SG11201705045XA - Robot maintenance assist device and method - Google Patents

Robot maintenance assist device and method

Info

Publication number
SG11201705045XA
SG11201705045XA SG11201705045XA SG11201705045XA SG11201705045XA SG 11201705045X A SG11201705045X A SG 11201705045XA SG 11201705045X A SG11201705045X A SG 11201705045XA SG 11201705045X A SG11201705045X A SG 11201705045XA SG 11201705045X A SG11201705045X A SG 11201705045XA
Authority
SG
Singapore
Prior art keywords
assist device
robot maintenance
maintenance assist
robot
maintenance
Prior art date
Application number
SG11201705045XA
Inventor
Hiromi Sawada
Masato Yoshimura
Tomoya Shimizu
Original Assignee
Kawasaki Heavy Ind Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Priority claimed from PCT/JP2015/083652 external-priority patent/WO2016098571A1/en
Publication of SG11201705045XA publication Critical patent/SG11201705045XA/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • 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
    • G05B19/4065—Monitoring tool breakage, life or condition
    • 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
    • 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
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0283—Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL]
    • 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
    • G05B2219/34477—Fault prediction, analyzing signal trends
    • 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
    • G05B2219/37209—Estimate life of gear, drive
    • 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
    • G05B2219/39413—Robot self diagnostics
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42319—What kind of actuator failure
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50197—Signature analysis, store working conditions, compare with actual
SG11201705045XA 2014-12-19 2015-11-30 Robot maintenance assist device and method SG11201705045XA (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014257004 2014-12-19
JP2015131422A JP6664893B2 (en) 2014-12-19 2015-06-30 Robot maintenance support device and method
PCT/JP2015/083652 WO2016098571A1 (en) 2014-12-19 2015-11-30 Robot maintenance assist device and method

Publications (1)

Publication Number Publication Date
SG11201705045XA true SG11201705045XA (en) 2017-07-28

Family

ID=56242672

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201705045XA SG11201705045XA (en) 2014-12-19 2015-11-30 Robot maintenance assist device and method

Country Status (8)

Country Link
US (1) US20170351243A1 (en)
EP (1) EP3235611B1 (en)
JP (1) JP6664893B2 (en)
KR (1) KR20170093908A (en)
CN (2) CN113664824A (en)
CA (1) CA2971378C (en)
SG (1) SG11201705045XA (en)
TW (1) TWI603826B (en)

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JP2016158751A (en) * 2015-02-27 2016-09-05 ソニー株式会社 Actuator and medical support arm device
JP6285403B2 (en) * 2015-11-30 2018-02-28 ファナック株式会社 Cell control device and production system for predicting failure of manufacturing machine
JP6905224B2 (en) * 2017-03-24 2021-07-21 学校法人福岡工業大学 Tool wear estimation method
JP6812925B2 (en) * 2017-08-01 2021-01-13 トヨタ自動車株式会社 Robot arm, iron powder amount estimation method and abnormality sign judgment system
US11617628B2 (en) 2017-08-10 2023-04-04 Intuitive Surgical Operations, Inc. Increased usable instrument life in telesurgical systems
JP6909410B2 (en) * 2018-05-08 2021-07-28 オムロン株式会社 Robot control device, maintenance management method, and maintenance management program
JP6940820B2 (en) 2018-05-08 2021-09-29 オムロン株式会社 Robot control device, maintenance management method, and maintenance management program
JP7309344B2 (en) * 2018-11-13 2023-07-18 川崎重工業株式会社 FAILURE DIAGNOSIS DEVICE AND FAILURE DIAGNOSIS METHOD OF DRIVE MECHANISM, AND MACHINE DEVICE INCLUDING SAME FAILURE DIAGNOSIS DEVICE
CN110987416A (en) * 2019-11-18 2020-04-10 埃夫特智能装备股份有限公司 Method for detecting wear state of robot speed reducer
CN116018245A (en) 2020-07-28 2023-04-25 川崎重工业株式会社 State monitoring device, state abnormality determination method, and state abnormality determination program
US11554490B2 (en) 2020-12-09 2023-01-17 Robert Bosch Gmbh Monitoring real-time data of a robotic manipulator
JPWO2022210072A1 (en) 2021-03-29 2022-10-06

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JP3357143B2 (en) * 1993-09-30 2002-12-16 ファナック株式会社 Robot controller that monitors the load on the robot
JPH09311715A (en) * 1996-05-22 1997-12-02 Fanuc Ltd Method for displaying abnormality generation history of robot
KR20020021809A (en) * 1999-08-12 2002-03-22 추후기재 Shape-memory alloy actuators and control methods
JP2004020388A (en) * 2002-06-17 2004-01-22 Mitsubishi Electric Corp Lifetime evaluating device
JP2005148873A (en) * 2003-11-12 2005-06-09 Nachi Fujikoshi Corp Robot deterioration diagnostic device
JP4286171B2 (en) * 2004-03-30 2009-06-24 三洋電機株式会社 Equipment diagnostic device
US7222048B2 (en) * 2005-04-21 2007-05-22 General Electric Company Methods and systems for diagnosing machinery
JP2007172150A (en) * 2005-12-20 2007-07-05 Honda Motor Co Ltd Method for diagnosing failure of industrial machinery
JP2007190663A (en) * 2006-01-23 2007-08-02 Seiko Epson Corp Maintenance method and robot controller
EP1955830B1 (en) * 2007-02-06 2014-04-09 Abb Research Ltd. A method and a control system for monitoring the condition of an industrial robot
WO2010150532A1 (en) * 2009-06-26 2010-12-29 パナソニック株式会社 Electronic part and method of detecting faults therein
DE102009035998A1 (en) * 2009-07-27 2011-02-03 Pilz Gmbh & Co. Kg Method and device for fail-safe monitoring of a movement quantity on an electric drive
JP5365595B2 (en) * 2010-09-15 2013-12-11 株式会社安川電機 Speed reducer abnormality determination method, abnormality determination apparatus, robot, and robot system
US8712726B2 (en) * 2010-12-01 2014-04-29 Xerox Corporation System and method for predicting remaining useful life of device components
JP2013231673A (en) * 2012-04-27 2013-11-14 Hitachi Constr Mach Co Ltd Life prediction system of speed reducer gear of dump truck
JP5628953B2 (en) * 2013-03-29 2014-11-19 ファナック株式会社 Articulated robot with gas spring and method for estimating internal pressure of gas spring

Also Published As

Publication number Publication date
US20170351243A1 (en) 2017-12-07
CN107107348B (en) 2021-10-26
CA2971378C (en) 2020-12-08
EP3235611B1 (en) 2023-03-22
CN113664824A (en) 2021-11-19
KR20170093908A (en) 2017-08-16
TW201632327A (en) 2016-09-16
JP2016117148A (en) 2016-06-30
EP3235611A4 (en) 2018-08-22
EP3235611A1 (en) 2017-10-25
CN107107348A (en) 2017-08-29
CA2971378A1 (en) 2016-06-23
TWI603826B (en) 2017-11-01
JP6664893B2 (en) 2020-03-13

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