TWI595221B - Centralized monitoring device for industrial robots, media and maintenance system for recording centralized monitoring programs - Google Patents

Description

Centralized monitoring device for industrial robots, media and maintenance system for recording centralized monitoring programs

The present invention relates to a centralized monitoring device for collectively monitoring a plurality of industrial robots.

In general, the trajectory accuracy of the robot arm of the industrial robot is greatly affected by the performance of the speed reducer used in the joint portion. Therefore, when the performance of the reduction gear for industrial robots is lowered, it is important to replace them. However, when replacing a speed reducer for an industrial robot, it is necessary to stop an industrial robot including the speed reducer or a production line in which the industrial robot is installed. Therefore, in order to grasp the timing of replacement of the speed reducer for industrial robots, it is very important to properly predict the failure of the speed reducer for industrial robots.

In the prior art, as a device for predicting the failure of a speed reducer for an industrial robot, it is known that a deceleration is known when the iron content detected by the iron content detecting device for detecting the iron content in the lubricating oil in the reducer is equal to or higher than a threshold value. Maintenance information output device for malfunction of the machine (refer to Patent Document 1).

[Advanced technical literature] [Patent Literature]

[Patent Document 1] International Publication No. 2007/046505

The cause of deterioration of the lubricating oil of the industrial robot's reducer is not limited to the iron content. Increase. Lubricating oil also deteriorates due to changes in the lubricating oil composition itself over time.

However, in the technique described in Patent Document 1, when the lubricating oil is deteriorated due to changes in the lubricating oil component itself over time, there is a possibility that the problem of the failure of the speed reducer may not be accurately predicted.

Furthermore, since in many cases, an industrial robot is provided with a plurality of stages on a production line, it is preferable to monitor a plurality of units in a unified manner.

SUMMARY OF THE INVENTION An object of the present invention is to provide a centralized monitoring device that can transmit a damage state notification of a reducer of each of a plurality of industrial robots to a more accurate state.

According to an advantageous aspect of the present invention, a centralized monitoring device for monitoring a plurality of industrial robots including a reducer and a lubricant deterioration sensor for detecting deterioration of lubricating oil of the reducer; The deterioration sensor includes: a light-emitting element configured to emit light; a color light-receiving element configured to detect a color of the received light; and a light-emitting element for allowing the lubricating oil to permeate and disposed in the color light-receiving element a gap forming member for transmitting oil through the gap on the optical path of the element; and a color configured to transmit information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor The information transmission device includes: a memory unit configured to store a threshold corresponding to a damage state of the speed reducer; a determination unit configured to determine a damage state of the speed reducer; and the deceleration The damage state notification mechanism of the machine determines that the damage state notification of the above-mentioned reducer is sent to Centralized monitoring apparatus external configuration of the embodiment of the reducer damage state transmission means; obtaining the free transmission of the above information transmitting means of the color information by the color When the value corresponding to the color detected by the light receiving element is stored in the threshold value of the memory unit, the reducer damage state determining means determines that the damage state of the speed reducer corresponding to the threshold value is the color receiving element. The lubricant deterioration sensor detects a damage state of the speed reducer to which the lubricating oil is deteriorated.

The above-described centralized monitoring device can also 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 information for transmitting the information corresponding to the use state detected by the speed reducer use state sensor to the a speed reducer information transmitting device configured to be external to the industrial robot; the centralized monitoring device includes a threshold setting unit configured to set the threshold value stored in the threshold memory unit for determining the damage state of the speed reducer The mechanism is configured to determine the threshold value, and the threshold setting unit sets the threshold value corresponding to the use state based on information transmitted by the speed reducer information transmitting device.

The above-described centralized monitoring device can also be configured as follows. The speed reducer use state sensor includes a lubricating oil temperature sensor configured to detect a temperature of the lubricating oil as a use state of the speed reducer; the speed reducer information transmitting device and the lubricating oil temperature sensor The information corresponding to the detected temperature is transmitted to the outside of the industrial robot, and the threshold setting means sets the threshold corresponding to the temperature based on the information transmitted by the reducer information transmitting means.

The above-described centralized monitoring device can also be configured as follows. The speed reducer use state sensor includes a load sensor configured to detect a load applied to the speed reducer as a use state of the speed reducer, and the speed reducer information transmitting device detects the load sensor from the load sensor The information corresponding to the load is transmitted to the outside of the industrial robot, and the threshold setting means sets the threshold corresponding to the load based on the information transmitted by the reducer information transmitting means.

The above-described centralized monitoring device can also be configured as follows. The above reducer damage state The transmitting means transmits, to the outside of the centralized monitoring device, the damage state notification of the speed reducer determined by the speed reducer damage state determining means to output two notifications of the notification by at least one of display and sound An output device; the centralized monitoring device includes a speed reducer information transmitting unit that transmits information corresponding to a color detected by the color light receiving element and information corresponding to a use state of the speed reducer to the notification only One of the output devices.

The above-described centralized monitoring device can also be configured as follows. The centralized monitoring device includes: a sensor consumption state determination unit configured to determine a consumption state of the lubricant deterioration sensor; and the lubricant deterioration detection determined by the sensor consumption state determination unit The sensor consumption state notification means is configured to transmit to the outside of the centralized monitoring device.

The above-described centralized monitoring device can also be configured as follows. The lubricant deterioration sensor includes a battery configured to supply power to the light-emitting element, and the sensor consumption state determination means sets a state of consumption of the battery corresponding to a remaining amount of the battery of the lubricant deterioration sensor. It is judged as the consumption state of the above battery.

The above-described centralized monitoring device can also be configured as follows. The sensor consumption state determination means determines the state of consumption of the light-emitting element corresponding to the cumulative light-emitting time of the light-emitting element as the consumption state of the lubricant deterioration sensor.

The above-described centralized monitoring device can also be configured as follows. Further, the robot state appropriateness determination unit configured to determine the appropriateness of the use state of the industrial robot, and the notification of the use state appropriateness determined by the robot state appropriateness determination unit to the concentration a robot state appropriateness transmitting means configured to be external to the monitoring device; the robot state appropriateness determining means acquires a temperature of the industrial robot corresponding to the temperature of the lubricating oil based on information transmitted by the speed reducer information transmitting device Based on the obtained temperature, the appropriateness of the use state of the industrial robot is determined.

The above-described centralized monitoring device can also be configured as follows. Further, the robot state appropriateness determining means configured to determine the appropriateness of the use state of the industrial robot, and the appropriateness of the use state of the industrial robot determined by the robot state appropriateness determining means a robot state appropriateness transmitting means configured to be sent to the outside of the centralized monitoring device; the robot state appropriateness determining means acquires the above-described load corresponding to a load applied to the reducer based on information transmitted by the reducer information transmitting device The load of the industrial robot is determined based on the obtained load, and the appropriateness of the use state of the industrial robot is determined.

According to another advantageous aspect of the present invention, there is provided a medium in which a centralized monitoring program for causing a computer to function as the centralized monitoring device is recorded.

According to another advantageous aspect of the present invention, a maintenance system including: the centralized monitoring device; the plurality of industrial robots monitored by the centralized monitoring device; and output by at least one of display and sound The notification output device of the damage state notification of the speed reducer transmitted by the centralized monitoring device.

Since the centralized monitoring device of the present invention determines the damage state of the speed reducer based on the color detected by the color light receiving element of the lubricant deterioration sensor, the damage state of the speed reducer can be more appropriately determined than before. Further, the centralized monitoring device of the present invention determines the damage state of each of the speed reducers based on a value corresponding to the color detected by the color light receiving elements of the lubricant deterioration sensors of the respective reduction gears of the industrial robots. The determined speed reducer damage status notification is sent to the outside, so that the respective reducer damage status notifications of the plurality of industrial robots can be sent to the outside. Therefore, the centralized monitoring apparatus of the present invention can transmit the respective more accurate damage state notifications of the respective industrial speed reducers to the outside.

Since the centralized monitoring device of the present invention sets the threshold for determining the damage state of the reducer based on the actual use state of the reducer, the damage state of the reducer can be accurately notified based on the actual use state of the reducer.

Since the centralized monitoring device of the present invention sets the threshold for determining the damage state of the reducer based on the actual temperature of the lubricating oil, the damage state of the reducer can be accurately notified based on the actual temperature of the lubricating oil.

Since the centralized monitoring device of the present invention sets the threshold for determining the damage state of the speed reducer based on the load actually added to the speed reducer, the damage state of the speed reducer can be accurately notified based on the load actually applied to the speed reducer.

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

Since the centralized monitoring device of the present invention notifies the outside of the consumption state of the lubricant deterioration sensor, it is possible to prevent the use of an undesired lubricant deterioration sensor, and as a result, the accuracy of notifying the damage state of the reducer can be maintained.

Since the centralized monitoring device of the present invention transmits a notification of the state of consumption of the battery as a state of consumption of the lubricant deterioration sensor to the outside, it is possible to prevent an undesired lubricant deterioration sensor using the remaining amount of the battery to be zero.

Since the centralized monitoring device of the present invention transmits a notification of the state of consumption of the light-emitting element as a consumption state of the lubricant deterioration sensor to the outside, it is possible to prevent an undesired lubricant deterioration sensor that causes a malfunction using the light-emitting element.

The centralized monitoring device of the present invention can suppress an unreasonable use of an industrial robot such as an industrial robot whose temperature is an inappropriate temperature.

The centralized monitoring device of the present invention can suppress the unreasonable use of the industrial robot as the load of the industrial robot becomes an inappropriate load.

Since the computer that executes the centralized monitoring program of the present invention determines the damage state of the speed reducer based on the color detected by the color light receiving element of the lubricant deterioration sensor, the damage state of the speed reducer can be more accurately determined than before. Further, the computer that executes the centralized monitoring program of the present invention determines the damage of each reducer based on the value corresponding to the color detected by the color light-receiving element of the lubricating oil deterioration sensor of each of the plurality of industrial robots. The status, and the notification of the damage state of the reducer is sent to the outside, so the plural can be The respective reducer damage status notifications of the industrial robots are sent to the outside. Therefore, the computer that executes the centralized monitoring program of the present invention can transmit the respective more accurate damage state notifications of the plurality of industrial robots to the outside.

