MX2017014256A - Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas. - Google Patents
Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas.Info
- Publication number
- MX2017014256A MX2017014256A MX2017014256A MX2017014256A MX2017014256A MX 2017014256 A MX2017014256 A MX 2017014256A MX 2017014256 A MX2017014256 A MX 2017014256A MX 2017014256 A MX2017014256 A MX 2017014256A MX 2017014256 A MX2017014256 A MX 2017014256A
- Authority
- MX
- Mexico
- Prior art keywords
- failure diagnostic
- disturbance torque
- axis robot
- diagnostic device
- failure
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37214—Detect failed machine component, machine performance degradation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37344—Torque, thrust, twist, machining force measurement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39355—Observer, disturbance observer
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39412—Diagnostic of robot, estimation of parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41372—Force estimator using disturbance estimator observer
Abstract
Un dispositivo de diagnóstico de fallas detecta los momentos de torsión (Tq) de perturbación aplicados a los ejes de articulación incluidos en un robot (1) de múltiples ejes, agrupa los momentos de torsión (Tq) de perturbación de acuerdo con el contenido de las operaciones ejecutadas por el robot (1) de múltiples ejes tras la detección de los momentos de torsión (Tq) de perturbación, y realiza un diagnóstico de fallas en el robot (1) de múltiples ejes comparando cada momento de torsión (Tq) de perturbación agrupado con un umbral (a).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/064505 WO2016185589A1 (ja) | 2015-05-20 | 2015-05-20 | 故障診断装置及び故障診断方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2017014256A true MX2017014256A (es) | 2018-04-20 |
Family
ID=57319609
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2017014256A MX2017014256A (es) | 2015-05-20 | 2015-05-20 | Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas. |
Country Status (10)
Country | Link |
---|---|
US (1) | US10946523B2 (es) |
EP (1) | EP3299131B1 (es) |
KR (1) | KR102024454B1 (es) |
CN (1) | CN107614213B (es) |
BR (1) | BR112017024615B1 (es) |
CA (1) | CA2986207C (es) |
MX (1) | MX2017014256A (es) |
MY (1) | MY196467A (es) |
RU (1) | RU2687114C1 (es) |
WO (1) | WO2016185589A1 (es) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107614214B (zh) * | 2015-05-21 | 2019-07-09 | 日产自动车株式会社 | 故障诊断装置及故障诊断方法 |
CN107696034A (zh) * | 2017-09-30 | 2018-02-16 | 东北大学 | 一种针对工业机器人的错误自主恢复方法 |
JP6677694B2 (ja) * | 2017-10-31 | 2020-04-08 | ファナック株式会社 | ロボットシステム |
EP3835750A4 (en) * | 2018-08-06 | 2021-08-04 | Nissan Motor Co., Ltd. | ANOMALY DIAGNOSIS SYSTEM AND ANOMALY DIAGNOSIS METHOD |
KR102254934B1 (ko) * | 2019-07-30 | 2021-05-25 | 한국생산기술연구원 | 로봇 관절부 고장진단 방법 및 이를 적용한 로봇 관절부 고장 진단 시스템 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SU1536357A1 (ru) * | 1988-02-29 | 1990-01-15 | Горьковский Политехнический Институт | Устройство дл диагностики неисправностей технических объектов |
