KR20150016246A - 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 failure state of the speed reducer, a determination unit that determines a failure state of the speed reducer, a notification unit that notifies the failure state of the speed reducer determined by the speed reducer failure state determination unit To the outside of the centralized monitoring apparatus. When the value corresponding to the color detected by the color light receiving element of the lubricant oil degradation sensor reaches the threshold value stored in the storage section, the speed reducer failure condition determination means determines that the speed reducer The broken state is determined as the broken state of the speed reducer, which is the target for detecting deterioration of the lubricating oil, by the lubricant degradation sensor provided with the color light receiving element.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a central monitoring apparatus for industrial robots, a medium on which a centralized monitoring program is recorded, and a maintenance system for the industrial robots,

The present invention relates to a centralized monitoring apparatus for monitoring and integrating a plurality of industrial robots.

Generally, the accuracy of the locus of the arm depends largely on the performance of the speed reducer used in the joint part of the industrial robot. Therefore, it is important that the speed reducer for the industrial robot is appropriately exchanged when performance is degraded. However, when a speed reducer for an industrial robot is exchanged, the industrial robot equipped with the speed reducer or the production line in which the industrial robot is installed must be stopped. Therefore, it is very important that the failure of the speed reducer for the industrial robot is appropriately predicted in order to grasp the replacement time of the speed reducer for the industrial robot.

There is provided a device for predicting a failure of a speed reducer for an industrial robot, comprising: a maintenance information output device for predicting a failure of a speed reducer when an iron content detected by an iron content detecting device for detecting an iron content in lubricating oil in a speed reducer is not less than a threshold value; (See Patent Document 1).

International Publication No. 2007/046505

The cause of deterioration of the lubricant in the decelerator of the industrial robot is not only an increase in the amount of iron. The lubricating oil is also deteriorated by a change with time of the lubricating oil itself.

However, the technique described in Patent Document 1 has a problem that when the lubricating oil is deteriorated due to a change with time of the component itself of the lubricating oil, there is a possibility that failure of the reducer can not be properly predicted.

In addition, since a plurality of industrial robots are often provided on a production line, it is preferable that a plurality of industrial robots are integrated and monitored.

It is an object of the present invention to provide a centralized monitoring apparatus capable of transmitting a notice of an appropriate breakage state of a speed reducer of each of a plurality of industrial robots to the outside.

According to an advantageous aspect of the present invention, there is provided a centralized monitoring apparatus for monitoring a plurality of industrial robots provided with a speed reducer and a lubricant degradation sensor for detecting deterioration of the lubricating oil of the speed reducer,

The lubricant deterioration sensor comprises: a light emitting element configured to emit light; a color light receiving element configured to detect the color of the light received; and an oil supply means for supplying the oil, which is disposed on the optical path from the light emitting element to the color light receiving element, And a color information transmitting device configured to transmit information in accordance with the color detected by the color light receiving element to the outside of the lubricant deterioration sensor,

The centralized monitoring apparatus includes:

A threshold value storage configured to store a threshold value corresponding to a failure state of the speed reducer;

A speed reducer failure state determination unit configured to determine a failure state of the speed reducer;

And a speed reducer failure state transmission means configured to transmit a notification of a failure state of the speed reducer determined by the speed reducer failure state determination means to the outside of the central monitoring apparatus,

Wherein when the value corresponding to the color detected by the color light receiving element obtained from the information transmitted by the color information transmitting apparatus reaches the threshold value stored in the storage unit, And the broken state of the speed reducer corresponding to the threshold value is determined as the broken state of the speed reducer that is the object to be detected by the lubricant oil degradation sensor having the color light receiving element.

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

The centralized monitoring apparatus may be configured as follows. Wherein the speed reducer use state sensor is provided with a lubricant temperature sensor configured to detect the temperature of the lubricant oil as the use state of the speed reducer, and the speed reducer information transmission apparatus includes information on the temperature detected by the lubricant oil temperature sensor And the threshold value setting means sets the threshold value according to the temperature based on the information transmitted by the speed reducer information transmission device.

The centralized monitoring apparatus may be configured as follows. Wherein the speed reducer usage state sensor includes a load sensor configured to detect a load applied to the speed reducer as a state of use of the speed reducer, and the speed reducer information transmission device includes information on the load detected by the load sensor And the threshold value setting means sets the threshold value according to the load based on the information transmitted by the speed reducer information transmission device.

The centralized monitoring apparatus may be configured as follows. The speed reducer failure state transmission means transmits a notice of a failure state of the speed reducer determined by the speed reducer failure state determination means to at least two out of the central monitoring apparatuses for outputting the notification by at least one of display and sound And the central monitoring device transmits the information according to the color detected by the color light receiving element and the information according to the use state of the speed reducer to only one of the notification output apparatuses, .

The centralized monitoring apparatus may be configured as follows. Wherein the centralized monitoring apparatus further comprises sensor consumption state determination means configured to determine a consumption state of the lubricant degradation sensor and notification of a consumption state of the lubricant oil degradation sensor determined by the sensor consumption state determination means to an external And a sensor consumption state transmitting means configured to transmit the sensor consumption state.

The centralized monitoring apparatus may be configured as follows. Wherein the lubricant deterioration sensor includes a battery configured to supply power to the light emitting element and the sensor consumption state determination unit determines a consumption state of the battery in accordance with the remaining amount of the battery power as a consumption state of the lubricant oil degradation sensor State.

The centralized monitoring apparatus may be configured as follows. 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 lubricant oil degradation sensor.

The centralized monitoring apparatus may be configured as follows. A robotic state adequacy judging means configured to judge the appropriateness of the use state of the industrial robot and a robot state adequacy judging means configured to send a notice of suitability of the use state judged by the robotic state adequacy judging means to the outside of the centralized monitoring apparatus Wherein the robotic state adequacy determining means is configured to acquire the temperature of the industrial robot in accordance with the temperature of the lubricant based on the information transmitted by the speed reducer information transmitting apparatus, Thereby determining the suitability of the state of use of the industrial robot.

The centralized monitoring apparatus may be configured as follows. A robotic state adequacy determination means configured to determine an appropriateness of a state of use of the industrial robot and a controller configured to transmit a notification of suitability of the state of use of the industrial robot determined by the robotic state adequacy determination means to the outside of the centralized monitoring apparatus Wherein the robotic state adequacy determining means obtains a load of the industrial robot according to a load applied to the speed reducer based on the information transmitted by the speed reducer information transmitting apparatus, And judges the appropriateness of the use state of the industrial robot based on the acquired load.

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

According to another advantageous aspect of the present invention, there is provided an information processing apparatus comprising: the above-mentioned centralized monitoring apparatus; a plurality of the above-mentioned industrial robots monitored by the centralized monitoring apparatus; And a notification outputting apparatus which outputs the notification by at least one of the following.

The centralized monitoring apparatus of the present invention determines the breakage state of the speed reducer according to the color detected by the color light receiving element of the lubricant oil degradation sensor, so that the breakdown state of the speed reducer can be judged more appropriately than in the prior art. Further, the centralized monitoring apparatus of the present invention is characterized in that a failure state of each of the speed reducers is determined based on a value corresponding to the color detected by the color light receiving element of the lubricant degradation sensor of the speed reducer of each of the plurality of industrial robots, Since the notification of the state is transmitted to the outside, notification of the breakage state of the speed reducer of each of the plurality of industrial robots can be transmitted to the outside. Therefore, the centralized monitoring apparatus of the present invention can transmit to the outside a notice of a breakage state of the decelerator of each of a plurality of industrial robots more appropriate than the conventional one.

The centralized monitoring apparatus of the present invention sets the threshold value for determining the failure state of the speed reducer according to the actual use state of the speed reducer so that the failure state of the speed reducer can be notified with high accuracy according to the actual use state of the speed reducer.

The centralized monitoring apparatus of the present invention sets the threshold value for determining the failure state of the speed reducer in accordance with the actual temperature of the lubricant oil so that the failure state of the speed reducer can be notified with high accuracy according to the actual temperature of the lubricant oil.

The centralized monitoring apparatus of the present invention sets the threshold value for judging the failure state of the speed reducer in accordance with the load actually applied to the speed reducer so that the failure state of the speed reducer can be notified with high accuracy according to the load actually applied to the speed reducer.

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

The centralized monitoring apparatus of the present invention notifies the outside of the consumption state of the lubricating oil deterioration sensor to the outside so that it is possible to prevent an inappropriate lubricating oil deterioration sensor from being used and consequently to maintain the accuracy of notification of the failure state of the speed reducer .

The centralized monitoring apparatus of the present invention transmits to the outside the notification of the consumption state of the battery as the consumption state of the lubricating oil deterioration sensor, and thus it is possible to prevent an inappropriate lubricating oil deterioration sensor having the remaining battery level from being used.

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

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

INDUSTRIAL APPLICABILITY The centralized monitoring apparatus of the present invention can suppress improper use of an industrial robot such that the load of the industrial robot becomes an inappropriate load.

The computer for executing the centralized monitoring program of the present invention determines the breakage state of the speed reducer according to the color detected by the color light receiving element of the lubricant oil degradation sensor, so that the breakdown state of the speed reducer can be judged more appropriately than before. The computer for executing the centralized monitoring program of the present invention determines the damage state of each of the speed reducers based on the value according to the color detected by the color light receiving element of the lubricant degradation sensor of the speed reducer of each of the plurality of industrial robots, The notification of the determined breakage state of the speed reducer is transmitted to the outside, so that the notification of the breakage state of the speed reducer of each of the plurality of industrial robots can be transmitted to the outside. Therefore, the computer that executes the centralized monitoring program of the present invention can transmit to the outside the notification of the breakage state of the decelerator of each of the plurality of industrial robots more appropriate than the conventional one.