Since the maintenance system of the present invention determines the damage state of the reducer based on the color detected by the color light-receiving element of the lubricant deterioration sensor by the centralized monitoring device, the damage state of the reducer can be more accurately performed by the centralized monitoring device than before. Judge. Further, in the maintenance system of the present invention, the damage of each speed reducer is determined by the centralized monitoring device based on the value corresponding to the color detected by the color light receiving element of the lubricating oil deterioration sensor of each of the plurality of industrial robots. In the state, the centralized monitoring device transmits the determined speed reducer damage state notification to the notification output device, so that the notification output device can output the respective reducer damage state notifications of the plurality of industrial robots to the outside. Therefore, the maintenance system of the present invention can output the respective more accurate damage state notifications of the respective reduction gears of the plurality of industrial robots by the notification output means.

The centralized monitoring device of the present invention can transmit the respective more accurate damage state notifications of the respective industrial speed reducers to the outside.

10‧‧‧Maintenance system

11‧‧‧Network

12A‧‧ factory

12B‧‧ factory

21‧‧‧Installation Department

22‧‧‧ Robotic arm

23‧‧‧ mechanical arm

23a‧‧‧Threaded holes

24‧‧‧ Robotic arm

25‧‧‧ Robotic arm

26‧‧‧ Robotic arm

31‧‧‧ Joint Department

32‧‧‧ Joint Department

33‧‧‧ Joint Department

34‧‧‧ Joint Department

35‧‧‧ Joint Department

36‧‧‧ Joint Department

90‧‧‧Setting section

20‧‧‧Industrial robots

40‧‧‧Reducer

40a‧‧‧Lubricating oil

41‧‧‧Shell

41a‧‧‧Internal gear

41b‧‧‧Bolts

41c‧‧‧ bearing

41d‧‧‧ Sealing member

42‧‧‧Support

42a‧‧‧column

42b‧‧‧Bolts

42c‧‧‧ bearing

43‧‧‧ Gears

44‧‧‧ Gears

45‧‧‧ Bearing

46‧‧‧External gear

46a‧‧‧ Bearing

50‧‧‧Motor

51‧‧‧ bearing

60‧‧‧Lubrication Deterioration Sensor

61‧‧‧Aluminum frame

61a‧‧ Thread Department

61b‧‧ Tools contact

62‧‧‧Gap forming members

62a‧‧‧ Oil gap

62b‧‧‧right angle

62c‧‧‧right angle

63‧‧‧Support components

63a‧‧‧ seat

63b‧‧‧ Hexagon socket head bolt

63c‧‧‧seat cover

64‧‧‧O-ring

65‧‧‧O-ring

66‧‧‧O-ring

67‧‧‧ Hexagon socket head bolt

68‧‧‧ Spacer

69‧‧‧ Hexagon countersunk head bolt

70‧‧‧Electronic parts group

71‧‧‧ circuit board

72‧‧‧White LED (lighting element)

72a‧‧‧Light path

73‧‧‧RGB sensor (color receiving element)

74‧‧‧Temperature sensor (reducer use state sensor, lubricant temperature sensor)

75‧‧‧Wireless communication device (color information transmitting device, reducer information transmitting device)

76‧‧‧Battery

77‧‧‧Battery Remaining Sensor

78‧‧‧Lighting point sensor

80‧‧‧ strain gauge (reducer use state sensor, load sensor)

81‧‧‧Wireless communication device (reducer information transmission device)

100‧‧‧ centralized monitoring device

104‧‧‧Memory (Threshold Memory)

104a‧‧‧ centralized monitoring program

105a‧‧‧Robot state appropriateness judgment unit (robot state appropriateness judgment mechanism)

105b‧‧‧Robot state appropriateness transmission unit (robot status appropriateness transmission mechanism)

105d‧‧‧threshold setting unit (threshold setting mechanism)

105e‧‧‧Reducer damage state judgment unit (reducer damage state judgment mechanism)

105f‧‧‧Reducer damage status transmitting unit (reducer damage status transmitting mechanism)

105g‧‧‧Reducer information transmission unit (reducer information transmission mechanism)

105h‧‧‧sensor consumption state judgment unit (sensor consumption state judgment mechanism)

105i‧‧‧Sensor consumption status transmitting unit (sensor consumption status transmitting unit)

130‧‧‧Services device (notification output device)

131‧‧‧Operation Department

132‧‧‧Display Department

133‧‧‧Speaker

134‧‧‧Network Communication Department

135‧‧‧Memory Department

135a‧‧‧ User Information

135b‧‧‧Robot Information

135c‧‧‧Reducer Information

135d‧‧‧Sensor Information

136‧‧‧Control Department

160‧‧‧User device (notification output device)

161‧‧‧Operation Department

162‧‧‧Display Department

163‧‧‧Speaker

164‧‧‧Network Communication Department

165‧‧‧Memory Department

166‧‧‧Control Department

Fig. 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 cross-sectional view showing a joint portion of the industrial robot shown in Fig. 1;

Figure 4 is a front elevational view of the lubricant deterioration sensor shown in Figure 3.

Fig. 5 is a front cross-sectional view showing the lubricant deterioration sensor shown in Fig. 4 in a state of being attached to a robot arm.

Fig. 6(a) is a plan view of the lubricant deterioration sensor shown in Fig. 4. Fig. 6(b) is a bottom view of the lubricant deterioration sensor shown in Fig. 4.

Fig. 7 is a view showing the optical path from the white LED to the RGB sensor shown in Fig. 5.

Figure 8 is a block diagram of the centralized monitoring device shown in Figure 1.

Fig. 9 is a view showing an example of user information shown in Fig. 8.

Fig. 10 is a view showing an example of the robot information shown in Fig. 8.

Fig. 11 is a view for explaining a method of calculating the robot load shown in Fig. 10.

Fig. 12 is a view showing an example of the information of the speed reducer shown in Fig. 8.

Fig. 13 is a view showing an example of the sensor information shown in Fig. 8.

Fig. 14 is a view showing an example of threshold information for the robot shown in Fig. 8;

Fig. 15 is a view showing an example of a threshold table for a reduction gear shown in Fig. 8;

Fig. 16 is a view showing an example of a table for table selection shown in Fig. 8;

Fig. 17 is a view showing an example of threshold information for the sensor shown in Fig. 8.

Fig. 18 (a) is a view showing an example of experimental results of the temporal change of the black color difference ΔE when the oil temperature shown in Fig. 3 is 40 ° C, the load torque of the reducer is 0.5 Mo, and the load torque of the reducer is 1.0 To. chart. 18(b) is a view showing an example of experimental results of the temporal change of the black color difference ΔE when the oil temperature shown in FIG. 3 is 60 ° C, the load torque of the reducer is 0.5 Mo, and the load torque of the reducer is 1.0 To. chart. 18(c) is a view showing an example of experimental results of the temporal change of the black color difference ΔE when the oil temperature shown in FIG. 3 is 60 ° C, the load torque of the reducer is 0.5 Mo, and the load torque of the reducer is 2.0 To. chart.

Figure 19 is a block diagram of the service provider device shown in Figure 1.

Figure 20 is a block diagram of the user device shown in Figure 1.

Fig. 21 is a flow chart showing the operation of the centralized monitoring device shown in Fig. 8 when the robot information is updated.

Fig. 22 (a) shows an example of a screen displayed on the display unit of the service provider device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the temperature of the robot exceeds the upper limit threshold of the recommended temperature range. Figure. Fig. 22 (b) is a view showing an example of a screen displayed by the display unit of the service provider device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the robot temperature is lower than the lower limit threshold of the recommended temperature range. Figure. Fig. 22 (c) shows the service industry shown in Fig. 19 when the robot temperature is equal to or higher than the high temperature warning threshold. A diagram showing an example of a screen displayed on the display unit of the device or the display unit of the user device shown in FIG. (d) of FIG. 22 is an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot temperature is lower than the low temperature warning threshold. Figure.

Fig. 23 (a) shows an example of a screen displayed on the display unit of the service provider device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the robot load exceeds the recommended load range upper limit threshold value. Figure. FIG. 23(b) shows an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the robot load is equal to or higher than the high load warning threshold. Figure.

Fig. 24 is a flow chart showing the operation of the centralized monitoring device shown in Fig. 8 when the speed reducer information is updated.

Fig. 25 (a) shows an example of a screen displayed on the display unit of the service provider device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the black color difference ΔE is equal to or less than the inspection repair threshold value. Figure. (b) of FIG. 25 shows a display portion of the service provider device shown in FIG. 19 or a display portion of the user device shown in FIG. 20 when the black color difference ΔE exceeds the inspection repair threshold value and is equal to or lower than the warning threshold value. A diagram showing an example of a screen.

Fig. 26 is a flow chart showing the operation of the centralized monitoring device 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 device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the battery remaining amount reaches the battery replacement threshold. Figure. Fig. 27 (b) shows an example of a screen displayed on the display unit of the service provider device shown in Fig. 19 or the display unit of the user device shown in Fig. 20 when the battery remaining amount is equal to or lower than the battery warning threshold. Figure.

(a) of FIG. 28 is an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 when the cumulative emission time is equal to or greater than the LED replacement threshold. Figure. Figure 28 (b) shows that the cumulative lighting time is the LED warning threshold. In the case of the above, an example of a screen displayed on the display unit of the service provider device shown in FIG. 19 or the display unit of the user device shown in FIG. 20 is shown.

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

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

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

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

The plurality of industrial robots 20 are disposed in a plurality of places such as the factory 12A and the factory 12B.

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

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

The user device 160 may be disposed in each of a plurality of industrial robots 20, for example, in each factory, each company operating the factory, and the like. The user device 160 may be disposed in a place away from the place where the industrial robot 20 is disposed, where the centralized monitoring device 100 is placed, and where the service provider device 130 is placed.

