load corresponding to the load applied to the reducer 40 based on the information transmitted by the wireless communication device 81, and the industrial robot 20 based on the acquired robot load. Since the appropriateness of the use state of the robot is judged (S210, S212), it is possible to suppress the inappropriate use of the industrial robot 20 such that the robot load becomes an inappropriate load.

The temperature sensor 74 detects the oil temperature via the holder 63a, but may detect the oil temperature directly without passing through another member such as the holder 63a.

Since the temperature sensor 74 is built in the lubricating oil deterioration sensor 60, the maintenance system 10 can be easily constructed as compared with the configuration in which the temperature sensor 74 is provided separately from the lubricating oil deterioration sensor 60. Can be. In the maintenance system 10, the temperature sensor 74 may be provided separately from the lubricating oil deterioration sensor 60.

Since the centralized monitoring apparatus 100 manages not only the type of the reducer 40 but also the lot number, even if the reducer 40 of the same type is used, the reducer 40 of the lot in which damage occurs earlier than other lots is provided to a service provider. It can be recognized. Therefore, a service provider raises the frequency of replacement of the lubricating oil 40a of the reducer 40 of the lot which breaks earlier than other lots, for example, or the deterioration of the lubricating oil 40a by the lubricating oil deterioration sensor 60. The detection cycle can be shortened.

The centralized monitoring apparatus 100 is a threshold value for notifying a damage state of the reduction gear 40, and includes two threshold values corresponding to the possibility of damage of the reduction gear 40, that is, a warning threshold value and a check repair threshold value. Since the value is included, the damage state of the reduction gear 40 can be notified in two stages as the possibility of damage of the reduction gear 40 (S234, S236). When the user is notified of the damage state of the reducer 40 in multiple stages as the possibility of damage of the reducer 40, the user may suddenly be notified of a very high likelihood that the reducer 40 is broken, for example. With a margin, it is possible to determine the necessity of replacing the reducer 40. In addition, the centralized monitoring apparatus 100 may have only one threshold value for notifying the breakage state of the reducer 40, and the reducer 40 may be used as the threshold value for notifying the breakage state of the reducer 40. May include a threshold value of three or more steps corresponding to the possibility of breakage.

The lubricating oil deterioration sensor 60 is configured to transmit the amount of light of each color of the RGB received by the RGB sensor 73 to the centralized monitoring device 100, but as long as the information corresponds to the color of the light received by the RGB sensor 73. The information other than the amount of light of each color of RGB of the light received by the RGB sensor 73 may be transmitted to the centralized monitoring device 100. For example, the lubricating oil deterioration sensor 60 is the information according to the color of the light received by the RGB sensor 73 and calculates the black color difference ΔE calculated based on the amount of light of each color of RGB of the light received by the RGB sensor 73. The centralized monitoring apparatus 100 may be transmitted. When the oil deterioration sensor 60 is to transmit the black color difference ΔE calculated based on the light amount of each color of RGB of the light received by the RGB sensor 73 to the centralized monitoring device 100, the centralized monitoring device 100 The decelerator damage state determining unit 105e does not need to calculate the black color difference ΔE based on the light amount of each color of RGB of the light received by the RGB sensor 73.

Each lubricant deterioration sensor is a communication method with an external device. In the present embodiment, wireless communication by means of a built-in wireless communication device is adopted, but communication by wire may be adopted, for example.

In addition, although the built-in battery is employ | adopted in this embodiment as each lubricating oil deterioration sensor as a power supply means, the cable which electrically connects an external power supply and a lubricating oil deterioration sensor may be employ | adopted, for example.

In addition, the installation position of each lubricating oil deterioration sensor is not limited to the position shown in this embodiment, It is preferable to set suitably according to the use etc. of an industrial robot.

This application is based on the JP Patent application (Japanese Patent Application No. 2012-120082) of an application on May 25, 2012, The content is taken in here as a reference.

The centralized monitoring apparatus of the present invention can transmit a notification of a damage state more appropriate than that of the reducers of each of a plurality of industrial robots to the outside.

10: maintenance system
20: industrial robot
40: reducer
40a: Lubricant
60: lubricant deterioration sensor
62: gap formation member
62a: oil clearance
72: white LED (light emitting element)
72a: optical path
73: RGB sensor (color light receiving element)
74: temperature sensor (reduction gear state sensor, lubricant temperature sensor)
75: radio communication device (color information transmission device, reducer information transmission device)
76: battery
80: strain gauge (reduction gear state sensor, load sensor)
81: radio communication device (reduction device information transmission device)
100: centralized monitoring device
104: memory unit (threshold memory unit)
104a: intensive surveillance program
105a: robot state suitability determination unit (robot state suitability determination means)
105b: robot state suitability transmitting unit (robot state suitability transmitting means)
105d: threshold setting unit (threshold setting unit)
105e: reducer damage state determination unit (reducer damage state determination means)
105f: Reducer damaged state transmitter (Reducer damaged state transmitter)
105g: Reducer information transmitter (reducer information transmitter)
105h: sensor consumption state determination unit (sensor consumption state determination means)
105i: sensor consumption status transmitter (sensor consumption status transmission means)
130: service equipment (notification output device)
160: user device (notification output device)