In the maintenance system of the present invention, the central monitoring device determines the damage state of the speed reducer according to the color detected by the color light receiving element of the lubricating oil deterioration sensor, so that the failure state of the speed reducer can be determined more appropriately have. The maintenance system of the present invention is characterized in that the central monitoring device determines the failure state of each of the speed reducers based on the value according to the color detected by the color light receiving element of the lubricant degradation sensor of the speed reducer of each of the plurality of industrial robots, The notification of the breakage state of the speed reducer of each of the plurality of industrial robots can be output by the notification output apparatus because the central monitoring apparatus transmits the notification of the breakage state of the speed reducer determined by the monitoring apparatus to the notification output apparatus. Therefore, the maintenance system of the present invention can output the notification of the damage state of the speed reducer of each of the plurality of industrial robots, which is more appropriate than the conventional one, by the notification output apparatus.

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

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. Fig.
3 is a sectional view of a joint part of the industrial robot shown in Fig.
4 is a front view of the lubricant oil degradation sensor shown in Fig.
Fig. 5 is a front sectional view of the lubricant deterioration sensor shown in Fig. 4 in a state of being mounted on the arm.
6 (a) is a plan view of the lubricant oil deterioration sensor shown in Fig. 4. Fig. 6 (b) is a bottom view of the lubricant oil deterioration sensor shown in Fig. 4. Fig.
Fig. 7 is a view showing the optical path from the white LED to the RGB sensor shown in Fig. 5. Fig.
8 is a block diagram of the centralized monitoring apparatus shown in Fig.
9 is a diagram showing an example of the user information shown in Fig.
10 is a diagram showing an example of robot information shown in Fig.
FIG. 11 is a diagram for explaining the method of calculating the robot load shown in FIG. 10; FIG.
12 is a view showing an example of the speed reducer information shown in Fig.
13 is a diagram showing an example of the sensor information shown in Fig.
14 is a diagram showing an example of threshold value information for a robot shown in Fig.
15 is a diagram showing an example of a threshold table for a speed reducer shown in Fig.
16 is a diagram showing an example of a table selection table shown in Fig.
17 is a diagram showing an example of the threshold value information for the sensor shown in Fig.
18A is a graph showing an example of the experimental result of the time variation of the black color difference DELTA E when the oil temperature shown in Fig. 3 is 40 DEG C, the decelerator load moment is 0.5Mo, and the decelerator load torque is 1.0To to be. 18B is a graph showing an example of the experimental result of the time variation of the black color difference DELTA E when the oil temperature is 60 DEG C, the decelerator load moment is 0.5Mo, and the decelerator load torque is 1.0To, to be. 18C is a graph showing an example of the experimental result of the time variation of the black color difference DELTA E when the oil temperature shown in Fig. 3 is 60 DEG C, the decelerator load moment is 0.5Mo, and the decelerator load torque is 2.0To to be.
FIG. 19 is a block diagram of a service provider apparatus shown in FIG. 1. FIG.
20 is a block diagram of the user apparatus shown in Fig.
Fig. 21 is a flowchart of the operation of the centralized monitoring apparatus shown in Fig. 8 when the robot information is updated.
Fig. 22 (a) is a view showing an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or the display unit of the user apparatus shown in Fig. 20 when the robot temperature exceeds the recommended temperature range upper limit threshold value to be. FIG. 22B is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is lower than the lower limit of the recommended temperature range. FIG. 22C is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is the high temperature warning threshold or more. FIG. 22D is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is equal to or lower than the low temperature warning threshold value.
Fig. 23A is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or the display unit of the user apparatus shown in Fig. 20 when the robot load exceeds the recommended load range upper limit threshold value to be. Fig. 23B is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or the display unit of the user apparatus shown in Fig. 20 when the robot load is equal to or larger than the threshold value for high load warning.
Fig. 24 is a flowchart of the operation of the centralized monitoring apparatus shown in Fig. 8 when the speed reducer information is updated.
Fig. 25A is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or the display unit of the user apparatus shown in Fig. 20 when the black color difference DELTA E is equal to or less than the threshold value for checking repair. Fig. 25 (b) shows a display on the display unit of the service provider apparatus shown in Fig. 19 or on the display unit of the user apparatus shown in Fig. 20 when the black color difference? E exceeds the inspection repair threshold value, Fig.
Fig. 26 is a flowchart of the operation of the centralized monitoring apparatus shown in Fig. 8 when the sensor information is updated.
Fig. 27 (a) shows an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or on the display unit of the user apparatus shown in Fig. 20 when the battery remaining amount reaches the battery replacement threshold value to be. FIG. 27B is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the battery remaining amount is equal to or less than the battery warning threshold value.
Fig. 28A is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in Fig. 19 or the display unit of the user apparatus shown in Fig. 20 when the cumulative light emission time is equal to or larger than the LED replacement threshold value. FIG. 28B is a diagram showing an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the cumulative light emission time is equal to or larger than the threshold value for LED warning.

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

First, the configuration of the maintenance system according to the present embodiment will be described.

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

1, the maintenance system 10 includes a plurality of industrial robots 20, a centralized monitoring apparatus 100 for collectively monitoring a plurality of industrial robots 20, A service provider apparatus 130 that is a device used by a service provider that provides a service related to a service provided by the industrial robot 20 and a plurality of user apparatuses 160 that are apparatuses used by a user of the industrial robot 20. [ The industrial robot 20, the centralized monitoring apparatus 100, the service provider apparatus 130 and the user apparatus 160 are communicably connected to each other via a network 11 such as the Internet.

The plurality of industrial robots 20 are arranged at a plurality of places, for example, the factory 12A and the factory 12B.

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

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

The user apparatus 160 may be installed for each group of the plurality of industrial robots 20, for example, for each factory or each company operating the factory. The user apparatus 160 is disposed at a place where the industrial robot 20 is disposed, the place where the centralized monitoring apparatus 100 is disposed, and the place where the service provider apparatus 130 is disposed .

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

2, the industrial robot 20 includes a mounting portion 21 mounted on a mounting portion 90 such as a floor or a ceiling, arms 22, 23, 24, 25 and 26, a mounting portion 21 A joint part 32 connecting the arm 22 and the arm 23 and a joint part 33 connecting the arm 23 and the arm 24, A joint part 34 connecting the arm 25 and the arm 25 and a joint part 35 connecting the arm 25 and the arm 26 and a joint part 26 connecting the arm 26 and the hand And a joint 36.

3 is a sectional view of the joint portion 32. Fig. In the following description, the joint portion 32 is described, but the same applies to the joint portions 31, 33 to 36. [

3, the joint part 32 includes a reducer 40 connecting the arm 22 and the arm 23, a motor 50 fixed to the arm 22 by the bolt 51, A lubricant deterioration sensor 60 for detecting deterioration of the lubricating oil 40a for reducing the friction generated in the moving part of the speed reducer 40 and a strain gauge (not shown) for detecting a load applied to the speed reducer 40 80, and a wireless communication device 81 that performs wireless communication with an external device.

The speed reducer 40 includes a case 41 having an inner gear 41a and fixed to the arm 22 by bolts 41b and a case 41 having three pillar portions arranged at regular intervals around the central axis of the speed reducer 40 A support 42 fixed to the arm 23 by the bolt 42b and a gear 43 fixed to the output shaft of the motor 50 and a gear 42 fixed around the center axis of the reducer 40, A crankshaft 45 fixed to the gear 44 at three equally spaced intervals around the central axis of the reducer 40, And two outer gears 46 meshing with the inner gear 41a of the case 41. As shown in Fig.

The support body 42 is rotatably supported on the case 41 through a bearing 41c. A seal member 41d for preventing the leakage of the lubricating oil 40a is provided between the case 41 and the support body 42. [

The crankshaft 45 is rotatably supported on the support body 42 through a bearing 42c and rotatably supported on the outer gear 46 through a bearing 46a. The crankshaft 45 eccentrically rotates the outer gear 46 relative to the case 41 in accordance with the rotational motion inputted from the gear 44. [

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

Six strain gauges 80 are mounted on each of the three columns 42a of the support member 42 in total. The strain gauge 80 detects the load applied to the speed reducer 40 as a strain generated in the column 42a. Here, the strain gauge 80 is coated with a coating for protecting it from the lubricating oil 40a. The reducer 40 and the arm 23 are formed with holes not shown for passing the electric wire for transmitting the output of the strain gage 80 to the radio communication device 81. [ This hole is filled with a resin such as an epoxy resin after the electric wire is passed in order to prevent the lubricating oil 40a from leaking to the outside of the speed reducer 40. [ The strain gauge 80 detects the load applied to the speed reducer 40 as the use state of the speed reducer 40 and constitutes the speed reducer use state sensor of the present invention.

The wireless communication device 81 has a built-in battery that supplies power to the wireless communication device 81 itself. The wireless communication apparatus 81 is configured to transmit information according to the load detected by the strain gage 80 to the centralized monitoring apparatus 100 as the state of use of the speed reducer 40, .

4 is a front view of the lubricant oil degradation sensor 60. Fig. 5 is a front sectional view of the lubricant deterioration sensor 60 in a state in which it is mounted on the arm 23. Fig. 6 (a) is a plan view of the lubricant oil degradation sensor 60. Fig. Fig. 6 (b) is a bottom view of the lubricant oil deterioration sensor 60. Fig.

4 to 6B, the lubricant oil degradation sensor 60 includes a housing 61 made of an aluminum alloy for supporting the components of the lubricant oil degradation sensor 60, The gap forming member 62 in which the gap 62a for oil is formed for the gap 61 for supporting the gap forming member 62 and the supporting member 63 for supporting the gap forming member 62, An O-ring 64 for preventing the leakage of the lubricating oil 40a; an O-ring 65 for preventing leakage of the lubricating oil 40a from between the housing 61 and the supporting member 63; An O-ring 66 disposed between the support member 63 and the electronic component group 70,

The housing 61 is provided with a screw portion 61a for fixing to the screw hole 23a of the arm 23 and a tool portion 61a for screwing a tool such as a spanner when the screw portion 61a is rotated with respect to the screw hole 23a of the arm 23. [ And a tool contact portion 61b to be gripped by the tool contact portion 61b. The screw hole 23a of the arm 23 is used to supply the lubricating oil 40a to the speed reducer 40 and the lubricating oil 40a from the speed reducer 40 when the lubricating oil deterioration sensor 60 is removed. May be used for disposal of the product.