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

As shown in FIG. 2, the industrial robot 20 includes an attachment portion 21 attached to an installation portion 90 such as a floor or a ceiling, robot arms 22, 23, 24, 25, and 26, and a joint portion 31 connecting the attachment portion 21 and the robot arm 22. Connecting the mechanical arm 22 and the joint portion 32 of the mechanical arm 23, connecting the arm 23 and the joint portion 33 of the robot arm 24, the joint portion 34 connecting the robot arm 24 and the robot arm 25, the joint portion 35 connecting the robot arm 25 and the robot arm 26, and the joint connecting the robot arm 26 and the hand (not shown) Part 36.

3 is a cross-sectional view of the joint portion 32. The joint portion 32 will be described below, but the joint portions 31 and 33 to 36 are also the same.

As shown in FIG. 3, the joint portion 32 includes a speed reducer 40 that connects the arm 22 and the arm 23, and a motor 50 that is fixed to the arm 22 by a bolt 51, and is used to detect a movable portion that is reduced in the reducer 40. The deteriorated lubricant deterioration sensor 60 of the rubbed lubricating oil 40a, the strain gauge 80 as a load sensor for detecting the load applied to the reducer 40, and the wireless communication device 81 that wirelessly communicates with the external device .

The reduction gear 40 includes a casing 41 having an internal gear 41a and fixed to the robot arm 22 by bolts 41b, and three pillars 42a arranged at equal intervals around the central axis of the reduction gear 40 and fixed by bolts 42b. The support body 42 on the robot arm 23, the gear 43 fixed to the output shaft of the motor 50, and three gears 44 meshing with the gear 43 are arranged around the center axis of the speed reducer 40, and surround the speed reducer 40. Three crankshafts 45 fixed to the gear 44 and two external gears 46 meshing with the internal gear 41a provided on the casing 41 are disposed at equal intervals around the central axis.

The support body 42 is rotatably supported by the housing 41 via a bearing 41c. A sealing member 41d for preventing leakage of the lubricating oil 40a is provided between the casing 41 and the support 42.

The crankshaft 45 is rotatably supported by the support body 42 via a bearing 42c, and is rotatably supported by the external gear 46 via a bearing 46a. The crankshaft 45 eccentrically rotates the external gear 46 with respect to the housing 41 in accordance with the rotational motion input from the gear 44.

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

The strain gauges 80 are attached to each of the three columns 42a of the support body 42, and a total of six are mounted. The strain gauge 80 detects the load applied to the speed reducer 40 as the strain generated in the column 42a. Here, the corresponding variable 80 is applied with a coating for isolating the lubricating oil 40a. Further, a hole (not shown) through which a wire for transmitting the output of the strain gauge 80 to the wireless communication device 81 passes is formed in the speed reducer 40 and the robot arm 23. In order to prevent the lubricating oil 40a from leaking to the outside of the speed reducer 40, the hole is filled with a resin such as an epoxy resin after the electric wire is laid. The strain gauge 80 detects the load applied to the speed reducer 40 as a use state of the speed reducer 40, and constitutes the speed reducer use state sensor of the present invention.

A battery for supplying power to the wireless communication device 81 itself is provided in the wireless communication device 81. The wireless communication device 81 transmits information corresponding to the load detected by the strain gauge 80 as the use state of the speed reducer 40 to the centralized monitoring device 100, and constitutes the speed reducer information transmitting device of the present invention.

FIG. 4 is a front view of the lubricant deterioration sensor 60. FIG. 5 is a front cross-sectional view of the lubricant deterioration sensor 60 in a state of being attached to the robot arm 23. FIG. 6(a) is a plan view of the lubricant deterioration sensor 60. FIG. 6(b) is a bottom view of the lubricant deterioration sensor 60.

As shown in FIG. 4 to FIG. 6(b), the lubricant deterioration sensor 60 includes an aluminum alloy frame 61 that supports each component of the lubricant deterioration sensor 60, and a gap for infiltrating the lubricant 40a. The gap forming member 62 of the oil gap 62a, the supporting member 63 supporting the gap forming member 62, the O-ring 64 for preventing the lubricating oil 40a from leaking between the frame 61 and the robot arm 23, and the lubricating oil 40a from the frame 61 and The O-ring 65 that leaks between the support members 63, the O-ring 66 disposed between the frame 61 and the support member 63, and the electronic component group 70.

The frame body 61 is provided with a screw portion 61a for fixing in the screw hole 23a of the robot arm 23, and a tool contact portion for clamping by a tool such as a wrench when the screw portion 61a is rotated with respect to the screw hole 23a of the robot arm 23. 61b. Further, when the state of the lubricant deterioration sensor 60 is removed, the screw hole 23a of the robot arm 23 can be used to supply the lubricating oil 40a to the speed reducer 40 or the lubricating oil 40a from the speed reducer 40.

The gap forming member 62 is composed of two right-angled cymbals 62b and 62c made of glass, and the oil gap 62a, which is a gap for allowing the lubricating oil 40a to penetrate, is formed between the two right-angled turns 62b and 62c. The right angle turns 62b, 62c are fixed to the support member 63 by an adhesive.

The support member 63 is fixed to the frame 61 by a hexagon socket countersunk bolt 67. The support member 63 is provided with a sleeve 63a made of an aluminum alloy, and a cover cover 63c made of an aluminum alloy fixed to the sleeve 63a by a hexagon socket countersunk bolt 63b.

The electronic component group 70 includes a circuit board 71 that is fixed to the support member 63 by a hexagonal countersunk bolt 69 via a spacer 68, and a white LED (Light Emitting Diode) that is attached to the circuit board 71 as a light-emitting element that emits white light. The diode 222 is a color light-receiving element that detects the color of the received light, that is, the RGB sensor 73 attached to the circuit board 71, and the temperature for detecting the lubricating oil 40a via the socket 63a (hereinafter referred to as "oil temperature" The lubricating oil temperature sensor is a temperature sensor 74 mounted on the circuit board 71, a wireless communication device 75 that wirelessly communicates with an external device of the lubricant deterioration sensor 60, and a sense of white LED 72 and RGB. A battery 76 that supplies power to each electronic component on the circuit board 71 such as the temperature sensor 74 and the wireless communication device 75, and a battery remaining amount sensor that measures the remaining power of the battery 76 (hereinafter referred to as "battery remaining amount") 77. The point sensor 78 is detected when the white LED 72 is illuminated. In addition to 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-emitting point sensor 78, a plurality of electronic components are mounted on the circuit substrate 71. Components.

The temperature sensor 74 detects the temperature of the lubricating oil 40a as the use state of the speed reducer 40, and it constitutes the speed reducer use state sensor of the present invention.

The wireless communication device 75 transmits information corresponding to the color detected by the RGB sensor 73 to the centralized monitoring device 100, and constitutes the color information transmitting device of the present invention. Further, the wireless communication device 75 transmits information corresponding to the oil temperature detected by the temperature sensor 74 as the use state of the speed reducer 40 to the centralized monitoring device 100, and constitutes the speed reducer information transmitting device of the present invention. Further, the wireless communication device 75 transmits information corresponding to the remaining battery amount measured by the battery remaining amount sensor 77 or information corresponding to the light-emitting point detected by the light-emitting point sensor 78 to the centralized monitoring device 100.

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

As shown in 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.

The socket 63a surrounds at least a portion of the light path 72a from the white LED 72 to the RGB sensor 73. The housing 63a is treated with a black alumite treatment such as matting to prevent light reflection on the surface.

The right angles 62b, 62c transmit light emitted by the white LEDs 72. The incident surface and the exit surface of the right angle 稜鏡 62b, 62c of the light emitted from the white LED 72 are optically polished.

The optical path 72a is bent by 90 degrees from the reflecting surface of the right angle 稜鏡62b, and is also bent by 90 degrees by the reflecting surface of the right angle 稜鏡62c. That is, the optical path 72a is bent by 180 degrees by the gap forming member 62. The reflecting surfaces of the right angles 稜鏡 62b, 62c of the light emitted from the white LEDs 72 are optically polished, and an aluminum deposited film is applied. Further, in order to protect the aluminum deposited film having weak hardness or adhesion, an SiO ₂ film is further applied to the aluminum deposited film.

The distance between the exit surface of the right angle 稜鏡 62b emitted by the white LED 72 and the incident surface of the right angle 稜鏡 62c of the light emitted from the white LED 72 is the length of the oil gap 62a. When the length of the oil gap 62a is too short, it is difficult for the contaminant in the lubricating oil 40a to flow properly in the oil gap 62a, so that the detection accuracy of the color of the contaminant in the lubricating oil 40a is lowered. 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 pollutants in the lubricating oil 40a in the oil gap 62a, and it is difficult to reach the RGB sensor 73. The detection accuracy of the color of the pollutant in the lubricating oil 40a is also lowered. Therefore, it is preferable to appropriately set the length of the oil gap 62a in order to improve the detection accuracy of the color of the pollutant in the lubricating oil 40a. The length of the oil gap 62a is, for example, 1 mm.

Since the lubricant deterioration sensor 60 detects the color of the light of the white light emitted from the white LED 72 in the white light of the white LED 72 in the oil gap 62a that is not absorbed by the pollutant in the lubricating oil 40a, the color can be detected immediately. The color of the pollutant in the lubricating oil 40a of the speed reducer 40 is detected. Also, the centralized monitoring device 100 can be based on the color detected by the RGB sensor 73. The type and amount of the pollutants in the lubricating oil 40a of the speed reducer 40 are specified in real time. That is, the lubricant deterioration sensor 60 can detect the degree of deterioration of the lubricant 40a by detecting the color of the pollutant in the lubricant 40a.

Further, the degree of deterioration of the lubricating oil 40a can be judged by the color detected by the RGB sensor 73 with respect to a specific color, that is, a color difference ΔE of black (hereinafter referred to as "black color difference ΔE"). The black color difference ΔE can be calculated by the following equation 1 using the values of R, G, and B of the color detected by the RGB sensor 73.

