MX365231B - Dispositivo de diagnóstico de fallas y método de diagnóstico de fallas. - Google Patents
Dispositivo de diagnóstico de fallas y método de diagnóstico de fallas.Info
- Publication number
- MX365231B MX365231B MX2017014937A MX2017014937A MX365231B MX 365231 B MX365231 B MX 365231B MX 2017014937 A MX2017014937 A MX 2017014937A MX 2017014937 A MX2017014937 A MX 2017014937A MX 365231 B MX365231 B MX 365231B
- Authority
- MX
- Mexico
- Prior art keywords
- failure diagnosis
- failure
- operating shaft
- disturbance torque
- threshold value
- Prior art date
Links
Classifications
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- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
-
- 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
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
-
- 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
- G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
- Testing And Monitoring For Control Systems (AREA)
- Control Of Electric Motors In General (AREA)
- Numerical Control (AREA)
Abstract
Un dispositivo de diagnóstico de fallas de esta invención es aplicable a un dispositivo mecánico provisto con un motor como una fuente para accionar un eje de movimiento. El dispositivo de diagnóstico de fallas adquiere una posición de movimiento del eje de movimiento y un valor del momento de torsión de perturbación aplicado al eje de movimiento cada periodo predeterminado, y diagnostica que está ocurriendo una falla cuando el valor del momento de torsión de perturbación adquirido es mayor que un umbral de determinación de fallas. Posteriormente, el dispositivo de diagnóstico de fallas calcula un cambio en el valor del momento de torsión de perturbación antes y después de la realización de una tarea de mantenimiento cuando la tarea de mantenimiento se lleva a cabo en el eje de movimiento, y restablece el umbral de determinación de fallas sólo cuando el cambio en el valor del momento de torsión de perturbación es mayor que un umbral predeterminado.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/064849 WO2016189608A1 (ja) | 2015-05-25 | 2015-05-25 | 故障診断装置及び故障診断方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
MX2017014937A MX2017014937A (es) | 2018-04-13 |
MX365231B true MX365231B (es) | 2019-05-27 |
Family
ID=57392982
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2017014937A MX365231B (es) | 2015-05-25 | 2015-05-25 | Dispositivo de diagnóstico de fallas y método de diagnóstico de fallas. |
Country Status (11)
Country | Link |
---|---|
US (1) | US10112305B2 (es) |
EP (1) | EP3305482B1 (es) |
JP (1) | JP6428933B2 (es) |
KR (1) | KR101889248B1 (es) |
CN (1) | CN107614216B (es) |
BR (1) | BR112017025292B1 (es) |
CA (1) | CA2986736C (es) |
ES (1) | ES2763004T3 (es) |
MX (1) | MX365231B (es) |
RU (1) | RU2678857C1 (es) |
WO (1) | WO2016189608A1 (es) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6496338B2 (ja) | 2017-03-14 | 2019-04-03 | ファナック株式会社 | 工作機械の制御システム |
JP6474450B2 (ja) | 2017-04-17 | 2019-02-27 | ファナック株式会社 | 工作機械の制御システム |
JP6514264B2 (ja) | 2017-04-20 | 2019-05-15 | ファナック株式会社 | 工作機械の制御システム |
MX2020006692A (es) * | 2017-12-26 | 2020-09-03 | Nissan Motor | Metodo de determinacion de funcionamiento defectuoso y dispositivo de determinacion de funcionamiento defectuoso. |
CN108152740A (zh) * | 2018-01-02 | 2018-06-12 | 重庆长安汽车股份有限公司 | 驱动电机系统故障诊断的方法、装置及设备及电动汽车 |
JP6927421B2 (ja) * | 2018-05-01 | 2021-08-25 | 日産自動車株式会社 | 異常判定装置、異常判定システム及び異常判定方法 |
WO2019234789A1 (ja) * | 2018-06-04 | 2019-12-12 | 日産自動車株式会社 | 異常判定装置及び異常判定方法 |
KR102054771B1 (ko) * | 2018-06-15 | 2019-12-11 | 두림야스카와(주) | 로봇의 토크 부하율을 이용한 고장 예측방법 |