The gap forming member 62 is composed of two right angle prisms 62b and 62c made of glass and the oil gap 62a which is the gap for the penetration of the lubricating oil 40a is formed by the two right angle prisms 62b and 62c As shown in Fig. The right angle prisms 62b and 62c are fixed to the support member 63 by an adhesive.

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

The electronic component group 70 includes a circuit board 71 fixed to the supporting member 63 by a hexagonal screw bolt 69 through a spacer 68 and a light emitting element for emitting white light, A RGB sensor 73 mounted on the circuit board 71 and a color light receiving element for detecting the color of the received light and a light emitting diode A temperature sensor 74 mounted on the circuit board 71 and an external device of the lubricating oil deterioration sensor 60 for communicating with each other by radio (hereinafter referred to as " oil temperature sensor & Which supplies power to the electronic components on the circuit board 71 such as the white LED 72, the RGB sensor 73, the temperature sensor 74 and the wireless communication device 75 A battery residual amount sensor 77 for measuring the remaining amount of the electric power of the battery 76 (hereinafter referred to as the "remaining battery amount"), And a light emission timing sensor 78 for detecting the timing. The white LED 72, 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 connected to the circuit board 71, 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 speed reducer 40 and constitutes the speed reducer use state sensor of the present invention.

The wireless communication apparatus 75 is configured to transmit information according to the color detected by the RGB sensor 73 to the centralized monitoring apparatus 100 to constitute the color information transmitting apparatus of the present invention. The radio communication apparatus 75 is configured to transmit information according to the oil temperature detected by the temperature sensor 74 to the centralized monitoring apparatus 100 as the use state of the speed reducer 40, Thereby constituting an information transmitting apparatus. The wireless communication apparatus 75 also transmits information according to the battery remaining amount measured by the battery remaining amount sensor 77 or information according to the timing of the light emission detected by the light emission timing sensor 78 to the centralized monitoring apparatus 100 .

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

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

The holder 63a surrounds at least a part of the optical path 72a from the white LED 72 to the RGB sensor 73. [ The surface of the holder 63a is treated to prevent reflection of light, for example, in the case of matte black alumite treatment.

The right angle prisms 62b and 62c transmit the light emitted by the white LED 72. The incident surface and the emergent surface of the right prism 62b, 62c of the light emitted by the white LED 72 are optically polished.

The optical path 72a is bent at 90 degrees from the reflecting surface of the right angle prism 62b and at 90 degrees from 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. [ The reflecting surfaces of the right prisms 62b and 62c of the light emitted by the white LED 72 are optically polished, and an aluminum vapor deposition film is formed. Further, in order to protect the aluminum vapor deposition film having low hardness or adhesion, an SiO ₂ film is further formed on the aluminum vapor deposition film.

The distance between the exit surface of the right prism 62b of the light emitted by the white LED 72 and the incident surface of the light emitted by the white LED 72 in the right prism 62c is, (62a). When the length of the oil gap 62a is too short, the contamination in the lubricating oil 40a is difficult to adequately flow through the oiling gap 62a, so that the accuracy of detecting the color of the contaminants in the lubricating oil 40a is reduced. 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 and reaches the RGB sensor 73 It is difficult to detect the color of the contaminants in the lubricating oil 40a. Therefore, it is preferable that the length of the oil gap 62a is appropriately set so that the detection accuracy of the color of the contaminants in the lubricating oil 40a is increased. The length of the oil gap 62a is, for example, 1 mm.

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

The degree of deterioration of the lubricating oil 40a can be judged by the color difference DELTA E (hereinafter referred to as " black color difference DELTA E ") for black, which is a predetermined index of the color detected by the RGB sensor 73. [ The black color difference ΔE can be calculated by the following equation (1) using the R, G, and B values of the color detected by the RGB sensor 73.

Generally, the accuracy of the locus of the arm depends largely on the performance of the speed reducer used in the joint part of the industrial robot. Therefore, it is important that the speed reducer for the industrial robot is appropriately exchanged when performance is degraded. However, when a speed reducer for an industrial robot is exchanged, the industrial robot equipped with the speed reducer or the production line in which the industrial robot is installed must be stopped. Therefore, it is very important that the failure of the speed reducer for the industrial robot is appropriately predicted in order to grasp the replacement time of the speed reducer for the industrial robot. Each lubricant degradation sensor of the industrial robot 20 detects the type and amount of contaminants in the lubricating oil 40a of the speed reducer 40 based on the color detected by the RGB sensor 73, Can be instantly specified by the user. Therefore, the maintenance system 10 can enable immediate prediction of a failure of the speed reducer for an industrial robot.

The lubricant 40a is also provided with a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) for reducing the friction of the friction surface, An extreme pressure additive such as an SP additive for improving the extreme pressure property which is a performance for suppressing the generation of sludge, and a dispersing agent such as Ca sulphonate for suppressing the generation or attachment of sludge. These additives are detached from the lubricating oil 40a, for example, adhered to, bonded to, or precipitated on the surface of the industrial robot 20 and the reducer together with deterioration of the lubricating oil 40a. Each lubricant deterioration sensor detects not only the amount of iron powder in the lubricating oil 40a but also the deterioration of the base oil accompanied by the reduction of various additives added to the lubricating oil 40a and the increase of contaminants such as sludge Can be specified based on one color. Therefore, the maintenance system 10 can improve the accuracy of the failure prediction compared with the technique of predicting the failure of the speed reducer based only on the iron concentration.

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

First, the right angle prisms 62b and 62c and the white LED 72 are fixed to the holder 63a 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 remaining battery amount sensor 77, and the light emission timing sensor 78 are mounted is mounted on the spacer And the white LED 72 is fixed to the circuit board 71 by the solder.

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

Then, the holder cap 63c is fixed to the holder 63a by the hexagonal socket 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 the hexagonal socket bolt 67.

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

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

8 is a block diagram of the centralized monitoring apparatus 100. As shown in FIG.

The centralized monitoring apparatus 100 shown in Fig. 8 is a computer such as a PC (Personal Computer). The centralized monitoring apparatus 100 includes an operation unit 101 serving as 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) A network communication unit 103 that is a network communication device that communicates via the network 11 (see Fig. 1), a storage device such as a HDD (Hard Disk Drive) that stores various data, And a control unit 105 for controlling the entire centralized monitoring apparatus 100. The control unit 105 controls the entire centralized monitoring apparatus 100,

The storage unit 104 stores a concentration monitoring program 104a for notifying the breakdown state of the speed reducer of the industrial robot 20. [

The centralized monitoring program 104a may be installed in the centralized monitoring apparatus 100 at the manufacturing stage of the centralized monitoring apparatus 100 or may be installed in a USB (Universal Serial Bus) memory, a CD (Compact Disc) Or may be additionally installed in the centralized monitoring apparatus 100 from the network 11. The centralized monitoring apparatus 100 may be installed in the centralized monitoring apparatus 100,

The storage unit 104 stores a user of the industrial robot 20, an industrial robot 20 owned by the user, a speed reducer 40 provided in the industrial robot 20, And user information 104b which is information indicating the relationship of the lubricant oil degradation sensor 60 mounted.

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

As shown in Fig. 9, in the user information 104b, the ID of the user (hereinafter referred to as a "user ID") and the ID of the industrial robot 20 owned by the user And the ID of a lubricant deterioration sensor 60 provided in the speed reducer 40 (hereinafter, referred to as " ID ") of the speed reducer 40 provided in the industrial robot 20 Quot; sensor ID ").

The user ID, the robot ID, the speed reducer ID, and the sensor ID are information input by the service provider through the service provider apparatus 130.

The storage unit 104 stores robot information 104c which is information indicating the relationship between the industrial robot 20 and various kinds of information of the industrial robot 20. [

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

10, the robot information 104c includes the robot ID of the industrial robot 20, the temperature of the industrial robot 20 (hereinafter referred to as the " robot temperature "), (Hereinafter referred to as " robot load ").

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

The robot temperature of the industrial robot 20 is controlled based on at least one of the oil temperature stored in the reduction gear information 104d to be described later with respect to the plurality of reduction gears 40 provided in the industrial robot 20. [ 105).

11, the robot load F is calculated as the distance L between the rotational axis position of the speed reducer 40 of the joint part 33 and the position of the load point at which the load F is applied, 40 based on the decelerator load torque T to be described later. That is, the robot load is information calculated by the control unit 105 based on the decelerator load torque stored in the decelerator information 104d to be described later with respect to the decelerator 40 of the joint portion 33 of the industrial robot 20 .

8, the storage unit 104 stores the speed reducer 40 and the speed reducer information 104d, which is information indicating the relationship between various types of information of the speed reducer 40. [

12 is a view showing an example of the speed reducer information 104d.

12, in the speed reducer information 104d, the speed reducer ID, the type of the speed reducer 40, the lot number of the speed reducer 40, the lubricant degradation sensor provided in the reducer 40, E of the color of the color of the color detected by the RGB sensor 73 of the speed reducer 60 and the oil temperature which is the temperature of the lubricating oil 40a of the speed reducer 40, (Hereinafter referred to as a "reduction gear load moment") applied to the reduction gear 40 in the rotation direction about an axis orthogonal to the rotation axis when the support shaft 41 and the support body 42 relatively rotate, (Hereinafter referred to as " decelerator load torque ") is applied to the reduction gear 40 in the rotational direction about the rotation axis when the case 41 of the support member 42 and the support member 42 rotate relatively.

In the speed reducer information 104d shown in Fig. 12, Mo is the rated moment of the speed reducer 40. Fig. The term " To " is the rated torque of the speed reducer 40. [

Further, the speed reducer ID, the format and the lot number are information input by the service provider through the service provider apparatus 130.

8, the storage unit 104 stores sensor information 104e, which is information indicating the relationship between the lubricant oil degradation sensor 60 and various kinds of information of the lubricant oil degradation sensor 60. As shown in Fig.

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

13, in the sensor information 104e, the sensor ID of the lubricant oil degradation sensor 60, the remaining amount of the battery, which is the remaining amount of the electric power of the battery 76 of the lubricant oil degradation sensor 60, (Hereinafter referred to as " cumulative light emission time ") of the light emission by the white LED 72 of the sensor 60 are corresponded.