In general, the trajectory accuracy of the robot arm of the industrial robot is greatly affected by the performance of the speed reducer used in the joint portion. Therefore, it is important that the speed reducer for industrial robots should be properly replaced in the case of performance degradation. However, in the case of replacing a reduction gear for an industrial robot, an industrial robot including the reduction gear or a production line in which the industrial robot is installed must be stopped. Therefore, in order to grasp the timing of replacement of the speed reducer for industrial robots, it is very important to properly predict the failure of the speed reducer for industrial robots. Here, each of the lubricant deterioration sensors of the industrial robot 20 can instantly specify the pollutants in the lubricating oil 40a of the speed reducer 40 by the centralized monitoring device 100 based on the color detected by the RGB sensor 73. The type and quantity. Therefore, the maintenance system 10 can immediately predict the failure of the speed reducer for the industrial robot.

Further, in the lubricating oil 40a, a friction reducing agent such as molybdenum dialkyldithiocarbamate (MoDTC) or molybdenum dithiophosphate (MoDTP), which is used to reduce the friction of the friction surface, may be added. Various additives such as an extreme pressure additive such as an SP-based additive which is an extreme pressure property which suppresses the fusion of the friction surface, and a dispersant such as a Ca sulfonate which suppresses the generation or adhesion of the slag. These additives are separated from the lubricating oil 40a by, for example, adhesion, bonding or deposition on the metal surface of the industrial robot 20 and the speed reducer with the deterioration of the lubricating oil 40a. Each lubricant deterioration sensor is not only based on the amount of iron powder in the lubricating oil 40a, but also based on detection The color of the color is specified to cause an increase in the degree of deterioration of the base oil or a contaminant such as dirt due to a decrease in various additives added to the lubricating oil 40a. Therefore, the maintenance system 10 can improve the failure prediction accuracy as compared with the technique of predicting the failure of the speed reducer based only on the iron powder concentration.

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

First, the right angle turns 62b, 62c and the white LEDs 72 are fixed to the sleeve 63a by an adhesive.

Next, 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-emitting point sensor 78 are mounted by the hexagonal countersunk bolt 69 via the spacer 68. The circuit board 71 is fixed to the housing 63a, and the white LED 72 is fixed to the circuit board 71 by solder.

Next, the temperature sensor 74 is attached to the sleeve 63a.

Next, the cover cover 63c is fixed to the sleeve 63a by the inner hexagonal countersunk bolt 63b.

Finally, the socket 63a is fixed to the frame 61 to which the O-ring 64, the O-ring 65, and the O-ring 66 are attached by the hexagon socket countersunk bolts 67.

Next, a method of installing the lubricant deterioration sensor 60 on the robot arm 23 will be described.

First, the tool portion 61b of the frame 61 is clamped by a tool, and the screw portion 61a of the frame 61 is screwed into the screw hole 23a of the arm 23, whereby the lubricant deterioration sensor 60 is fixed to the arm 23.

FIG. 8 is a block diagram of the centralized monitoring device 100.

The centralized monitoring device 100 shown in FIG. 8 is a computer such as a PC (Personal Computer). The centralized monitoring device 100 includes an operation unit 101 that is an input element such as a mouse or a keyboard that can input various operations by a user of the centralized monitoring device 100, and a display unit 102 that is a display element such as an LCD (Liquid Crystal Display) that displays various kinds of information. A network communication unit that communicates via the network 11 (see FIG. 1), that is, a network communication unit 103, and a memory element such as an HDD (Hard Disk Drive) that memorizes various data is recorded. The memory unit 104 and the control unit 105 that controls the entire centralized monitoring device 100.

The memory unit 104 stores a centralized monitoring program 104a for notifying the damage state of the speed reducer of the industrial robot 20.

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

The memory unit 104 memorizes the user of the industrial robot 20, the industrial robot 20 provided by the user, the speed reducer 40 provided in the industrial robot 20, and the lubricant deterioration sensor 60 attached to the speed reducer 40. The information of the relationship is user information 104b.

Fig. 9 is a view showing an example of user information 104b.

As shown in FIG. 9, in the user information 104b, the user ID (hereinafter referred to as "user ID"), the ID of the industrial robot 20 (hereinafter referred to as "robot ID"), and the industry. The ID of the speed reducer 40 (hereinafter referred to as "reducer ID") provided in the robot 20 and the ID of the lubricant deterioration sensor 60 provided in the speed reducer 40 (hereinafter referred to as "sensor ID") Correspond to each other.

Further, the user ID, the robot ID, the speed reducer ID, and the sensor ID are information input by the service provider via the service provider device 130.

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

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

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

In addition, the robot ID is input by the service provider via the service provider device 130. News.

In addition, the robot temperature of the industrial robot 20 is calculated by the control unit 105 based on at least one of the oil temperatures stored in the reducer information 104d, which will be described later, for the plurality of speed reducers 40 provided in the industrial robot 20. Information.

Further, as shown in FIG. 11, the robot load F is a distance L between the position of the rotation axis of the reduction gear 40 of the joint portion 33 and the position of the load point to which the load F is applied, and the reduction gear of the joint portion 33 by the control unit 105. 40, the speed reducer load torque T described later, calculated by T/L. In other words, the robot load is information calculated by the control unit 105 based on the speed reducer load torque of the speed reducer information 104d, which will be described later, based on the speed reducer 40 of the joint portion 33 of the industrial robot 20.

As shown in FIG. 8, the memory unit 104 stores information on the speed reducer information 104d indicating the relationship between the various functions of the speed reducer 40 and the speed reducer 40.

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

As shown in FIG. 12, in the reducer information 104d, the speed reducer ID, the model of the speed reducer 40, the batch number of the speed reducer 40, and the RGB sensor of the lubricant deterioration sensor 60 provided in the speed reducer 40 are shown. The detected color difference ΔE of the color with respect to black is the black color difference ΔE, the temperature of the lubricating oil 40a of the speed reducer 40, that is, the oil temperature, and the rotation when rotating relative to the housing 41 and the support body 42 of the speed reducer 40. The load applied to the speed reducer 40 in the direction in which the axis is orthogonal to the axis (hereinafter referred to as "reducer load torque"), and the relative rotation between the casing 41 and the support 42 of the speed reducer 40 The load applied to the speed reducer 40 in the direction of rotation of the rotating shaft (hereinafter referred to as "reducer load torque").

In the speed reducer information 104d shown in Fig. 12, the rated torque of the Mo-based reducer 40 is set. Moreover, the To is the rated torque of the reducer 40.

Further, the speed reducer ID, model number, and lot number are information input by the service provider via the service provider device 130.

As shown in FIG. 8, the memory unit 104 memorizes the lubricant deterioration sensor 60 and the run. The information of the relationship of various information of the oil deterioration sensor 60 is the sensor information 104e.

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

As shown in FIG. 13, in the sensor information 104e, the sensor ID of the lubricant deterioration sensor 60, the remaining amount of the battery 76 of the lubricant deterioration sensor 60, that is, the remaining amount of the battery, and the deterioration of the lubricant The cumulative lighting time (hereinafter referred to as "accumulated lighting time") of the white LEDs 72 of the sensor 60 corresponds to each other.

In addition, the sensor ID is information input by the service provider via the service provider device 130.

As shown in FIG. 8, the memory unit 104 stores threshold information 104f for the robot, which is threshold information for notifying the use state of the industrial robot 20.

FIG. 14 is a view showing an example of the threshold information 104f for the robot.

As shown in FIG. 14, the robot threshold information 104f includes a recommended temperature range upper limit threshold indicating an upper limit of a temperature range recommended by the industrial robot 20 (hereinafter referred to as "recommended temperature range"), and is used to indicate that the recommended temperature range is within the recommended temperature range. However, the threshold for the high temperature warning that is close to the upper limit, the threshold for the low temperature warning that is within the recommended temperature range but close to the lower limit, the lower limit threshold of the recommended temperature range indicating the lower limit of the recommended temperature range, and the recommendation for the industrial robot 20 The upper limit threshold of the recommended load range of the upper limit of the load range (hereinafter referred to as the "recommended load range") and the threshold for the high load warning indicating that the recommended load range is close to the upper limit.

As shown in FIG. 8, the memory unit 104 stores a plurality of speed reducer threshold values 104g for setting a threshold value of the damage state notification of the speed reducer 40, and constitutes a threshold value memory unit of the present invention. Further, the plurality of speed reducer threshold tables 104g stored in the memory unit 104 differ from each other according to the model of the corresponding speed reducer, and an ID is attached thereto.

Fig. 15 is a view showing an example of the speed reducer threshold table 104g.

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

Further, although there are a plurality of blanks in the speed reducer threshold table 104g shown in Fig. 15, a specific threshold value has actually been input. In the speed reducer threshold table 104g shown in FIG. 15, the case where the reducer load torque is less than 0.25 Mo and the reducer load torque is 0.25 Mo or more and less than 0.5 Mo, and the reducer load torque are omitted. When the load is 0.75 Mo or more and less than 1.0 Mo, the load torque of the reducer is 1.0 Mo or more and less than 1.25 Mo, and the load torque of the reducer is 1.25 Mo or more, but the load torque of the reducer is 0.5. Similarly to Mo and less than 0.75 Mo, a specific threshold has been input in accordance with each range of the reducer load torque.

In the speed reducer threshold table 104g shown in Fig. 15, two values are shown in the column of the threshold. The upper numerical value is used to urge the user of the industrial robot 20 that the speed reducer 40 is likely to have a damage, and the threshold for inspection or repair, that is, the threshold for inspection and repair. The lower value is used to indicate the threshold for which the reducer 40 may have been damaged, that is, the warning threshold. In other words, the threshold values for the repair and the warning threshold are checked against the damage state of the reducer 40. Here, the damage state of the speed reducer 40 refers to a damage state of each of the meshing portions of the respective bearings inside the reducer 40 and the inside of the reducer 40. According to the speed reducer threshold value table 104g shown in FIG. 15, for example, the oil temperature is 40° C. or more and less than 50° C., the reducer load torque is 0.5 Mo or more and less than 0.75 Mo, and the reducer load torque is 1.0 To or more. In the case of less than 1.5 To, the thresholds for inspection and repair and the thresholds for warning are 350 and 425, respectively.