JP7056418B2 (ja) * | 2018-07-05 | 2022-04-19 | 日産自動車株式会社 | 異常判定装置及び異常判定方法 |
CN112534236B (zh) * | 2018-08-06 | 2023-03-24 | 日产自动车株式会社 | 异常诊断装置和异常诊断方法 |
CN113302836A (zh) * | 2019-01-31 | 2021-08-24 | 株式会社安川电机 | 电机控制系统、编码器以及伺服电机 |
JP7343323B2 (ja) * | 2019-07-25 | 2023-09-12 | ファナック株式会社 | 故障予測システム |
CN112834225A (zh) * | 2021-01-05 | 2021-05-25 | 吉孚动力技术(中国)有限公司 | 一种混合动力系统驱动电机扭矩故障的测试及响应方法 |
CN114237199B (zh) * | 2021-11-29 | 2023-10-24 | 中国航发沈阳发动机研究所 | 基于自适应比较器的航空发动机执行回路故障检测方法 |
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SU1536357A1 (ru) * | 1988-02-29 | 1990-01-15 | Горьковский Политехнический Институт | Устройство дл диагностики неисправностей технических объектов |
JPH0751998A (ja) | 1993-08-09 | 1995-02-28 | Fanuc Ltd | 工具の寿命推定方法 |
JPH07132440A (ja) | 1993-11-02 | 1995-05-23 | Fanuc Ltd | 加工負荷監視方式 |
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 |
JP3080617B1 (ja) | 1999-07-19 | 2000-08-28 | ファナック株式会社 | 射出成形機の金型保護装置 |
JP2002175104A (ja) | 2000-12-05 | 2002-06-21 | Murata Mach Ltd | 異常負荷監視機能付き工作機械 |
JP3870052B2 (ja) * | 2001-09-20 | 2007-01-17 | 株式会社日立製作所 | 半導体装置の製造方法及び欠陥検査データ処理方法 |
EP1679566B1 (en) * | 2004-12-28 | 2008-10-22 | Fanuc Ltd | Threshold determination for a tool damage/abnormality detecting device |
JP4515939B2 (ja) * | 2005-03-07 | 2010-08-04 | 株式会社東芝 | プラント監視方法 |
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 |
JP4523977B2 (ja) | 2008-03-19 | 2010-08-11 | 関東自動車工業株式会社 | ロボット内蔵減速機の故障診断方法及び装置 |
JP5381968B2 (ja) * | 2010-12-21 | 2014-01-08 | 株式会社デンソー | トルクセンサ、トルク検出装置、および、これを用いた電動パワーステアリング装置。 |
JP2013086930A (ja) * | 2011-10-19 | 2013-05-13 | Mitsubishi Electric Corp | ブレーキ診断装置 |
JP5961566B2 (ja) * | 2012-03-13 | 2016-08-02 | Kyb株式会社 | トルクセンサの異常診断装置及び異常診断方法 |
KR101376831B1 (ko) * | 2012-03-27 | 2014-03-20 | 삼성전기주식회사 | 표면결함 검사방법 |
WO2016189584A1 (ja) * | 2015-05-22 | 2016-12-01 | 日産自動車株式会社 | 故障診断装置及び故障診断方法 |
CN107614217B (zh) * | 2015-05-29 | 2020-01-14 | 日产自动车株式会社 | 故障诊断装置及故障诊断方法 |
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2015
- 2015-05-25 RU RU2017145304A patent/RU2678857C1/ru active
- 2015-05-25 KR KR1020177033616A patent/KR101889248B1/ko active IP Right Grant
- 2015-05-25 MX MX2017014937A patent/MX365231B/es active IP Right Grant
- 2015-05-25 CN CN201580080283.8A patent/CN107614216B/zh active Active
- 2015-05-25 ES ES15893244T patent/ES2763004T3/es active Active
- 2015-05-25 CA CA2986736A patent/CA2986736C/en active Active
- 2015-05-25 US US15/576,174 patent/US10112305B2/en active Active
- 2015-05-25 BR BR112017025292-9A patent/BR112017025292B1/pt active IP Right Grant
- 2015-05-25 WO PCT/JP2015/064849 patent/WO2016189608A1/ja active Application Filing
- 2015-05-25 JP JP2017520084A patent/JP6428933B2/ja active Active
- 2015-05-25 EP EP15893244.2A patent/EP3305482B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
CA2986736A1 (en) | 2016-12-01 |
EP3305482A4 (en) | 2018-08-29 |
KR101889248B1 (ko) | 2018-08-16 |
EP3305482B1 (en) | 2019-10-09 |
BR112017025292A2 (pt) | 2018-08-07 |
WO2016189608A1 (ja) | 2016-12-01 |
US10112305B2 (en) | 2018-10-30 |
MX2017014937A (es) | 2018-04-13 |
CN107614216B (zh) | 2018-09-18 |
BR112017025292B1 (pt) | 2021-02-02 |
JP6428933B2 (ja) | 2018-11-28 |
CA2986736C (en) | 2018-12-04 |
ES2763004T3 (es) | 2020-05-26 |
US20180133901A1 (en) | 2018-05-17 |
EP3305482A1 (en) | 2018-04-11 |
JPWO2016189608A1 (ja) | 2018-03-08 |
CN107614216A (zh) | 2018-01-19 |
RU2678857C1 (ru) | 2019-02-04 |
KR20170139608A (ko) | 2017-12-19 |
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Legal Events
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FG | Grant or registration |