The sensor ID is information input by the service provider through the service provider apparatus 130.

As shown in Fig. 8, the storage unit 104 stores robot threshold value information 104f, which is threshold value information for notifying the use state of the industrial robot 20. [

14 is a diagram showing an example of threshold value information 104f for robot.

As shown in Fig. 14, the robot threshold value information 104f has a recommended temperature range upper limit threshold value indicating the upper limit of the temperature range recommended for the industrial robot 20 (hereinafter referred to as " recommended temperature range & , The threshold for the high temperature warning to warn that it is within the recommended temperature range but close to the upper limit and the threshold for the low temperature warning to warn that it is within the recommended temperature range but close to the lower temperature and the recommended temperature range below the recommended temperature range Threshold value and a recommended load range upper limit threshold indicating an upper limit of a load range recommended for the industrial robot 20 (hereinafter referred to as a " recommended load range ") and a recommended load range upper limit threshold It contains the threshold for high load warning.

As shown in Fig. 8, the storage unit 104 stores a plurality of reduction gear threshold tables 104g, which are tables for setting a threshold value for notification of a failure state of the reduction gear 40, Value storage unit. The plurality of decelerator threshold tables 104g stored in the storage unit 104 have different types of corresponding decelerators, and IDs are assigned to them.

Fig. 15 is a diagram showing an example of the deceleration threshold table 104g.

As shown in Fig. 15, in the speed reducer threshold table 104g, threshold values corresponding to the oil temperature, the speed reducer load moment, and the speed reducer load torque are shown.

In the decelerator threshold value table 104g shown in Fig. 15, there are many blank spaces, but actual threshold values are actually included. In the decelerator threshold value table 104g shown in Fig. 15, when the decelerator load moment is less than 0.25Mo, when it is not less than 0.25Mo and less than 0.5Mo, when it is not less than 0.75Mo and less than 1.0Mo, And 1.25Mo or more are drawn. Actually, a specific threshold value is included for each range of the speed reducer load torque as in the case where the speed reducer load moment is 0.5Mo or more and less than 0.75Mo.

In the decelerator threshold table 104g shown in Fig. 15, two numerical values are described in the column of the threshold value. The upper numerical value is a threshold for inspection repair, which is a threshold value for prompting the user of the industrial robot 20 for inspection or repair, because the possibility that the speed reducer 40 is damaged is very high. The lower numerical value is a warning threshold value for warning that there is a possibility that the speed reducer 40 is damaged. That is, the check repair threshold value and the warning threshold value are threshold values corresponding to the breakdown state of the speed reducer 40. [ Here, the breakage state of the speed reducer 40 is a state of rolling movement of the bearings inside the speed reducer 40 and a state of breakage of each engaging portion inside the speed reducer 40. According to the decelerator threshold table 104g shown in Fig. 15, for example, when the oil temperature is less than 40 DEG C and less than 50 DEG C, the speed reducer load moment is less than 0.5Mo and less than 0.75Mo, the speed reducer load torque is 1.0To or more and 1.5To The threshold for checking repair and the threshold for warning are 350 and 425, respectively.

The case where the oil temperature is lower than -10 占 폚 and the case where the oil temperature is 80 占 폚 or higher is outside the specification of the lubricant oil degradation sensor according to the present embodiment and therefore the threshold value table 104g for the speed reducer shown in Fig. Are not specified. When the speed reducer load torque is 3.0 Tor or more, it is outside the specification of the speed reducer according to the present embodiment, so it is not specified in the speed reducer threshold table 104g shown in Fig.

As shown in Fig. 8, the storage unit 104 stores a table selection table 104h, which is a table for selecting a suitable threshold value table for decelerators from a plurality of decelerator threshold tables 104g.

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

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

As shown in Fig. 8, the storage unit 104 stores threshold value information 104i for sensors, which is threshold value information for notifying the consumption state of the lubricant oil degradation sensor 60. As shown in Fig.

17 is a diagram showing an example of the threshold value information 104i for the sensor.

17, the sensor threshold value information 104i is a threshold value for battery replacement, which is a threshold value for urging replacement of the battery 76 of the lubricant oil degradation sensor 60, and a threshold value for battery replacement, Which is a threshold value for urging the replacement of the white LED 72, and a threshold for warning that the cumulative light emission time is close to the life time of the white LED 72, Value for the LED warning.

8 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) in which programs and various data are stored in advance, a RAM (Random Access Memory . The CPU is configured to execute a program stored in the ROM or the storage unit 104. [

The control unit 105 executes a centralized monitoring program 104a stored in the storage unit 104 to obtain a robotic state adequacy determination unit 104 as a robotic state adequacy determination means for determining the appropriateness of the use state of the industrial robot 20 And a robot state determining unit 105a for determining whether or not the state of use of the industrial robot 20 has been properly determined by the robot state adequacy determining unit 105a to at least one of the service provider apparatus 130 and the user apparatus 160 A robotic state information transmission unit 105b for transmitting robotic state adequacy transmission unit 105b and robot information 104c as suitability transmission means to the service provider apparatus 130 and a robot state information transmission unit 105c for transmitting the robot state information 104c to the decider threshold value table 104g of the storage unit 104 A threshold value setting unit 105d as a threshold value setting unit for setting a threshold value to be used among the stored threshold values, a speed reducer failure condition determining unit 105d as a speed reducer failure condition determining unit for determining a failure condition of the speed reducer 40 A determination unit 105e and a speed reducer failure that transmits a notice of a failure state of the speed reducer 40 determined by the speed reducer failure state determination unit 105e to at least one of the service provider apparatus 130 and the user apparatus 160 The speed reducer information transmission unit 105g and the lubricant oil degradation sensor 60 as the speed reducer information transmission unit that transmits the speed reducer failure state transmission unit 105f and the speed reducer information 104d as the status transmission means to the service provider apparatus 130, A sensor consumption state determination unit 105h as a sensor consumption state determination unit to be determined and a consumption state notification of the lubricant oil degradation sensor 60 determined by the sensor consumption state determination unit 105h to the service provider apparatus 130 and the user A sensor consumption state transmission unit 105i serving as sensor consumption state transmission means for transmitting the sensor information 104e to at least one of the devices 160 and 160 and a sensor information transmission unit 105a for transmitting the sensor information 104e to the service provider apparatus 130, And functions as a brim 105j.

Next, a method for calculating the decelerator load moment and the decelerator load torque by the control unit 105 will be described.

The stresses generated at the portions where the two strain gauges 80 attached to any one of the columns 42a of the three columns 42a of the support 42 of the speed reducer 40 are respectively referred to as? 1 and? 2. and the load torque calculated based on? 1 and? 2 is T _A1 . and a load moment calculated based on? 1 and? 2 is M _A1 . The load coefficient that can be calculated by multiplying T _A1 by σ1 and resulting from the load torque is called T1. The load coefficient that can be calculated by multiplying T _A1 by the stress due to the load torque during sigma 2 is referred to as T2. The operating angle of the load moment applied to the support body 42 about the rotation axis of the support body 42 with respect to the case 41 is denoted by phi. The load factor that can be used to calculate the stress due to the load moment during σ1 by multiplying M _A1 is called M1 (φ), which is a function of φ. The load factor that can be used to calculate the stress due to the load moment during σ2 by multiplying M _A1 is called M2 (φ), which is a function of φ. (2) is established between? 1,? 2, T _A1 , M _A1 , T ₁ , T 2, M ₁ (?) and M 2 (?). The reason why M1 () and M2 () is a function of? Is that the stress due to the load moment in? 1 or the stress due to the load moment during? Therefore, it changes.

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

The two strain gauges 80 attached to any one of the pillars 42a of the support 42 of the reducer 40 other than the pillars 42a described above are generated Are assumed to be σ3 and σ4, respectively. and the load torque calculated based on? 3 and? 4 is T _A2 . and the load moment calculated based on? 3 and? 4 is M _A2 . T _A2 is the load coefficient that can be calculated by multiplying T _A2 by the load torque due to the load torque σ3. The load coefficient that can be calculated by multiplying T _A2 by the load torque due to the load torque during 4 is T4. The load factor that can be calculated by multiplying M _A2 by the load moments during σ3 is called M3 (φ), which is a function of φ. The load coefficient that can be calculated by multiplying M _A2 by the load moment due to the load moments during σ4 is called M4 (φ), which is a function of φ. (5) is established between? 3,? 4, T _A2 , M _A2 , T 3, T 4, M 3 (φ) and M 4 (φ). The reason why M3 (φ) and M4 (φ) is a function of φ is that the stress due to the load moment in σ3 or the stress due to the load moment in σ4 Therefore, it changes.

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

The two strain gauges 80 attached to one column 42a other than the two columns 42a among the three columns 42a of the support 42 of the speed reducer 40 Are assumed to be σ5 and σ6, respectively. and the load torque calculated based on? 5 and? 6 is T _A3 . and the load moment calculated based on? 5 and? 6 is M _A3 . T _A3 , the load factor that can be used to calculate the stress due to the load torque during the sigma 5 is T5. T _A3 , the load factor that can calculate the stress due to the load torque during σ6 is T6. M _A3 , the load factor that can calculate the stress due to the load moment during σ5 is called M5 (φ), which is a function of φ. M _A3 , the load factor that can calculate the stress due to the load moment during σ6 is called M6 (φ), which is a function of φ. (8) is established between? 5,? 6, T _A3 , M _A3 , T5, T6, M5 (?) and M6 (?). The fact that M5 (φ) or M6 (φ) is a function of φ means that the stress due to the load moment in σ5 or the stress due to the load moment in σ6 is not satisfied in the relative rotation of the case 41 and the support body 42 Therefore, it changes.

Here, the relationship shown in Equation (8) and Equation (10) is established from Equation (8).