In addition, since the oil temperature is less than -10 ° C and the oil temperature is 80 ° C or more, the specification range of the lubricant deterioration sensor of the present embodiment is exceeded, so the threshold table for the speed reducer shown in FIG. 15 is not used. 104g is prescribed. Further, since the case where the reduction gear load torque is 3.0 To or more exceeds the specification range of the reduction gear unit of the present embodiment, it is not defined in the reduction gear threshold table 104g shown in Fig. 15 .

As shown in FIG. 8, the memory unit 104 stores a table selection table 104h which is a table for selecting an appropriate threshold table for the speed reducer from the plurality of speed reducer threshold tables 104g.

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

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

As shown in FIG. 8, the memory unit 104 stores threshold information 104i for threshold information for notifying the consumption state of the lubricant deterioration sensor 60.

Fig. 17 is a view showing an example of the sensor threshold information 104i.

As shown in FIG. 17, the sensor threshold information 104i includes a threshold for replacing the battery 76 for replacing the lubricant deterioration sensor 60, that is, a threshold for battery replacement, and a threshold for indicating a battery remaining amount, that is, a battery warning threshold. The threshold for replacing the white LED 72, that is, the LED replacement threshold, and the LED warning threshold for indicating that the cumulative lighting time is close to the threshold of the life of the white LED 72.

The control unit 105 shown in FIG. 8 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) in which programs and various materials are stored in advance, and a RAM used as a work area of the CPU. (Random Access Memory: Random Access Memory). The CPU executes a program stored in the ROM or the storage unit 104.

The control unit 105 functions as a robot state appropriateness determination unit that determines the appropriateness of the use state of the industrial robot 20 by the centralized monitoring program 104a stored in the storage unit 104. 105a. The robot state appropriateness transmitting means that transmits the function state appropriateness of the industrial robot 20 to the at least one of the service provider device 130 and the user device 160, which is determined by the robot state appropriateness determining unit 105a. The robot state appropriateness transmitting unit 105b, the robot state information transmitting unit 105c that transmits the robot information 104c to the industrial device 130, and the threshold value used for the threshold value in the speed reducer threshold table 104g stored in the memory unit 104 are used. The threshold setting unit 105d of the set threshold setting means is used as the determination speed reducer 40. The reducer damage state determination unit 105e of the reducer damage state determination means in the damage state transmits the damage state notification of the speed reducer 40 determined by the reducer damage state determination unit 105e to the service provider device 130 and the user. a reducer damage state transmitting unit 105f of the reducer damage state transmitting means of at least one of the devices 160, a reducer information transmitting unit 105g that transmits the reducer information 104d to the reducer information transmitting means of the service provider device 130, The sensor consumption state determination unit 105h as the sensor consumption state determination means for determining the consumption state of the lubricant deterioration sensor 60, and the lubricant deterioration sensor which is determined by the sensor consumption state determination unit 105h The consumption state notification of 60 is transmitted to the sensor consumption state transmitting unit 105i of the sensor consumption state transmitting means of at least one of the service provider device 130 and the user device 160, and is transmitted as the sensor information 104e. The sensor information transmitting unit 105j to the service provider device 130.

Next, a method of calculating the reducer load torque and the reducer load torque by the control unit 105 will be described.

The stresses generated in the portions of the two strain gauges 80 attached to any one of the three columns 42a of the support 42 of the reduction gear 40 are set to σ1 and σ2, respectively. The load torque calculated based on σ1 and σ2 is set to T _A1 . The load torque calculated based on σ1 and σ2 is set to M _A1 . The load factor that can calculate the stress caused by the load torque in σ1 by multiplying T _A1 is set to T1. The load factor which can calculate the stress caused by the load torque in σ2 by multiplying T _A1 is set to T2. The working angle of the load torque centered on the rotation axis of the housing 42 with respect to the housing 41 and applied to the support 42 is set to . The load factor that can be calculated by multiplying M _A1 to calculate the stress caused by the load torque in σ1 is set. The function is M1 ( ). The load factor that can be calculated by multiplying M _A1 to calculate the stress caused by the load torque in σ2 is set. The function is M2 ( ). Σ1, σ2, T _A1 , M _A1 , T1 , T2 , M1 ( ) and M2 ( There is a relationship shown by the number 2 between ). In addition, M1 ( ) or M2 ( )for The function is due to the stress caused by the load torque in σ1 or the stress caused by the load torque in σ2, which varies depending on the relative rotation of the casing 41 and the support 42.

Here, the relationship shown by the number 2, the number 3, and the number 4 is established.

Further, the stresses generated in the portions of the two strain gauges 80 on any one of the columns 42a of the three columns 42a of the support 42 attached to the reduction gear 40 are set to σ3 and σ4, respectively. . The load torque calculated based on σ3 and σ4 is set to T _A2 . The load torque calculated based on σ3 and σ4 is set to M _A2 . The load factor which can calculate the stress caused by the load torque in σ3 by multiplying T _A2 is set to T3. The load factor which can calculate the stress caused by the load torque in σ4 by multiplying T _A2 is set to T4. The load factor that can be calculated by multiplying M _A2 to calculate the stress caused by the load torque in σ3 is set. The function is M3 ( ). The load factor that can be calculated by multiplying M _A2 to calculate the stress caused by the load torque in σ4 is set. The function is M4 ( ). Σ3, σ4, T _A2 , M _A2 , T3, T4, M3 ( ) and M4 ( There is a relationship shown by the number 5 between ). Also, M3 ( ) or M4 ( )for The function is due to the stress caused by the load torque in σ3 or the stress caused by the load torque in σ4, which varies depending on the relative rotation of the casing 41 and the support 42.

Here, the relationship shown by the number 5, the number 6 and the number 7 is established.

Further, the stresses generated in the portions of the two strain gauges 80 on the remaining one of the two columns 42a of the three columns 42a of the support 42 of the reduction gear 40 are respectively set. Σ5, σ6. The load torque calculated based on σ5 and σ6 is set to T _A3 . The load torque calculated based on σ5 and σ6 is set to M _A3 . The load factor which can calculate the stress caused by the load torque in σ5 by multiplying T _A3 is set to T5. The load factor that can calculate the stress caused by the load torque in σ6 by multiplying T _A3 is set to T6. The load factor that can be calculated by multiplying M _A3 to calculate the stress caused by the load torque in σ5 is set. The function is M5 ( ). The load factor that can be calculated by multiplying M _A3 to calculate the stress caused by the load torque in σ6 is set. The function is M6 ( ). Σ5, σ6, T _A3 , M _A3 , T5 , T6 , M5 ( ) and M6 ( There is a relationship between the number 8 between them. In addition, M5 ( ) or M6 ( )for The function is due to the stress caused by the load torque in σ5 or the stress caused by the load torque in σ6, which varies depending on the relative rotation of the casing 41 and the support 42.

Here, the relationship between the number 8, the number 9 and the number 10 is established.

In addition, since T _A1 , T _A2 , and T _A3 are theoretically the same value, when T _A1 , T _A2 , and T _A3 are the closest to each other, The actual working angle closest to the load torque. Similarly, since M _A1 , M _A2 , and M _A3 are theoretically the same value, M _A1 , M _A2 , and M _A3 are the closest values to each other ( ) The actual working angle closest to the load torque. That is, the function δ shown in the number 11 ( When it is the minimum value The actual working angle closest to the load torque.

Therefore, the control unit 105 calculates the function δ based on the numbers 3, 4, 6, 7, 9, 10, and 11 ( When it is the minimum value , can calculate the actual working angle closest to the load torque . Here, the control unit 105 can calculate σ1 to σ6 based on the output of the strain gauge 80, respectively. And, T1~T6, M1( )~M6( ) Pre-measured by load experiments, respectively.

Next, the control unit 105 calculates based on Calculate T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , M _A3 according to the numbers 3, 4, 6, 7, 9, and 10.

Finally, based on the calculated T _A1 , T _A2 , T _A3 , M _A1 , M _A2 , and M _A3 , the control unit 105 calculates T, which is the reduction gear load torque, and M, which is the reducer load torque, based on the numbers 12 and 13.

[Number 12] T = ( T _{A 1} + T _{A 2} + T _{A 3} ) / 3

[Number 13] M = ( M _{A 1} + M _{A 2} + M _{A 3} ) / 3

Next, an example of a method of manufacturing the speed reducer threshold table 104g will be described.

An experiment was conducted in which the support device 42 was continuously rotated by 45° with respect to the casing 41 in the forward direction with the maximum output rotation number of 15 rpm for the experimental apparatus manufactured in the same configuration as that of the joint portion 32. Then rotate the reciprocating rotation of 45° in the opposite direction. In this experiment, the lubricating oil 40a was a new oil which was less deteriorated. Also, the time variation of the black color difference ΔE was investigated.

Figure 18 (a) shows the oil temperature is 40 ° C, the reducer load torque is 0.5 Mo and the reducer A graph showing an example of the experimental result of the temporal change of the black color difference ΔE when the load torque is 1.0 To. Fig. 18 (b) is a graph showing an example of experimental results of temporal changes in the black color difference ΔE when the oil temperature is 60 ° C, the reducer load torque is 0.5 Mo, and the reducer load torque is 1.0 To. Fig. 18 (c) is a graph showing an example of experimental results of temporal changes in the black color difference ΔE when the oil temperature is 60 ° C, the reducer load torque is 0.5 Mo, and the reducer load torque is 2.0 To.

In Fig. 18 (a) to Fig. 18 (c), the rated conversion time is based on the output rotation number of the reduction gear 40 and the reduction gear load torque when the device for actual driving is actually used, and the time for actually driving the experimental device is converted into an output. The time when the number of revolutions is 15 rpm and the load of the reducer is the rated torque of the reducer 40. Further, the service life of the speed reducer 40 is defined as 6000 hours in the case where the output rotation number is 15 rpm and the reduction gear load torque is the rated torque of the speed reducer 40, and the speed reducer 40 is continuously driven.