Claims (12)

An intensive monitoring device that integrates and monitors a plurality of industrial robots equipped with a reduction gear and a lubricating oil deterioration sensor for detecting deterioration of lubricating oil of the reduction gear,
The lubricating oil deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, and an oil gap disposed on an optical path from the light emitting element to the color light receiving element, which is a gap through which the lubricating oil penetrates. And a gap forming member for transmitting light, and a color information transmitting device for transmitting information according to the color detected by the color light receiving element to the outside of the lubricating oil deterioration sensor.
The centralized monitoring apparatus includes a threshold value storage unit for storing a threshold value corresponding to a breakage state of the reducer, a reducer breakage state determining unit for determining a breakage state of the reducer, and the reducer breakage state determination unit. A reducer damage state transmitting means for transmitting a notification of a breakage state of the reducer to the outside of the centralized monitoring device,
The decelerator damage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element reaches the threshold value stored in the threshold value storage section. In one case, the damaged state of the reducer corresponding to this threshold is judged as the broken state of the reducer which is the object to which the lubricating oil deterioration sensor provided with this color light receiving element detects the deterioration of the lubricating oil,
The industrial robot is a speed reducer information transmitting device for transmitting a speed reducer use state sensor for detecting a use state of the reducer, and information corresponding to a use state of the reducer detected by the reducer use state sensor to the outside of the industrial robot. Equipped with
The centralized monitoring device includes threshold setting means for setting the threshold value for determination by the reducer damage state determining means among the threshold values stored in the threshold value storage section.
The threshold value setting means sets the threshold value according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmission device,
The speed reducer damage state transmitting means is configured to output a notification of the damage state of the speed reducer determined by the speed reducer damage state determining means to the outside of the centralized monitoring device and output this notification by at least one of display and sound. Send to two notification output devices,
The centralized monitoring device is provided with reducer information transmitting means for transmitting information corresponding to the color detected by the color light receiving element and information corresponding to the use state of the reducer to only one of the two notification output devices. Centralized monitoring device. An intensive monitoring device that integrates and monitors a plurality of industrial robots equipped with a reduction gear and a lubricating oil deterioration sensor for detecting deterioration of lubricating oil of the reduction gear,
The lubricating oil deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, and an oil gap disposed on an optical path from the light emitting element to the color light receiving element, which is a gap through which the lubricating oil penetrates. And a gap forming member for transmitting light, and a color information transmitting device for transmitting information according to the color detected by the color light receiving element to the outside of the lubricating oil deterioration sensor.
The centralized monitoring apparatus includes a threshold value storage unit for storing a threshold value corresponding to a breakage state of the reducer, a reducer breakage state determining unit for determining a breakage state of the reducer, and the reducer breakage state determination unit. A reducer damage state transmitting means for transmitting a notification of a breakage state of the reducer to the outside of the centralized monitoring device,
The decelerator damage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element reaches the threshold value stored in the threshold value storage section. In one case, the damaged state of the reducer corresponding to this threshold is judged as the broken state of the reducer which is the object to which the lubricating oil deterioration sensor provided with this color light receiving element detects the deterioration of the lubricating oil,
The industrial robot is a speed reducer information transmitting device for transmitting a speed reducer use state sensor for detecting a use state of the reducer, and information corresponding to a use state of the reducer detected by the reducer use state sensor to the outside of the industrial robot. Equipped with
The centralized monitoring device includes threshold setting means for setting the threshold value for determination by the reducer damage state determining means among the threshold values stored in the threshold value storage section.
The threshold value setting means sets the threshold value according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmission device,
The reducer use state sensor includes a lubricating oil temperature sensor for detecting a temperature of the lubricating oil as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the temperature of the lubricant oil detected by the lubricant oil temperature sensor to the outside of the industrial robot,
The threshold value setting means sets the threshold value according to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmitting device,
Robot state suitability determining means for determining suitability of the use state of the industrial robot, and robot state for transmitting notification of suitability of the use state of the industrial robot determined by the robot state suitability determining means to the outside of the centralized monitoring device. Equipped with an appropriateness transmission means,
The robot state suitability determining means acquires the temperature of the industrial robot corresponding to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmitting device, and based on the temperature of the industrial robot acquired. The centralized monitoring device, characterized in that the suitability of the state of use is determined. An intensive monitoring device that integrates and monitors a plurality of industrial robots equipped with a reduction gear and a lubricating oil deterioration sensor for detecting deterioration of lubricating oil of the reduction gear,