Since T _A1 , T _A2 and T _A3 are theoretically the same value, φ when the values of T _A1 , T _A2 and T _A3 are closest to each other is closest to the actual operating angle of the load moment. Likewise, since M _A1 , M _A2 and M _A3 are theoretically the same value, 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,? When the function? (?) Shown in Equation (11) takes the minimum value is closest to the actual working angle of the load moment.

Therefore, the control unit 105 calculates φ when the function δ (φ) takes the minimum value based on Equations 3, 4, 6, 7, 9, 10, To calculate a close?. Here, the control unit 105 can calculate? 1 to? 6 based on the output of the strain gage 80, respectively. T1 to T6 and M1 (?) To M6 (?) Are measured in advance by a 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, .

Finally, based on the calculated T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , and M _A3 , the control unit 105 calculates the reduction gear load torque T and the reduction gear load moment M by Equation 12 and Equation 13.

Next, an example of a method of creating the deceleration threshold table 104g will be described.

The supporting device 42 is rotated 45 degrees in the forward direction with respect to the case 41 under the condition that the maximum output rotational speed is 15 rpm and the test device manufactured with the configuration equivalent to the configuration of the joint portion 32 is rotated 45 degrees in the reverse direction An experiment is carried out in which the reciprocating rotational motion to rotate is continued. In this experiment, a new oil having a small degree of deterioration is used as the lubricating oil 40a. Then, the time change of the black color difference? E is examined.

18A is a graph showing an example of experimental results of time variation of the black color difference DELTA E when the oil temperature is 40 DEG C, the speed reducer load moment is 0.5Mo, and the speed reducing load torque is 1.0To. 18B is a graph showing an example of the experimental result of the time variation of the black color difference DELTA E when the oil temperature is 60 DEG C, the decelerator load moment is 0.5Mo, and the decelerator load torque is 1.0To. 18C is a graph showing an example of experimental results of time variation of the black color difference DELTA E when the oil temperature is 60 DEG C, the speed reducer load moment is 0.5Mo, and the speed reducing load torque is 2.0To.

18 (a) to 18 (c), the rated conversion time refers to a time required for the experimental apparatus to be controlled based on the output revolution speed of the speed reducer 40 and the speed reducer load torque when the experimental apparatus is actually driven The time actually driven is converted into the time when the number of output rotations is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40. [ The life time of the speed reducer 40 is defined as 6000 hours when the speed reducer 40 is continuously driven under the condition that the output rotation speed is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40. [

18A and 18B, when the oil temperature is different even when the reduction gear load moment and the reduction gear load torque are the same, when the rated conversion time reaches 6000 hours, which is the life time, (Hereinafter, referred to as " color difference at rated life time "). 18 (b) and 18 (c), when the oil temperature and the speed reducer load moment are the same, when the speed reducer load torque is different, the color difference at the time of the rated life differs. According to the same experiment, it can be confirmed that the chromatic difference at the time of the nominal life differs when either the oil temperature, the decelerator load moment, or the decelerator load torque is different. Therefore, it is preferable that the threshold value for notification of the failure state of the speed reducer 40 is determined in accordance with the oil temperature, the speed reducer load moment, and the speed reducer load torque.

In addition, when a plurality of experiments are conducted, even if the oil temperature, the speed reducer load moment, and the speed reducer load torque are the same in each experiment, the chrominance difference occurs at the rated life. Therefore, the minimum value of the color difference at the time of the rated life in a plurality of experiments is set as the inspection repairing threshold value, and the maximum value is set as the warning use threshold value.

For example, in the speed reducer threshold table 104g shown in Fig. 15, when the oil temperature is lower than or equal to 40 ° C and lower than 50 ° C, the reducer load moment is less than 0.5Mo and less than 0.75Mo, To, which is a check threshold value for repair, was subjected to a plurality of tests under the condition that the oil temperature was 40 DEG C, the decelerator load moment was 0.5Mo, and the decelerator load torque was 1.0To. As a result, It is the lowest value among the color difference at the rated life. Similarly, in the speed reducer threshold table 104g shown in Fig. 15, when the oil temperature is lower than or equal to 40 DEG C and less than 50 DEG C, the speed reducer load moment is less than or equal to 0.5Mo and less than 0.75Mo, and the speed reducer load torque is less than or equal to 1.0To and less than 1.5To A plurality of experiments were conducted under the condition that the oil temperature was 40 DEG C, the speed reducer load moment was 0.5Mo, and the speed reducer load torque was 1.0To. As a result, This is the maximum value among the color differences.

The deceleration threshold value table 104g is created as described above. Further, experiments are performed under different conditions of the speed reducer, so that a plurality of speed reducer threshold tables 104g are created.

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

The service provider apparatus 130 shown in Fig. 19 is a computer such as a PC. The service provider apparatus 130 includes 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 a display unit such as an LCD A display unit 132, a speaker 133 that outputs various information by sound, a network communication unit 134 that is a network communication device that performs communication via the network 11 (see FIG. 1) A storage unit 135 which is a storage device such as an HDD and a control unit 136 that controls the entire centralized monitoring apparatus 100. [

The storage unit 135 stores the same user information 135a as the user information 104b, the same robot information 135b as the robot information 104c, the speed reducer information 135c which is the same as the speed reducer information 104d, And can store the same sensor information 135d as the information 104e. The user information 135a, the robot information 135b, the speed reducer information 135c and the sensor information 135d are changed to the user information 104b, the robot information 104c, the speed reducer information 104d and the sensor information 104e Is 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 apparatus 100. [

The service provider apparatus 130 notifies the notification of the breakage state of the speed reducer 40 determined by the speed reducer breakage state determination unit 105e of the centralized monitoring apparatus 100 to the display by the display unit 132 and the display by the speaker 133 ) To constitute a notification output apparatus of the present invention.

Fig. 20 is a block diagram of the user device 160. Fig.

The user device 160 shown in Fig. 20 is a computer such as a PC. The user device 160 includes an operation unit 161 that 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 such as an LCD A speaker 163 that outputs various information by sound, a network communication unit 164 which is a network communication device that communicates via the network 11 (see FIG. 1) A storage unit 165 that is a storage device such as an HDD, and a control unit 166 that controls the entire centralized monitoring apparatus 100.

The user device 160 notifies the notification of the breakage state of the speed reducer 40 determined by the speed reducer breakage state determiner 105e of the centralized monitoring apparatus 100 to the display by the display unit 162 and the display by the speaker 163, So that the notification output apparatus of the present invention is constituted.

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

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

In the following, the joint part 32 of one of the plurality of industrial robots 20 is described, but the same applies to the joint parts 31, 33 to 36 of the industrial robot 20 And the joints 31 to 36 of the other industrial robot 20 are the same.

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 speed reducer 40 and is transmitted to the arm 22 fixed to the case 41 of the speed reducer 40 The arm 23 fixed to the support 42 of the speed reducer 40 is moved.

The lubricant 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 lubricant deterioration sensor 60 detects the amount of light of each color of RGB of the light received by the RGB sensor 73 together with the ID of the lubricant deterioration sensor 60 itself as an electrical signal through the wireless communication device 75 And transmits it to the monitoring apparatus 100. The lubricant deterioration sensor 60 also detects the temperature detected by the temperature sensor 74, the remaining amount of the battery measured by the battery remaining amount sensor 77, and the timing of the light emission detected by the light emission timing sensor 78 To the centralized monitoring apparatus 100 via the radio communication apparatus 75 as an electric signal together with the ID of the lubricating oil deterioration sensor 60 itself.

The deformation detected by the strain gage 80 is transmitted to the central monitoring apparatus 100 through the radio communication apparatus 81 as an electric signal together with the speed reducer ID of the speed reducer 40 provided with the strain gage 80 itself ).

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

The control unit 105 of the centralized monitoring apparatus 100 transmits the light amount of each color of RGB of the light received by the RGB sensor 73 to the network communication unit 103 as an electric signal together with the sensor ID of the lubricant oil degradation sensor 60. [ , It determines the speed reducer ID corresponding to the sensor ID based on the received sensor ID and the user information 104b. Subsequently, the control unit 105 calculates the black color difference DELTA E based on the received light amount of each color of RGB. Then, the control unit 105 updates the calculated black color difference DELTA E to the speed reducer information 104d as the black color difference DELTA E for the speed reducer ID.

The control unit 105 receives the temperature detected by the temperature sensor 74 via the network communication unit 103 as an electric signal together with the sensor ID, And determines the reducer ID and the robot ID corresponding to the sensor ID. Then, the control unit 105 updates the received speed and the speed reducer information 104d as the oil temperature for the speed reducer ID. Further, the control unit 105 calculates the robot temperature in accordance with a predetermined formula based on this temperature. Then, the control unit 105 updates the calculated robot temperature and the robot information 104c as the robot temperature for the robot ID.

When the control unit 105 receives the deformation detected by the strain gage 80 along with the decelerator ID via the network communication unit 103 as an electric signal, And determines the robot ID corresponding to the speed reducer ID. Then, based on the received deformation, the control unit 105 calculates the decelerator load moment and the decelerator load torque as described above. Then, the control unit 105 updates the decelerator information 104d by using the decelerator load moment and the decelerator load torque calculated as the decelerator load moment and the decelerator load torque for the decelerator ID. Further, the control unit 105 calculates the robot load as described above on the basis of the reduction gear load torque. Then, the calculated robot load is updated with the robot information 104c as a load on the 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 via the network communication unit 103 as an electric signal, The sensor information 104e is updated as the remaining battery level of the battery.

When the control unit 105 receives the timing of the light emission detected by the light emission timing sensor 78 together with the sensor ID via the network communication unit 103 as an electric signal, And the cumulative light emission time by the white LED 72 is calculated. Then, the control unit 105 updates the sensor information 104e with the cumulative light emission time calculated as the cumulative light emission time for this sensor ID.

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

In the following description, the case where the robot information 104c related to one of the industrial robots 20 (hereinafter, referred to as a "target robot") of the plurality of industrial robots 20 is updated is described, but other industrial robots The same is true for the case where the robot information 104c related to the robot 20 is updated.