As shown in Fig. 18 (a) and Fig. 18 (b), even when the oil temperature is different, even if the reducer load torque and the reducer load torque are the same, the rated conversion time reaches the service life of 6000 hours. The black color difference ΔE (hereinafter referred to as "rated life time color difference") is still different. Further, as shown in FIGS. 18(b) and 18(c), when the reducer load torque is different, even if the oil temperature and the reducer load torque are the same, the gradation of the rated life time is different. The same experiment can be used to confirm that the rated life time chromatic aberration is different when the oil temperature, the reducer load torque, and the reducer load torque are different. Therefore, the threshold for notifying the damage state of the speed reducer 40 is preferably determined in accordance with the oil temperature, the reducer load torque, and the reducer load torque.

In addition, when a plurality of experiments have been carried out, even if the oil temperature, the reducer load torque, and the reducer load torque are the same in each experiment, the gradation of the rated life time may be different. Therefore, it is assumed that the minimum value among the rated life time chromatic aberrations in the plurality of experiments is the inspection repair threshold and the maximum value is the warning threshold.

As an example, in the speed reducer threshold table 104g shown in Fig. 15, the oil temperature is 40 ° C or higher. And less than 50 ° C, the reducer load torque is 0.5 Mo or more and less than 0.75 Mo, and the reducer load torque is 1.0 To or more and less than 1.5 To. The inspection and repair threshold is 350, the oil temperature is 40 ° C, and the speed is reduced. The value of the minimum value of the rated life time chromatic aberration in the plurality of experiments after the machine load torque is 0.5 Mo and the reducer load torque is 1.0 To. Similarly, in the speed reducer threshold table 104g shown in FIG. 15, the oil temperature is 40° C. or more and less than 50° C., the reducer load torque is 0.5 Mo or more and less than 0.75 Mo, and the reducer load torque is 1.0 To or more. The warning threshold value is less than 1.5 To, that is, the 425 series is subjected to a plurality of experiments under the conditions of an oil temperature of 40 ° C, a reducer load torque of 0.5 Mo, and a reducer load torque of 1.0 To, in the plurality of experiments. The value of the maximum value of the gradation of the rated life time.

The speed reducer threshold table 104g is produced as described above. Further, a plurality of speed reducer threshold tables 104g can be produced by performing experiments under the condition that the speed reducer models are different.

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

The service provider device 130 shown in Fig. 19 is a computer such as a PC. The service provider device 130 includes an operation unit 131 that is an input element such as a mouse or a keyboard that can input various operations by a user of the service provider device 130, and a display unit 132 that is a display element such as an LCD that displays various kinds of information, and outputs various information by sound. The speaker 133, the network communication unit 134 that communicates via the network 11 (see FIG. 1), the memory unit 135 that is a memory element that stores various data, that is, the memory unit 135, and the entire control unit 100 Part 136.

The memory unit 135 can memorize the same user information 135a as the user information 104b, the same robot information 135b as the robot information 104c, the same speed reducer information 135c as the reducer information 104d, and the same sensing as the sensor information 104e. Information 135d. The user information 135a, the robot information 135b, the speed reducer information 135c, and the sensor information 135d are based on the self-concentrating monitoring device whenever the user information 104b, the robot information 104c, the speed reducer information 104d, and the sensor information 104e are changed. 100 user information sent 104b, machine Information updated by the person information 104c, the speed reducer information 104d, and the sensor information 104e.

The service provider device 130 outputs the damage state notification of the speed reducer 40 determined by the reducer damage state determination unit 105e of the centralized monitoring device 100 by the display of the display unit 132 and the sound of the speaker 133, and constitutes the present invention. The notification output device.

20 is a block diagram of a user device 160.

The user device 160 shown in FIG. 20 is a computer such as a PC. The user device 160 includes an operation unit 161 that is an input element such as a mouse or a keyboard that can input various operations by a user of the user device 160, a display unit 162 that is a display element such as an LCD that displays various kinds of information, and outputs various information by sound. The speaker 163, the network communication unit 164 which is a network communication component that communicates via the network 11 (see FIG. 1), the memory unit 165 which is a memory element such as an HDD in which various data is stored, and the control unit 100 are collectively controlled. Control unit 166.

The user device 160 outputs the damage state notification of the speed reducer 40 determined by the speed reducer damage state determining unit 105e of the centralized monitoring device 100 by the display of the display unit 162 and the sound of the speaker 163, and constitutes the present invention. The notification output device.

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 portion 32 of one of the plurality of industrial robots 20 is described. However, the joint portions 31, 33 to 36 of the industrial robot 20 and the joint portion 31 of the other industrial robot 20 are used. ~36 is also the same situation.

When the output shaft of the motor 50 of the joint portion 32 is rotated, the rotational force of the motor 50 is decelerated by the reducer 40, and the robot arm 23 fixed to the support body 42 of the reducer 40 is relatively fixed to the housing of the reducer 40. The robot arm 22 on 41 operates.

The lubricant deterioration sensor 60 of the joint portion 32 emits white light from the white LED 72 by the electric power supplied from the battery 76. Further, the lubricant deterioration sensor 60 transmits the light amount of each of the RGB colors of the light received by the RGB sensor 73 and the ID of the lubricant deterioration sensor 60 itself as an electrical signal to the center via the wireless communication device 75. Monitoring device 100. Furthermore, 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, the time of the light detected by the light-emitting point sensor 78, and the lubricant deterioration sensing. The ID of the device 60 itself is transmitted as an electrical signal to the centralized monitoring device 100 via the wireless communication device 75.

Further, the strain detected by the strain gauge 80 is transmitted as an electrical signal together with the speed reducer ID of the speed reducer 40 provided with the strain gauge 80 itself, and transmitted to the centralized monitoring device 100 via the wireless communication device 81.

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

The control unit 105 of the centralized monitoring device 100 receives the amount of light of each of the RGB colors of the light received by the RGB sensor 73 as an electrical signal via the network communication unit 103, and the sensor of the lubricant deterioration sensor 60. The ID determines the speed reducer ID corresponding to the sensor ID based on the received sensor ID and user information 104b. Next, the control unit 105 calculates the black color difference ΔE based on the amount of light of each of the received RGB colors. Moreover, the control unit 105 updates the reduced gear information 104d by using the calculated black color difference ΔE as the black color difference ΔE corresponding to the speed reducer ID.

Furthermore, when the control unit 105 receives the temperature and the sensor ID detected by the temperature sensor 74 as an electrical signal via the network communication unit 103, it is based on the received sensor ID and user information 104b. The speed reducer ID and the robot ID corresponding to the sensor ID are determined. Moreover, the control unit 105 updates the speed reducer information 104d with the received temperature as the oil temperature corresponding to the speed reducer ID. Further, the control unit 105 calculates the robot temperature based on the temperature and based on a specific calculation formula. Moreover, the control unit 105 updates the robot information 104c with the calculated robot temperature as the robot temperature corresponding to the robot ID.

Further, when the control unit 105 receives the strain detected by the strain gauge 80 as an electrical signal and the speed reducer ID via the network communication unit 103, it determines based on the received speed reducer ID and user information 104b. The robot ID corresponding to the reducer ID. Further, the control unit 105 calculates the reducer load torque and the reducer load torque as described above based on the received strain. Moment. Moreover, the control unit 105 updates the reduced speed reducer load torque and the reducer load torque as the reducer load torque and the reducer load torque corresponding to the speed reducer ID, and update the speed reducer information 104d. Further, the control unit 105 calculates the robot load as described above based on the reducer load torque. Moreover, it updates the robot information 104c with the calculated robot load as the load corresponding to the robot ID.

Further, when the control unit 105 receives the battery remaining amount and the sensor ID measured by the battery remaining amount sensor 77 as an electrical signal via the network communication unit 103, the received battery remaining amount is used as the sensing. The sensor information 104e is updated by the remaining amount of the battery corresponding to the device ID.

Further, when the control unit 105 receives the light-emitting time point and the sensor ID detected by the point-of-light sensor 78 as an electrical signal via the network communication unit 103, it calculates based on all the light-emitting time points received so far. The cumulative illumination time of the white LED 72. Moreover, the control unit 105 updates the sensor information 104e by using the calculated cumulative lighting time as the cumulative lighting time corresponding to the sensor ID.

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

In the following, the robot information 104c related to one of the plurality of industrial robots 20 (hereinafter referred to as "target robot") is updated, but the robot related to the other industrial robot 20 is described. The situation after the update of the information 104c is also the same.

Fig. 21 is a flow chart showing the operation of the centralized monitoring device 100 when the robot information 104c is updated.

As shown in FIG. 21, the robot state appropriateness determining unit 105a of the control unit 105 of the centralized monitoring device 100 determines whether or not the robot temperature corresponding to the robot ID of the target robot in the robot information 104c exceeds the upper limit of the recommended temperature range on the robot threshold information 104f. Threshold (S201).

When the robot state appropriateness determining unit 105a determines in S201 that the robot temperature exceeds the recommended temperature range upper limit threshold value, the robot state appropriateness transmitting unit 105b of the control unit 105 exceeds the upper limit of the recommended temperature range as shown in Fig. 22(a). The notification is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 130 (S202). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

If the robot state appropriateness determining unit 105a determines in S201 that the robot temperature has not exceeded the recommended temperature range upper limit threshold, it is determined whether the robot temperature corresponding to the robot ID of the target robot in the robot information 104c is lower than the recommended temperature range on the robot threshold information 104f. Lower threshold (S203).

If the robot state appropriateness determining unit 105a determines in S203 that the robot temperature is lower than the recommended temperature range lower limit threshold, the robot state appropriateness transmitting unit 105b sets the robot temperature lower than the lower limit of the recommended temperature range as shown in FIG. 22(b). The notification is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S204). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

If the robot state appropriateness determining unit 105a determines in S203 that the robot temperature is not lower than the recommended temperature range lower limit threshold, it is determined that the robot information 104c and the target robot are Whether or not the robot temperature corresponding to the robot ID is equal to or higher than the high temperature warning threshold on the robot threshold information 104f (S205).