The lubricating oil deterioration sensor includes a light emitting element for emitting light, a color light receiving element for detecting a color of received light, and an oil gap disposed on an optical path from the light emitting element to the color light receiving element, which is a gap through which the lubricating oil penetrates. And a gap forming member for transmitting light, and a color information transmitting device for transmitting information according to the color detected by the color light receiving element to the outside of the lubricating oil deterioration sensor.
The centralized monitoring apparatus includes a threshold value storage unit for storing a threshold value corresponding to a breakage state of the reducer, a reducer breakage state determining unit for determining a breakage state of the reducer, and the reducer breakage state determination unit. A reducer damage state transmitting means for transmitting a notification of a breakage state of the reducer to the outside of the centralized monitoring device,
The decelerator damage state determining means is a value based on the information transmitted by the color information transmitting device, and a value corresponding to the color detected by the color light receiving element reaches the threshold value stored in the threshold value storage section. In one case, the damaged state of the reducer corresponding to this threshold is judged as the broken state of the reducer which is the object to which the lubricating oil deterioration sensor provided with this color light receiving element detects the deterioration of the lubricating oil,
The industrial robot is a speed reducer information transmitting device for transmitting a speed reducer use state sensor for detecting a use state of the reducer, and information corresponding to a use state of the reducer detected by the reducer use state sensor to the outside of the industrial robot. Equipped with
The centralized monitoring device includes threshold setting means for setting the threshold value for determination by the reducer damage state determining means among the threshold values stored in the threshold value storage section.
The threshold value setting means sets the threshold value according to the use state of the speed reducer based on the information transmitted by the speed reducer information transmission device,
The reducer use state sensor includes a load sensor for detecting a load applied to the reducer as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the load applied to the speed reducer detected by the load sensor to the outside of the industrial robot,
The threshold value setting means sets the threshold value according to the load applied to the speed reducer based on the information transmitted by the speed reducer information transmitting device,
Robot state suitability determining means for determining suitability of the use state of the industrial robot, and robot state for transmitting notification of suitability of the use state of the industrial robot determined by the robot state suitability determining means to the outside of the centralized monitoring device. Equipped with an appropriateness transmission means,
The robot state suitability determining means acquires the load of the industrial robot according to the load applied to the reducer based on the information transmitted by the reducer information transmitting device, and based on the acquired load of the industrial robot, the industrial The centralized monitoring device, characterized in that it determines the appropriateness of the use state of the robot. The method of claim 1,
The reducer use state sensor includes a load sensor for detecting a load applied to the reducer as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the load applied to the speed reducer detected by the load sensor to the outside of the industrial robot,
The threshold setting means sets the threshold value according to the load applied to the speed reducer based on the information transmitted by the speed reducer information transmitting device. The method of claim 1,
The reducer use state sensor includes a lubricating oil temperature sensor for detecting a temperature of the lubricating oil as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the temperature of the lubricant oil detected by the lubricant oil temperature sensor to the outside of the industrial robot,
The threshold setting means sets the threshold value according to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmitting device. The method of claim 1,
The centralized monitoring apparatus includes a sensor consumption state determination means for determining a consumption state of the lubricant degradation sensor and a notification of the consumption state of the lubricant degradation sensor determined by the sensor consumption state determination means to the outside of the concentrated monitoring apparatus. And a sensor consumption state transmitting means for transmitting. The method of claim 6,
The lubricating oil deterioration sensor is provided with a battery for supplying power to the light emitting element,
And the sensor consumption state determining means determines the consumption state of the battery according to the remaining amount of power of the battery as the consumption state of the lubricating oil deterioration sensor. The method of claim 6,
And the sensor consumption state determining means determines the consumption state of the light emitting element according to the cumulative time of light emission by the light emitting element as the consumption state of the lubricating oil deterioration sensor. The method of claim 3,
The reducer use state sensor includes a lubricating oil temperature sensor for detecting a temperature of the lubricating oil as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the temperature of the lubricant oil detected by the lubricant oil temperature sensor to the outside of the industrial robot,
The threshold setting means sets the threshold value according to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmitting device. The method of claim 4, wherein
The reducer use state sensor includes a lubricating oil temperature sensor for detecting a temperature of the lubricating oil as a use state of the reducer,
The speed reducer information transmitting device transmits information according to the temperature of the lubricant oil detected by the lubricant oil temperature sensor to the outside of the industrial robot,
The threshold setting means sets the threshold value according to the temperature of the lubricating oil based on the information transmitted by the speed reducer information transmitting device. A medium on which a centralized monitoring program is recorded, wherein the computer functions as the centralized monitoring device according to any one of claims 1 to 10. The centralized monitoring device according to any one of claims 1 to 10,
A plurality of said industrial robots monitored by said centralized monitoring device,
And a notification output device for outputting, by at least one of a display and a sound, a notification of the damage state of the speed reducer transmitted by the centralized monitoring device.

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