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

21, the robotic state appropriateness judgment unit 105a of the control unit 105 of the centralized monitoring apparatus 100 judges whether or not the robot temperature corresponding to the robot ID of the target robot among the robot information 104c matches the threshold value for the robot It is judged whether or not it exceeds the recommended temperature range upper limit threshold value on the value information 104f (S201).

When the robotic state adequacy determining unit 105a determines in S201 that the robot temperature exceeds the recommended temperature range upper limit threshold value, the robotic state adequacy transmitting unit 105b of the control unit 105 determines The notification of the fact that the robot temperature exceeds the upper limit of the recommended temperature range is transmitted to the service provider apparatus 130 and the network communication unit 103 (S202). When the control unit 136 of the service provider apparatus 130 receives the notification from the centralized monitoring apparatus 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. [ The control unit 166 of the user apparatus 160 displays the received notification on the display unit 162 when receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 164. Therefore, the user of the user apparatus 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

If the robot state appropriateness judgment unit 105a judges in S201 that the robot temperature does not exceed the upper limit value of the recommended temperature range upper limit value, the robot state adequacy judgment unit 105a judges that the robot temperature corresponding to the robot ID of the target robot, It is judged whether or not it is lower than the lower limit threshold value of the recommended temperature range on the threshold value information 104f for the first time (S203).

When the robotic state adequacy determining unit 105a determines in S203 that the robot temperature is lower than the lower limit of the recommended temperature range, the robotic state adequacy transmitting unit 105b determines that the robot temperature is within the recommended temperature range Through the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20 (S204) . The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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 performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

If it is determined at S203 that the robot temperature is not lower than the lower limit of the recommended temperature range, the robot state appropriateness determining unit 105a determines that the robot temperature corresponding to the robot ID of the target robot among the robot information 104c is the threshold for the robot It is determined whether or not it is equal to or higher than the threshold value for high temperature warning on the value information 104f (S205).

When the robot state adequacy determining unit 105a determines in S205 that the robot temperature is equal to or higher than the high temperature warning threshold value, the robot state adequacy transmitting unit 105b determines that the robot temperature is within the recommended temperature range Through the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20 (S206). The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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 performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

If the robot state appropriateness determining unit 105a determines in S205 that the robot temperature is not equal to or higher than the high temperature warning threshold value, it is determined that the robot temperature corresponding to the robot ID of the target robot, among the robot information 104c, It is determined whether or not it is equal to or lower than the low temperature warning threshold value on the information 104f (S207).

When the robotic state adequacy determining unit 105a determines in S207 that the robot temperature is equal to or less than the low temperature warning threshold value, the robotic state adequacy transmitting unit 105b determines that the robot temperature is within the recommended temperature range Through the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20 (S208). The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ The control unit 166 of the user apparatus 160 displays the received notification on the display unit 162 when receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 164. Therefore, the user of the user apparatus 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

The robot state appropriateness judging section 105a judges whether the robot temperature is equal to or lower than the low temperature warning threshold value in S207 or when the processing of S202, S204, S206 and S208 ends, It is determined whether or not the robot load corresponding to the ID exceeds the recommended load range upper limit threshold value on the robot threshold value information 104f (S209).

When the robotic state appropriateness determining unit 105a determines in S209 that the robot load exceeds the recommended load range upper limit threshold value, the robotic state adequacy transmitting unit 105b determines whether or not the robot load Via the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20, that the upper limit of the recommended load range is exceeded (S210). The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ The control unit 166 of the user apparatus 160 displays the received notification on the display unit 162 when receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 164. Therefore, the user of the user apparatus 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

If the robot state appropriateness determination unit 105a determines in 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 among the robot information 104c, It is determined whether or not it is equal to or greater than a threshold value for warning of high load on the threshold value information 104f for use (S211).

When the robotic state adequacy determining unit 105a determines in S211 that the robot load is equal to or greater than the high load warning threshold value, the robotic state adequacy transmitting unit 105b determines that the robot load is equal to or greater than the recommended load Through the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20 (S212) . The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ The control unit 166 of the user apparatus 160 displays the received notification on the display unit 162 when receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 164. Therefore, the user of the user apparatus 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162. [

When the robotic state appropriateness 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 is completed, the robot information transmitting unit 105c of the control unit 105 transmits the robot information 104c, Through the network communication unit 103, the information corresponding to the robot ID of the target robot in the service provider apparatus 130 (S213). The control unit 136 of the service provider apparatus 130 receives the information corresponding to the robot ID of the target robot among the robot information 104c from the centralized monitoring apparatus 100 via the network communication unit 134, And updates the robot information 135b based on the information.

When the control unit 105 finishes the process of S213, the process shown in Fig. 21 ends.

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

In the following description, the speed reducer information 104d (hereinafter, referred to as " target speed reducer ") regarding one of the plurality of speed reducers 40 of the industrial robot 20 of one of the plurality of industrial robots 20 ) Is updated, the same is true for the case where the speed reducer information 104d related to 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.

The threshold value setting unit 105d of the control unit 105 of the centralized monitoring apparatus 100 determines the type of the speed reducer 40 corresponding to the ID of the target speed reducer among the speed reducer information 104d, Acquires the ID of the speed reducer threshold table 104g based on the table selection table 104h on the section 104 and acquires the decider threshold value table 104g to which the obtained ID is assigned in the following processing As the threshold value table for the speed reducer used (S231).

Subsequently, the threshold setting unit 105d sets the oil temperature, the speed reducer load moment, and the speed reducer load torque corresponding to the ID of the target speed reducer among the speed reducer information 104d to the speed reducer threshold value table 104g set in S231 The inspection repair threshold value and the warning threshold value of the speed reducer 40 are set as the inspection repair threshold value and the warning threshold value used in the subsequent process (S232).

Subsequently, the speed reducer failure state determination unit 105e of the control unit 105 determines whether or not the black color difference DELTA E corresponding to the ID of the target speed reducer among the speed reducer information 104d is equal to or less than the threshold for inspection repairing set in S232 (S233).

When the speed reducer failure state determination unit 105e determines in step S233 that the black color difference DELTA E is equal to or less than the inspection repair threshold value, the speed reducer failure state transmission unit 105f of the control unit 105, as shown in The service provider device 130 and the industrial robot 20 provided with the speed reducer 40 as a notification of the damage state of the speed reducer 40 to the user so as to prompt the user to check or repair the speed reducer 40 Via the network communication unit 103 to the user device 160 of the user of the user (S234). In other words, when the black color difference DELTA E reaches the threshold value for checking the repair, the speed reducer failure state transmission unit 105f transmits a notification of the damage state of the speed reducer 40 corresponding to the threshold for check repairing. The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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 inspection or the repair of, for example, the speed reducer 40 based on the notification displayed on the display unit 162. [

When it is determined in S233 that the black color difference DELTA E is not equal to or less than the inspection repair threshold value, the speed reducer failure state determination unit 105e determines that the black color difference DELTA E corresponding to the ID of the target speed reducer among the speed reducer information 104d, It is determined whether or not the threshold value is less than or equal to the set warning warning value (S235).

When the speed reducer 40 determines that the black color difference ΔE is equal to or less than the warning threshold value, the speed reducer failure state determination unit 105e determines that the speed reducer 40 is damaged The service provider device 130 and the user of the industrial robot 20 provided with the speed reducer 40 are informed of the possibility of the occurrence of the failure To the device 160 via the network communication unit 103 (S236). That is, when the black color difference? E reaches the warning threshold value, the speed reducer broken-down state transmission section 105f transmits a notification of the damage state of the speed reducer 40 corresponding to the warning threshold value. The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ Therefore, the service provider who is the user of the service provider apparatus 130 can send a notification to the manufacturer or the user of the industrial robot 20 equipped with the decelerator 40, for example, based on the notification displayed on the display unit 132 The replacement speed reducer 40 can be dispatched or a service man can be dispatched to a place where the industrial robot 20 provided with the speed reducer 40 is installed or the production amount of the replacement speed reducer 40 can be adjusted . When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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, for example, preparations for checking or repairing the speed reducer 40, based on the notification displayed on the display unit 162. [

When the black color difference ΔE is not equal to or less than the warning threshold value, the speed reducer information transmission unit 105g of the control unit 105 determines the speed reducer information 104d to the service provider apparatus 130 via the network communication unit 103 (S237). The control unit 136 of the service provider apparatus 130 receives the information corresponding to the ID of the target speed reducer among the speed reducer information 104d from the centralized monitoring apparatus 100 via the network communication unit 134, The speed reducer information 135c is updated.

When the control unit 105 finishes the processing of S237, the processing shown in Fig. 24 ends.

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

Hereinafter, the lubricant deterioration sensor 60 (hereinafter referred to as the " target sensor ") of the speed reducer 40 of one of the plurality of reduction gears 40 of one of the plurality of industrial robots 20 Is updated, the same is true of the case where the sensor information 104e related to the other lubricant oil degradation sensor 60 is updated.

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

26, the sensor consumption state determination unit 105h of the control unit 105 of the centralized monitoring apparatus 100 determines whether or not the battery remaining amount corresponding to the ID of the target sensor among the sensor information 104e is smaller than the threshold value for the sensor It is determined whether or not the battery replacement threshold value on the value information 104i has been reached (S261).

When the sensor consumption state determination unit 105h determines in S261 that the battery remaining amount has reached the battery replacement threshold value, the sensor consumption state transmission unit 105i of the control unit 105 determines The notification of prompting the replacement of the battery 76 of the lubricant oil degradation sensor 60 is issued to the user of the industrial robot 20 having the service provider device 130 and the lubricant oil degradation sensor 60 To the device 160 via the network communication unit 103 (S262). When the control unit 136 of the service provider apparatus 130 receives the notification from the centralized monitoring apparatus 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. [ When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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 replacement of the battery 76 of the lubricant oil degradation sensor 60, for example, based on the notification displayed on the display unit 162. [

When it is determined in S261 that the battery remaining amount does not reach the battery replacement threshold value, the sensor consumption state determination unit 105h determines that the battery remaining amount corresponding to the ID of the target sensor among the sensor information 104e is less than the threshold Is less than or equal to the threshold value of the battery warning on the value information 104i (S263).