When the robot state appropriateness determining unit 105a determines that the robot temperature is equal to or higher than the high temperature warning threshold value in S205, as shown in FIG. 22(c), the robot state appropriateness transmitting unit 105b indicates that the robot temperature is within the recommended temperature range but is close to The notification of the upper limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S206). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

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

When the robot state appropriateness determining unit 105a determines that the robot temperature is equal to or lower than the low temperature warning threshold value in S207, as shown in FIG. 22(d), the robot state appropriateness transmitting unit 105b indicates that the robot temperature is within the recommended temperature range but is close to The lower limit notification is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S208). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

When the robot state appropriateness determining unit 105a determines in 207 that the robot temperature is not equal to or lower than the low temperature warning threshold, or the processing of S202, S204, S206, and S208 is completed, the robot load corresponding to the robot ID of the target robot in the robot information 104c is determined. Whether or not the recommended load range upper limit threshold on the robot threshold information 104f is exceeded (S209).

When the robot state appropriateness determining unit 105a determines in S209 that the robot temperature exceeds the recommended load range upper limit threshold value, the robot state appropriateness transmitting unit 105b notifies that the robot temperature exceeds the upper limit of the recommended load range, as shown in FIG. 23(a). The network communication unit 103 transmits the device 130 to the user device 160 of the user of the industrial robot 20 (S210). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

When the robot state appropriateness determination unit 105a determines in S209 that the robot load exceeds the recommended load range upper limit threshold value, it is determined whether or not the robot load corresponding to the robot ID of the target robot in the robot information 104c is the high load warning threshold value on the robot threshold information 104f. Above (S211).

When the robot state appropriateness determination unit 105a determines that the robot load is equal to or higher than the high load warning threshold value in S211, the robot state appropriateness transmission unit 105b indicates that the robot load is within the recommended load range, but as shown in FIG. 23(b). The notification close to the upper limit is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 via the network communication unit 103 (S212). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit. 162. Therefore, the user of the user device 160 can correct the operation being performed by the industrial robot 20 to prevent the notification from being displayed on the display unit 162.

When the robot state appropriateness determination unit 105a determines in S211 that the robot load is not equal to or higher than the high load warning threshold or the process of S212 is completed, the robot information transmitting unit 105c of the control unit 105 associates the robot ID with the target robot in the robot information 104c. The corresponding information is transmitted to the service provider device 130 via the network communication unit 103 (S213). When the control unit 136 of the service provider 130 receives the information corresponding to the robot ID of the target robot in the robot information 104c via the network communication unit 134, it updates the robot information 135b based on the received information.

When the process of S213 is completed, the control unit 105 ends the process shown in FIG.

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

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

Fig. 24 is a flow chart showing the operation of the centralized monitoring device 100 when the speed reducer information 104d is updated.

As shown in FIG. 24, the threshold setting unit 105d of the control unit 105 of the centralized monitoring device 100 is based on the model number of the speed reducer 40 corresponding to the ID of the target speed reducer in the speed reducer information 104d, and the table selection table 104h on the memory unit 104. In the ID of the speed reducer threshold table 104g, the speed reducer threshold table 104g to which the acquired ID is added is used as the speed reducer threshold table used in the subsequent processing (S231).

Next, the threshold setting unit 105d decelerates based on the oil temperature, the reducer load torque, and the reducer load torque corresponding to the ID of the target reducer in the reducer information 104d and the speed reducer threshold table 104g set in S231. Threshold and warning for inspection and repair of machine 40 The threshold is set to the inspection and repair threshold and the warning threshold used in the subsequent processing (S232).

Then, the reducer damage state determination unit 105e of the control unit 105 determines whether or not the black color difference ΔE corresponding to the ID of the target speed reducer in the speed reducer information 104d is equal to or smaller than the inspection and repair threshold value set in S232 (S233).

When the reducer damage state determining unit 105e determines that the black color difference ΔE is equal to or less than the inspection repair threshold value in S233, the reducer damage state transmitting unit 105f of the control unit 105 will be the damage of the speed reducer 40 as shown in Fig. 25(a). The state notification prompts the user to inspect and repair the speed reducer 40 and transmits the notification to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the speed reducer 40 via the network communication unit 103 (S234 ). In other words, the reduction gear damage state transmitting unit 105f transmits the damage state notification of the speed reducer 40 corresponding to the inspection and repair threshold value when the black color difference ΔE reaches the inspection and repair threshold value. When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 performs inspection and repair of the speed reducer 40, for example, based on the notification displayed on the display unit 162.

When the reducer damage state determination unit 105e determines in S233 that the black color difference ΔE is not equal to the inspection repair threshold value, it is determined whether or not the black color difference ΔE corresponding to the ID of the target speed reducer in the speed reducer information 104d is set in S232. Below the threshold (S235).

When the S235 speed reducer damage state determining unit 105e determines that the black color difference ΔE is equal to or less than the warning threshold value, the speed reducer damage state transmitting unit 105f notifies the speed reducer that is the damage state of the speed reducer 40 as shown in FIG. 25(b). The notification that the damage may occur is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the speed reducer 40 via the network communication unit 103 (S236). In other words, the reducer damage state transmitting unit 105f transmits the damage state notification of the speed reducer 40 corresponding to the warning threshold value when the black color difference ΔE reaches the warning threshold value. If the service provider uses the control unit 136 of the device 130 to self-set When the medium monitoring device 100 receives the notification via the network communication unit 134, the medium monitoring unit 100 displays the received notification on the display unit 132. Therefore, the service provider of the service provider 130, based on the notification displayed on the display unit 132, can send, for example, a speed reducer for replacement to a person who manufactures or uses the industrial robot 20 including the speed reducer 40, or The after-sales personnel are dispatched to a place where the industrial robot 20 having the speed reducer 40 is installed, or the production amount of the speed reducer 40 for replacement is adjusted. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can prepare to inspect or repair the speed reducer 40 based on the notification displayed on the display unit 162.

When the reducer damage state determining unit 105e determines in S235 that the black color difference ΔE is not equal to or lower than the warning threshold, or the processing of S234 or S236 is completed, the speed reducer information transmitting unit 105g of the control unit 105 decelerates the object in the speed reducer information 104d. The information corresponding to the ID of the machine is transmitted to the service provider device 130 via the network communication unit 103 (S237). When the control unit 136 of the service provider 130 receives the information corresponding to the ID of the target reducer in the reducer information 104d from the centralized monitoring device 100 via the network communication unit 134, the reducer information 135c is updated based on the received information.

When the process of S237 is completed, the control unit 105 ends the process shown in FIG.

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

In the following, the lubricant deterioration sensor 60 (hereinafter referred to as "target sensor") of one of the plurality of speed reducers 40 of the industrial robot 20 of the plurality of industrial robots 20 The situation after the sensor information 104e is updated is described, but the same is true after the sensor information 104e related to the other lubricant deterioration sensor 60 is updated.

FIG. 26 is a flow chart showing the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated.

As shown in FIG. 26, the sensor consumption state determination unit 105h of the control unit 105 of the centralized monitoring device 100 determines whether or not the battery remaining amount corresponding to the ID of the object sensor in the sensor information 104e reaches the sensor threshold information 104i. The upper battery replacement threshold (S261).

When the sensor consumption state determining unit 105h determines in S261 that the battery remaining amount has not reached the battery replacement threshold, the sensor consumption state transmitting unit 105i of the control unit 105 will promptly change the lubricating oil as shown in Fig. 27(a). The notification of the battery 76 of the deterioration sensor 60 is transmitted to the service provider device 130 and the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60 via the network communication unit 103 (S262) ). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 performs the replacement of the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162, for example.

If the sensor consumption state determining unit 105h determines in S261 that the battery remaining amount has not reached the battery replacement threshold, it is determined whether the remaining battery amount corresponding to the ID of the object sensor in the sensor information 104e is the threshold information for the sensor. The battery warning threshold 104i is below the threshold (S263).

When the sensor consumption state determination unit 105h determines that the battery remaining amount is equal to or lower than the battery warning threshold value in S261, as shown in FIG. 27(b), the sensor consumption state transmitting unit 105i will notify the battery that the remaining amount is small. The user device 160 is transmitted to the service provider device 130 and the user of the industrial robot 20 including the lubricant deterioration sensor 60 via the network communication unit 103 (S264). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. Therefore, the user of the service provider 130, that is, the service provider can change the battery for the lubricant deterioration sensor 60 based on the notification displayed on the display unit 132. 76 is sent to a person who manufactures or uses the industrial robot 20 including the lubricant deterioration sensor 60, or dispatches an after-sales person to a place where the industrial robot 20 having the lubrication deterioration sensor 60 is installed, or The production amount of the battery 76 for replacement is adjusted. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can prepare, for example, the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162.

When the sensor consumption state determination unit 105h determines in S263 that the battery remaining amount is not equal to or lower than the battery warning threshold, or the processing of S262 and S264 is completed, it is determined that the sensor information 104e is integrated with the ID of the target sensor. Whether or not the lighting time is equal to or higher than the LED replacement threshold on the sensor threshold information 104i (S265).

When the sensor consumption state determining unit 105h determines in S265 that the cumulative lighting time is equal to or greater than the LED replacement threshold, the sensor consumption state transmitting unit 105 serves the network via the network communication unit 103 as shown in FIG. 28(a). The user device 130 transmits a notification for prompting the replacement of the white LED 72 to the user device 160 of the user of the industrial robot 20 including the lubricant deterioration sensor 60 (S266). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can perform, for example, replacement of the white LED 72 based on the notification displayed on the display unit 162.

If the sensor consumption state determining unit 105h determines in S265 that the cumulative lighting time is less than the LED replacement threshold, it is determined whether the accumulated lighting time corresponding to the ID of the object sensor in the sensor information 104e is the sensor threshold information 104i. The upper LED warning threshold is equal to or greater than the threshold (S267).