US5304906A (en) * | 1989-12-26 | 1994-04-19 | Fanuc Ltd. | Collision detecting method using an observer |
JP2871993B2 (ja) | 1993-03-31 | 1999-03-17 | 日本電気株式会社 | サーボモータの位置制御装置 |
JPH07121239A (ja) * | 1993-10-27 | 1995-05-12 | Hitachi Zosen Corp | ロボット装置の制御方法 |
JPH0866893A (ja) * | 1994-08-24 | 1996-03-12 | Fanuc Ltd | 衝突検出方法 |
JP3623582B2 (ja) * | 1995-12-25 | 2005-02-23 | ファナック株式会社 | ロボットの故障診断方法 |
GB2318093A (en) * | 1996-10-14 | 1998-04-15 | Esselte Nv | A tape printing apparatus having two modes of operation |
JP3204207B2 (ja) * | 1998-03-30 | 2001-09-04 | 松下電器産業株式会社 | ロボットの制御装置とその制御方法 |
JPH11291190A (ja) | 1998-04-10 | 1999-10-26 | Nachi Fujikoshi Corp | 溶接ロボットの動作異常検出方法 |
JP3441680B2 (ja) * | 1999-07-28 | 2003-09-02 | ファナック株式会社 | 射出成形機のエジェクタ制御装置 |
JP2006263916A (ja) * | 2001-05-08 | 2006-10-05 | Mitsubishi Electric Corp | ロボット制御装置 |
JP2006281421A (ja) * | 2005-04-05 | 2006-10-19 | Yaskawa Electric Corp | ロボットおよびロボットの異常検出方法 |
US7882394B2 (en) * | 2005-07-11 | 2011-02-01 | Brooks Automation, Inc. | Intelligent condition-monitoring and fault diagnostic system for predictive maintenance |
JP4112594B2 (ja) * | 2006-07-27 | 2008-07-02 | ファナック株式会社 | 減速機異常診断方法及び減速機異常診断装置 |
EP1935577A1 (en) * | 2006-12-21 | 2008-06-25 | Abb Ab | A control system for controlling an industrial robot |
JP2008183680A (ja) * | 2007-01-31 | 2008-08-14 | Yaskawa Electric Corp | 負荷機械の制御装置とその衝突検出しきい値更新方法 |
US20090088625A1 (en) * | 2007-10-01 | 2009-04-02 | Kenneth Oosting | Photonic Based Non-Invasive Surgery System That Includes Automated Cell Control and Eradication Via Pre-Calculated Feed-Forward Control Plus Image Feedback Control For Targeted Energy Delivery |
JP4335286B2 (ja) * | 2008-02-08 | 2009-09-30 | ファナック株式会社 | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
CN101369800B (zh) * | 2008-10-09 | 2012-02-29 | 东元总合科技(杭州)有限公司 | 电动机控制装置 |
US8378254B2 (en) * | 2009-09-11 | 2013-02-19 | Honda Motor Co., Ltd. | Adaptive vehicle manufacturing system and method |
CN102554939B (zh) * | 2010-12-30 | 2014-12-10 | 沈阳新松机器人自动化股份有限公司 | 工业机器人碰撞保护方法和装置 |
JP5912683B2 (ja) * | 2012-03-07 | 2016-04-27 | 株式会社神戸製鋼所 | モータ駆動構造を備えたシステム、モータ駆動構造のシステムに用いられるプログラム、および溶接物製造方法 |
-
2015
- 2015-05-20 CN CN201580080189.2A patent/CN107614213B/zh active Active
- 2015-05-20 US US15/575,569 patent/US10946523B2/en active Active
- 2015-05-20 MY MYPI2017704225A patent/MY196467A/en unknown
- 2015-05-20 WO PCT/JP2015/064505 patent/WO2016185589A1/ja active Application Filing
- 2015-05-20 MX MX2017014256A patent/MX2017014256A/es unknown
- 2015-05-20 BR BR112017024615-5A patent/BR112017024615B1/pt active IP Right Grant
- 2015-05-20 RU RU2017144433A patent/RU2687114C1/ru active
- 2015-05-20 EP EP15892588.3A patent/EP3299131B1/en active Active
- 2015-05-20 KR KR1020177035741A patent/KR102024454B1/ko active IP Right Grant
- 2015-05-20 CA CA2986207A patent/CA2986207C/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20180133897A1 (en) | 2018-05-17 |