When the sensor consumption state determination unit 105h determines in S263 that the battery remaining amount is equal to or less than the battery warning threshold value, the sensor consumption state transmission unit 105i determines that the battery remaining amount is low Through the network communication unit 103 to the service provider apparatus 130 and the user apparatus 160 of the user of the industrial robot 20 provided with the lubricant oil degradation sensor 60 S264). When the control unit 136 of the service provider apparatus 130 receives the notification from the centralized monitoring apparatus 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. [ The service provider who is the user of the service provider apparatus 130 can determine the manufacturer of the industrial robot 20 having the lubricant oil degradation sensor 60 based on the notification displayed on the display unit 132 A replacement battery 76 of the lubricant oil degradation sensor 60 is sent to the user or a service person is dispatched to a place where the industrial robot 20 equipped with the lubricant oil degradation sensor 60 is installed, (76). When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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, for example, preparation for replacing the battery 76 of the lubricant oil degradation sensor 60 based on the notification displayed on the display unit 162. [

The sensor consumption state determination unit 105h determines whether or not the battery remaining amount is equal to or less than the battery warning threshold value at S263 or when the processes at S262 and S264 are completed, It is determined whether the cumulative light emitting time is equal to or greater than a threshold value for LED exchange on the threshold value information 104i for the sensor (S265).

When the sensor consumption state determination unit 105h determines in S265 that the cumulative light emission time is equal to or larger than the threshold value for exchanging LEDs, the sensor consumption state transmitter unit 105i transmits the white LED 72, To the network communication unit 103 to the user apparatus 160 of the user of the industrial robot 20 having the lubricant deterioration sensor 60 and the service provider apparatus 130 (S266). The control unit 136 of the service provider apparatus 130 displays the received notification on the display unit 132 upon receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 134. [ The control unit 166 of the user apparatus 160 displays the received notification on the display unit 162 when receiving the notification from the centralized monitoring apparatus 100 via the network communication unit 164. Therefore, the user of the user apparatus 160 can perform exchange of the white LED 72, for example, based on the notification displayed on the display section 162. [

If it is determined in S265 that the cumulative light emission time is less than the LED replacement threshold, the sensor consumption state determination unit 105h determines that the cumulative light emission time corresponding to the ID of the target sensor among the sensor information 104e is less than the threshold value It is determined whether the threshold value is equal to or greater than a threshold value for LED warning on the LED 104i (S267).

When the sensor consumption state determination unit 105h determines in S267 that the accumulated emission time is equal to or greater than the LED warning threshold value, the sensor consumption state transmission unit 105i determines that the cumulative emission time is white A warning is issued to warn the user that the life of the LED 72 is close to the user's apparatus 160 of the user of the industrial robot 20 having the service provider apparatus 130 and the lubricant oil deterioration sensor 60 Through the network communication unit 103 (S268). When the control unit 136 of the service provider apparatus 130 receives the notification from the centralized monitoring apparatus 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. [ The service provider who is the user of the service provider apparatus 130 can determine the manufacturer of the industrial robot 20 having the lubricant oil degradation sensor 60 based on the notification displayed on the display unit 132 The replacement white LED 72 of the lubricant deterioration sensor 60 is sent to the user or the service man is dispatched to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed, The production amount of the white LED 72 can be adjusted. When the control unit 166 of the user apparatus 160 receives the notification from the centralized monitoring apparatus 100 via 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, for example, preparation for replacement of the white LED 72 based on the notification displayed on the display section 162. [

The sensor information transmission unit 105j of the control unit 105 determines whether or not the sensor information state determination unit 105h determines that the cumulative light emission time is less than the LED warning threshold value, 104e to the service provider apparatus 130 via the network communication unit 103 (S269). The control unit 136 of the service provider apparatus 130 receives information corresponding to the ID of the target sensor among the sensor information 104e from the centralized monitoring apparatus 100 via the network communication unit 134, Based on the information, the sensor information 135d is updated.

When the control unit 105 finishes the process of S269, the process shown in Fig. 26 ends.

As described above, the centralized monitoring apparatus 100 determines the damage state of the speed reducer 40 in accordance with the color detected by the RGB sensor 73 of the lubricant oil degradation sensor 60, so that the damage state of the speed reducer 40 Can be determined more appropriately than in the prior art.

The decelerator breakage state determination unit 105e of the centralized monitoring apparatus 100 determines whether or not the deceleration failure detected by the RGB sensor 73 based on the information transmitted by the radio communication apparatus 75 of the lubricant oil degradation sensor 60 (S233, S235). The black color difference DELTA E, which is a value based on the color, is compared with the threshold value for inspection repairing stored in the storage unit 104 and the warning threshold value. (YES in S233 and YES in S235), the failure state of the speed reducer 40 corresponding to this inspection repair threshold value and the warning threshold value is detected by the RGB sensor 73 Is judged as a failure state of the speed reducer 40 which is the target of the deterioration of the lubricating oil 40a (S234, S236). In other words, the centralized monitoring apparatus 100 is configured to calculate, based on the values of the colors detected by the RGB sensors 73 of the lubricant deterioration sensors 60 of the respective decelerators 40 of the plurality of industrial robots 20, The notification of the breakage state of each speed reducer 40 of each of the plurality of industrial robots 20 is transmitted to the outside can do.

Therefore, the centralized monitoring apparatus 100 can transmit to the outside the notification of a more appropriate breakage state of the speed reducer 40 of each of the plurality of industrial robots 20 than the conventional one.

The threshold value setting unit 105d of the centralized monitoring apparatus 100 may set the threshold setting unit 105d of the centralized monitoring apparatus 100 to a predetermined value based on the information transmitted by the radio communication apparatus 75 and the radio communication apparatus 81, A threshold value, and a warning threshold value are set (S232). That is, the central monitoring apparatus 100 sets the threshold for checking and repairing, which is used for determining the failure state of the speed reducer 40, according to the actual use state of the speed reducer 40, The broken state can be notified with high accuracy according to the actual use state of the speed reducer 40. [

For example, the threshold setting unit 105d sets a threshold for checking repair, a threshold for warning based on the temperature of the lubricating oil 40a, based on the information transmitted by the radio communication device 75. [ That is, the central monitoring apparatus 100 sets the threshold for checking and repairing for determining the failure state of the speed reducer 40 according to the actual temperature of the lubricating oil 40a, so that the failure of the speed reducer 40 The state can be notified with high accuracy according to the actual temperature of the lubricating oil 40a. The centralized monitoring apparatus 100 may be configured to set a warning threshold value and a check repair threshold value in accordance with an oil temperature other than the oil temperature detected by the temperature sensor 74. [ For example, the centralized monitoring apparatus 100 may be configured to set a warning threshold value and a check repair threshold value in accordance with the oil temperature input from the user through the operation unit 101. [ In addition, the centralized monitoring apparatus 100 is not limited to the actual temperature of the lubricating oil 40a obtained immediately before, but also the lubricating oil 40a for a predetermined period such as the recent 10 minutes, The average value of the actual temperatures of the heat exchanger 40a may be adopted.

The threshold value setting unit 105d sets the threshold for checking repair and the threshold value for warning based on the load applied to the speed reducer 40 based on the information transmitted by the radio communication device 81. [ That is, the central monitoring apparatus 100 sets the threshold for checking and repairing, which is used for determining the failure state of the speed reducer 40, in accordance with the load actually applied to the speed reducer 40, The broken state can be notified with high accuracy according to the load actually applied to the speed reducer 40. [ In addition, a method of detecting the load applied to the speed reducer 40 may be a method other than the strain gauge 80. [ In addition, the centralized monitoring apparatus 100 adopts an average value of an actual load in a predetermined period such as a recent 10 minute, for example, as a load used in the process shown in Fig. 21, as well as the load obtained just before .

The centralized monitoring apparatus 100 transmits the decelerator information 104d only to the service provider apparatus 130 and the service provider apparatus 130 among the user apparatus 160 (S237), so that the service provider apparatus 130 ) And the user device 160 to the service provider device 130 and the user device 160, respectively. For example, the service provider who is a user of the service provider apparatus 130 may receive the decider information 104d received from the centralized monitoring apparatus 100 by the service provider apparatus 130, It is possible to modify the threshold table 104g for the speed reducer. The service provider who is the user of the service provider apparatus 130 can also calculate the actual value of the actual speed of the speed reducer 40 based on the speed reducer information 104d received from the centralized monitoring apparatus 100 by the service provider apparatus 130 A new speed reducer 40 suitable for the use condition may be developed.

The deceleration threshold table 104g may be manually modified by the service provider based on the decelerator information 104d received from the centralized monitoring apparatus 100 by the service provider apparatus 130, Or may be automatically corrected by the centralized monitoring apparatus 100 based on the information 104d.

The centralized monitoring apparatus 100 notifies the service provider apparatus 130 and the user apparatus 160 of the notification of the consumption state of the lubricant oil degradation sensor 60 (S262, S264, S266, and S268) It is possible to prevent the lubricant deterioration sensor 60 from being used, and as a result, the precision of the notification of the breakage state of the speed reducer 40 can be maintained. For example, the centralized monitoring apparatus 100 transmits a notice of the consumption state of the battery 76 to the service provider apparatus 130 and the user apparatus 160 as the consumption state of the lubricant oil degradation sensor 60 (S262 , S264), it is possible to prevent an inappropriate lubricant oil degradation sensor 60 having a remaining battery level from being used. The centralized monitoring apparatus 100 transmits a notification of the consumption state of the white LED 72 to the service provider apparatus 130 and the user apparatus 160 as the consumption state of the lubricant oil deterioration sensor 60 (S266, S268), it is possible to prevent the inadequate lubricant deterioration sensor 60 in which the white LED 72 is broken from being used.

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 determines the suitability of the usage state of the industrial robot 20 based on the acquired robot temperature (S202, S204, S206, and S208), it is possible to suppress inappropriate use of the industrial robot 20 such that the robot temperature becomes an inappropriate temperature.