MY196467A (en) | 2023-04-12 |
RU2687114C1 (ru) | 2019-05-07 |
CN107614213A (zh) | 2018-01-19 |
KR102024454B1 (ko) | 2019-09-23 |
CN107614213B (zh) | 2021-03-09 |
WO2016185589A1 (ja) | 2016-11-24 |
US10946523B2 (en) | 2021-03-16 |
EP3299131A1 (en) | 2018-03-28 |
BR112017024615A2 (pt) | 2018-07-31 |
BR112017024615B1 (pt) | 2022-05-31 |
KR20180008576A (ko) | 2018-01-24 |
EP3299131A4 (en) | 2018-07-04 |
CA2986207C (en) | 2021-11-23 |
CA2986207A1 (en) | 2016-11-24 |
EP3299131B1 (en) | 2021-06-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
MX2017014256A (es) | Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas. | |
EP3680639A4 (en) | ABNORMAL SOUND DETECTION DEVICE, ANOMALY MODEL LEARNING DEVICE, ANOMALY DETECTION DEVICE, ABNORMAL SOUND DETECTION DEVICE, ABNORMAL SOUND GENERATION DEVICE, ABNORMAL DATA GENERATION DEVICE, GENERAL SOUND PROCESS ABNORMAL, AND PROGRAM | |
WO2015104691A3 (en) | Systems, methods, and devices for detecting anomalies in an industrial control system | |
MX365933B (es) | Dispositivo de diagnostico de fallas y metodo de diagnostico de fallas. | |
EP3659868A4 (en) | ANOMALY DETECTING DEVICE AND ANALYTICAL DETECTION METHOD | |
EP3745271A4 (en) | ANOMALY DETERMINATION DEVICE, ANOMALY DETECTION MODEL GENERATION SERVER AND PROGRAM | |
EP4307192A3 (en) | System and method for monitoring manufacturing | |
WO2015100177A3 (en) | Neural watchdog | |
EP3799365A4 (en) | DEVICE FOR DETECTING ANOMALY, METHOD FOR DETECTING ANOMALY AND PROGRAM | |
MX2016009391A (es) | Sistemas y metodos de control de estabilidad de la bicicleta. | |
EP2772336A3 (en) | Recognition-based industrial automation control with position and derivative decision reference | |
EP3876056A4 (en) | FAULT DETECTION SYSTEM, FAULT DETECTION METHOD, AND PROGRAM | |
MX2017001937A (es) | Sistema y metodo para monitorear las condiciones de umbral de soldadura. | |
EP3726235A4 (en) | BATTERY MONITORING DEVICE, COMPUTER PROGRAM AND BATTERY MONITORING PROCEDURES | |
MX2018003361A (es) | Dispositivo de control de valvula. | |
EP3528072A4 (en) | METHOD FOR MONITORING AN OPERATING STATUS AND DEVICE, METHOD AND PROGRAM FOR GENERATING LEARNING DATA | |
EP3742328A4 (en) | METHOD OF FATIGUE DETECTION BASED ON THE POSITIONING OF A FACIAL FEATURE POINT | |
EP3795309A4 (en) | METHOD OF DETECTING CODING ANOMALIES, OPERATIONAL CONTROL DEVICE, ROBOTS AND ROBOTIC SYSTEM | |
WO2015126484A8 (en) | System and method to detect garbled closed captioning | |
EP3799359A4 (en) | ANOMALY DETECTION DEVICE, ANOMALY DETECTION SYSTEM AND CONTROL PROCESS | |
EP3763493A4 (en) | ROBOT CONTROL DEVICE, AND ANOMALY DIAGNOSIS METHOD AND PROGRAM | |
EP4056297A4 (en) | ANOMALITY DETECTION DEVICE, ANOMALITY DETECTION METHOD AND COMPUTER PROGRAM | |
WO2019049080A3 (en) | Vehicle monitor | |
EP3883190A4 (en) | DETECTION DEVICE, DETECTION METHOD AND DETECTION PROGRAM | |
EP3709170A4 (en) | DEVELOPMENT DETECTING DEVICE, ABNORMAL CONDITION DETECTING METHOD, AND ABNORMAL CONDITION DETECTING PROGRAM |