The centralized monitoring apparatus 100 also acquires the robot load corresponding to the load applied to the speed reducer 40 based on the information transmitted by the wireless communication apparatus 81 and acquires the load on the industrial robot 20 based on the acquired robot load. (S210 and S212), it is possible to suppress the improper use of the industrial robot 20 such that the robot load becomes an inappropriate load.

The temperature sensor 74 is adapted to detect the oil temperature through the holder 63a, but may directly detect the oil temperature without passing through other members such as the holder 63a.

The maintenance system 10 is configured such that the temperature sensor 74 is built in the lubricating oil deterioration sensor 60 so that the temperature sensor 74 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 . In the maintenance system 10, the temperature sensor 74 may be provided separately from the lubricating oil deterioration sensor 60. [

The centralized monitoring apparatus 100 manages the lot number as well as the type of the speed reducer 40. Therefore, even if the speed reducer 40 of the same type is used, the speed reducer 40 of the lot in which breakage occurs earlier than other lots Can be recognized. Therefore, the service provider can increase the frequency of replacement of the lubricating oil 40a of the speed reducer 40 of the lot in which breakage occurs earlier than other lots, or increase the frequency of replacement of the lubricating oil 40a by the lubricating oil deterioration sensor 60 The detection period can be shortened.

The centralized monitoring apparatus 100 is provided with a threshold value for notifying the damage state of the speed reducer 40 that the two levels of threshold values corresponding to the possibility of breakage of the speed reducer 40, The failure state of the speed reducer 40 can be notified in two steps as the possibility of damage to the speed reducer 40 (S234, S236). As compared with the configuration in which, for example, the possibility that the speed reducer 40 is damaged is suddenly notified when the breakage state of the speed reducer 40 is notified as a possibility of breakage of the speed reducer 40 by a plurality of steps, It is possible to determine the necessity of replacement of the speed reducer 40 with a margin. The central monitoring apparatus 100 may have only one threshold value for notifying the damage state of the speed reducer 40 and may be a threshold value for notifying the failure state of the speed reducer 40 that the speed reducer 40, And may include three or more threshold values corresponding to the possibility of breakage of the battery.

The lubricant deterioration sensor 60 is configured to transmit the amount of light of each color of RGB of the light received by the RGB sensor 73 to the centralized monitoring device 100. However, if the information is in accordance with the color of the light received by the RGB sensor 73 , And may transmit information other than the amount of light of each color of RGB of the light received by the RGB sensor 73 to the centralized monitoring apparatus 100. [ For example, the lubricant deterioration sensor 60 detects the black color difference DELTA E calculated based on the amount of light of each color of RGB of the light received by the RGB sensor 73 as information on the color of the light received by the RGB sensor 73 And may be transmitted to the centralized monitoring apparatus 100. [ In the case where the peaking deterioration sensor 60 is configured to transmit 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 to the centralized monitoring apparatus 100, It is not necessary to calculate the black color difference DELTA E based on the light quantity of each color of RGB of the light received by the RGB sensor 73. [

Each of the lubricant degradation sensors is a method of communicating with an external apparatus. In the present embodiment, wireless communication by a built-in radio communication apparatus is adopted, but communication by wire may be employed, for example.

In the present embodiment, each lubricating oil deterioration sensor employs a built-in battery as power supply means. However, for example, a cable for electrically connecting an external power source and a lubricating oil deterioration sensor may be employed.

Further, the installation position of each lubricant oil deterioration sensor is not limited to the position shown in the present embodiment, but is preferably set appropriately in accordance with the use of the industrial robot or the like.

This application is based on Japanese Patent Application (Japanese Patent Application No. 2012-120082) filed on May 25, 2012, the content of which is incorporated herein by reference.

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

10: Maintenance system
20: Industrial Robots
40: Reducer
40a: lubricating oil
60: Lubricant deterioration sensor
62: gap forming member
62a: clearance for oil
72: white LED (light emitting element)
72a: Optical path
73: RGB sensor (color light receiving element)
74: Temperature sensor (Reducer use status sensor, Lubricant temperature sensor)
75: Wireless communication device (color information transmitting device, speed reducer information transmitting device)
76: Battery
80: Deformation gauge (Reducer use status sensor, Load sensor)
81: Wireless communication apparatus (reduction gear information transmitting apparatus)
100: Intensive monitoring device
104: storage unit (threshold value storage unit)
104a: Intensive monitoring program
105a: Robot state suitability judging unit (robot state suitability judging means)
105b: Robot state suitability transmitter (Robot state suitability transmitter)
105d: threshold value setting section (threshold value setting means)
105e: Reducer breakage state judging unit (speed reducer breakage state judging means)
105f: Reducer breakage state transmission unit (Reducer breakage state transmission means)
105g: Reducer information transmission unit (reduction gear information transmission means)
105h: sensor consumption state determination unit (sensor consumption state determination means)
105i: Sensor consumption state transmission unit (sensor consumption state transmission means)
130: Device for service provider (notification output device)
160: User device (notification output device)

Claims (12)

A centralized monitoring apparatus for monitoring a plurality of industrial robots provided with a speed reducer and a lubricant degradation sensor for detecting deterioration of the lubricating oil of the speed reducer,
The lubricant deterioration sensor comprises: a light emitting element configured to emit light; a color light receiving element configured to detect the color of the light received; and an oil supply means for supplying the oil, which is disposed on the optical path from the light emitting element to the color light receiving element, And a color information transmitting device configured to transmit information in accordance with the color detected by the color light receiving element to the outside of the lubricant deterioration sensor,
The centralized monitoring apparatus includes:
A threshold value storage configured to store a threshold value corresponding to a failure state of the speed reducer;
A speed reducer failure state determination unit configured to determine a failure state of the speed reducer;
And a speed reducer failure state transmission means configured to transmit a notification of a failure state of the speed reducer determined by the speed reducer failure state determination means to the outside of the central monitoring apparatus,
Wherein when the value corresponding to the color detected by the color light receiving element obtained from the information transmitted by the color information transmitting apparatus reaches the threshold value stored in the storage unit, And the damage state of the speed reducer corresponding to the threshold value is determined as the damage state of the speed reducer that is the object from which the degradation of the lubricant is detected by the lubricant oil degradation sensor provided with the color light receiving element. The method according to claim 1,
The industrial robot includes a speed reducer use state sensor configured to detect a use state of the speed reducer and a speed reducer information transmission device configured to transmit information according to the use state detected by the speed reducer use state sensor to the outside of the industrial robot Respectively,
The centralized monitoring apparatus is provided with threshold value setting means configured to set the threshold value for judgment by the speed reducer failure state judging means among the threshold values stored in the threshold value storing section,
Wherein the threshold value setting means sets the threshold value according to the use state based on the information transmitted by the speed reducer information transmission device. 3. The method of claim 2,
The speed reducer use state sensor includes a lubricant oil temperature sensor configured to detect the temperature of the lubricant oil as the use state of the speed reducer,
Wherein the speed reducer information transmitting apparatus transmits information according to the temperature detected by the lubricant temperature sensor to the outside of the industrial robot,
Wherein the threshold value setting means sets the threshold value according to the temperature based on the information transmitted by the speed reducer information transmission device. The method according to claim 2 or 3,
The speed reducer use state sensor includes a load sensor configured to detect a load applied to the speed reducer as a state of use of the speed reducer,
Wherein the speed reducer information transmitting device transmits information according to the load detected by the load sensor to the outside of the industrial robot,
Wherein the threshold value setting means sets the threshold value in accordance with the load based on the information transmitted by the speed reducer information transmission device. 5. The method according to any one of claims 2 to 4,
The speed reducer failure state transmission means transmits a notice of a failure state of the speed reducer determined by the speed reducer failure state determination means to at least two out of the central monitoring apparatuses for outputting the notification by at least one of display and sound To the plurality of notification output apparatuses,
The centralized monitoring apparatus further includes a decelerator information transmitting means for transmitting only the information according to the color detected by the color light receiving element and the information on the use state of the decelerator to only one of the notification output apparatuses, . 6. The method according to any one of claims 1 to 5,
Wherein the centralized monitoring apparatus further comprises sensor consumption state determination means configured to determine a consumption state of the lubricant degradation sensor and notification of a consumption state of the lubricant oil degradation sensor determined by the sensor consumption state determination means to an external And a sensor consumption state transmitting unit configured to transmit the sensor consumption state to the centralized monitoring apparatus. The method according to claim 6,
The lubricant deterioration sensor includes a battery configured to supply electric power to the light emitting element,
Wherein the sensor consumption state determining means determines the consumption state of the battery in accordance with the remaining amount of the battery power as the consumption state of the lubricant oil degradation sensor. 8. The method according to claim 6 or 7,
Wherein 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 lubricant oil degradation sensor. The method of claim 3,
Robot state adequacy determination means configured to determine an appropriateness of a use state of the industrial robot,
And robotic state adequacy transmitting means configured to transmit a notification of the adequacy of the use state determined by the robotic state adequacy determining means to the outside of the centralized monitoring apparatus,
The robotic state adequacy determination means may acquire the temperature of the industrial robot in accordance with the temperature of the lubricant based on the information transmitted by the speed reducer information transmission device and may determine the state of use of the industrial robot based on the acquired temperature A centralized monitoring device to determine suitability. 5. The method of claim 4,
Robot state adequacy determination means configured to determine an appropriateness of a use state of the industrial robot,
And robotic state adequacy transmitting means configured to transmit, to the outside of the central monitoring apparatus, a notification of suitability of the state of use of the industrial robot determined by the robotic state adequacy determining means,
Wherein the robotic state adequacy determining means obtains a load of the industrial robot in accordance with a load applied to the speed reducer based on the information transmitted by the speed reducer information transmitting apparatus, A centralized monitoring device for determining the adequacy of a state. The centralized monitoring apparatus according to any one of claims 1 to 10, wherein the centralized monitoring program is recorded, the computer functioning. 11. A monitoring system comprising: the centralized monitoring apparatus according to any one of claims 1 to 10;
A plurality of said industrial robots monitored by said centralized monitoring apparatus,
And a notification output device for outputting, by at least one of a display and a sound, notification of a failure state of the speed reducer transmitted by the centralized monitoring device.

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