If the sensor consumption state determining unit 105h determines the cumulative lighting time as the LED in S267 When the warning threshold is equal to or greater than the threshold value, as shown in FIG. 28(b), the sensor consumption state transmitting unit 105i transmits a notification that the accumulated lighting time is close to the life of the white LED 72, and transmits it to the service provider via the network communication unit 103. 130 is a user device 160 for a user of the industrial robot 20 including the lubricant deterioration sensor 60 (S268). When the control unit 136 of the service provider 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the received notification is displayed on the display unit 132. Therefore, the service provider of the service provider 130, that is, the service provider can send the white LED 72 for replacement of the lubricant deterioration sensor 60 to the manufacturing or use, for example, based on the notification displayed on the display unit 132. The person in the industrial robot 20 of the measuring device 60 or the after-sales person is dispatched to a place where the industrial robot 20 having the lubricating deterioration sensor 60 is installed, or the production amount of the white LED 72 for replacement is adjusted. When the control unit 166 of the user device 160 receives the notification from the centralized monitoring device 100 via the network communication unit 164, the notification of the reception is displayed on the display unit 162. Therefore, the user of the user device 160 can, for example, proceed to replace the white LED 72 based on the notification displayed on the display unit 162.

When the sensor consumption state determining unit 105h determines in S267 that the cumulative lighting time is smaller than the LED warning threshold, or the processing of S266 or S268 is completed, the sensor information transmitting unit 105j of the control unit 105 associates the sensor information 104e with The information corresponding to the ID of the object sensor is transmitted to the service provider device 130 via the network communication unit 103 (S269). If the control unit 136 of the service provider 130 receives the information corresponding to the ID of the object sensor in the sensor information 104e from the centralized monitoring device 100 via the network communication unit 134, the sensor is updated based on the received information. Information 135d.

When the process of S269 is completed, the control unit 105 ends the process shown in FIG.

As described above, since the centralized monitoring device 100 determines the damage state of the speed reducer 40 based on the color detected by the RGB sensor 73 of the lubricant deterioration sensor 60, the deceleration can be more appropriately determined than before. The damage state of the machine 40.

Furthermore, the reducer damage state determining unit 105e of the centralized monitoring device 100 is based on the run. The information transmitted by the wireless communication device 75 of the oil deterioration sensor 60 is a black color difference ΔE corresponding to the color detected by the RGB sensor 73, and a threshold value for warning and warning stored in the memory unit 104. When the threshold value is compared (S233, S235), when the black color difference ΔE reaches the inspection and repair threshold value and the warning threshold value (YES in S233, YES in S235), it is determined that the inspection and repair threshold value and the warning threshold value are used. The damage state of the speed reducer 40 is the damage state of the speed reducer 40 which is the target of the deterioration of the lubricating oil 40a by the lubricating oil deterioration sensor 60 including the RGB sensor 73 (S234, S236). In other words, the centralized monitoring device 100 determines each of the speed reducers 40 based on the values corresponding to the colors detected by the RGB sensors 73 of the lubricant deterioration sensors 60 of the speed reducers 40 of the plurality of industrial robots 20. In the damage state, the damage state notification of the speed reducer 40 is transmitted to the outside, and the damage state notification of each of the plurality of industrial robots 20 can be transmitted to the outside.

Therefore, the centralized monitoring device 100 can transmit the damage state notification of the respective reduction gears 40 of the plurality of industrial robots 20 to the outside more accurately.

The threshold setting unit 105d of the centralized monitoring device 100 sets the inspection and repair threshold and the warning threshold in accordance with the use state of the reducer 40 based on the information transmitted from the wireless communication device 75 and the wireless communication device 81 (S232). In other words, the centralized monitoring device 100 sets the inspection and repair threshold and the warning threshold for determining the damage state of the reducer 40 based on the actual use state of the reducer 40, so that the accuracy can be further improved according to the actual use state of the reducer 40. The damage state of the reducer 40 is notified.

For example, the threshold setting unit 105d sets an inspection repair threshold and a warning threshold corresponding to the temperature of the lubricating oil 40a based on the information transmitted from the wireless communication device 75. In other words, the centralized monitoring device 100 sets the inspection and repair threshold and the warning threshold for determining the damage state of the reducer 40 based on the actual temperature of the lubricating oil 40a, so that the deceleration can be accurately notified based on the actual temperature of the lubricating oil 40a. The damage state of the machine 40. Further, the centralized monitoring device 100 can also set a warning for the temperature of the oil other than the oil temperature detected by the temperature sensor 74. Threshold and check the repair threshold. Further, the centralized monitoring device 100 can set the warning threshold and the inspection and repair threshold based on the oil temperature input by the user using the operation unit 101. Further, as the oil temperature used in the process shown in Fig. 21, the centralized monitoring device 100 can use not only the actual temperature of the previously obtained lubricating oil 40a but also the lubricating oil 40a of a predetermined period such as 10 minutes. The average of the actual temperatures.

Further, the threshold setting unit 105d sets the inspection and repair threshold and the warning threshold in accordance with the load applied to the speed reducer 40 based on the information transmitted from the wireless communication device 81. In other words, the centralized monitoring device 100 sets the inspection and repair threshold and the warning threshold for determining the damage state of the reducer 40 based on the load actually applied to the reducer 40, so that it can be applied to the load of the reducer 40 according to the actual load. The damage state of the reducer 40 is accurately notified. Further, the method of detecting the load actually applied to the speed reducer 40 may be a method other than the strain gauge 80. Further, as the load used in the processing shown in FIG. 21, the centralized monitoring device 100 can use not only the previously acquired load but also the average value of the actual load for a specific period such as 10 minutes before.

Further, since the centralized monitoring device 100 transmits the speed reducer information 104d only to the service provider device 130 and the service provider device 130 in the user device 160 (S237), the service provider device 130 and the user can be used. The correct information corresponding to the user of each of the devices 160 is transmitted to the service provider device 130 and the user device 160. For example, the service provider of the service provider 130, the service provider, can correct the speed reducer threshold table 104g on the centralized monitoring device 100 based on the speed reducer information 104d received by the service provider device 130 from the centralized monitoring device 100. Further, the service provider's user, that is, the service provider, can develop a new speed reducer 40 that matches the actual use state of the speed reducer 40 based on the speed reducer information 104d received by the service provider device 130 from the centralized monitoring device 100. .

Further, the speed reducer threshold table 104g may be manually modified by the service provider based on the speed reducer information 104d received by the service provider device 130 from the centralized monitoring device 100, or may be automatically modified by the centralized monitoring device 100 based on the speed reducer information 104d.

In addition, since the centralized monitoring device 100 notifies the service provider device 130 and the user device 160 (S262, S264, S266, and S268) of the consumption state notification of the lubricant deterioration sensor 60, it is possible to prevent the use from being unsatisfactory. The lubricant deteriorates the sensor 60, and as a result, the accuracy of notifying the damage state of the speed reducer 40 can be maintained. For example, since the centralized monitoring device 100 notifies the state of consumption of the battery 76 as the consumption state of the lubricant deterioration sensor 60 to the service provider device 130 and the user device 160 (S262, S264), the battery can be prevented from being used. An undesired lubricant deterioration sensor 60 having a remaining amount of zero. In addition, since the state of the consumption of the white LEDs 72 is transmitted to the service provider device 130 and the user device 160 (S266, S268) as the consumption state of the lubricant deterioration sensor 60, the centralized monitoring device 100 can prevent the use of white. The LED 72 produces an undesirable lubricant degradation sensor 60 that fails.

Further, the centralized monitoring device 100 acquires the temperature of the robot corresponding to the oil temperature based on the information transmitted from the wireless communication device 75, and determines the appropriateness of the use object of the industrial robot 20 based on the acquired robot temperature (S202, S204, S206, and S208), it is possible to suppress the industrial robot 20 that is improperly used as the temperature at which the robot temperature is inappropriate.

Further, the centralized monitoring device 100 acquires the robot load corresponding to the load applied to the speed reducer 40 based on the information transmitted from the wireless communication device 81, and determines the use form of the industrial robot 20 based on the acquired robot load. Since the suitability (S210, S212) is appropriate, it is possible to suppress the industrial robot 20 that is improperly used because the robot load is an inappropriate load.

Although the temperature sensor 74 detects the oil temperature by the sleeve 63a, the oil temperature can be directly detected without using other members such as the sleeve 63a.

In the maintenance system 10, since the temperature sensor 74 is provided in the lubricant deterioration sensor 60, it is configured separately from the temperature sensor 74 and the lubricant deterioration sensor 60, and can be constructed more easily. . In addition, the temperature sensor 74 in the maintenance system 10 can also be inferior to the lubricating oil. The sensors 60 are provided separately.

Since the centralized monitoring device 100 not only manages the model of the speed reducer 40 but also manages its batch number, even the speed reducer 40 of the same model can enable the service provider to recognize the speed reducer 40 of the batch that has earlier damage than other batches. . Therefore, the service provider can, for example, increase the frequency of replacement of the lubricating oil 40a of the speed reducer 40 of the batch which is earlier than the other batches, or shorten the period in which the lubricating oil deterioration sensor 60 detects the deterioration of the lubricating oil 40a.

The centralized monitoring device 100 includes a threshold for warning and a threshold for inspection and repair, which are threshold values of the two stages corresponding to the possibility of damage of the speed reducer 40, and is used as a threshold for notifying the damage state of the speed reducer 40, so that it can be divided into two. The stage informs the damage state of the speed reducer 40 as the damage possibility of the speed reducer 40 (S234, S236). When the damage state of the speed reducer 40 is notified to the damage state of the speed reducer 40 in a plurality of stages, for example, compared with the configuration that the speed reducer 40 is suddenly notified that damage has occurred, the user can be more calmly judged. The necessity to replace the reducer 40. Further, in the centralized monitoring device 100, the threshold value for notifying the damage state of the speed reducer 40 may be only one threshold value, and may be included as a threshold value for notifying the damage state of the speed reducer 40, and may also include damage to the speed reducer 40. The threshold of more than 3 stages corresponding to sex.

The lubricant deterioration sensor 60 transmits the light amount of each of the RGB colors of the light received by the RGB sensor 73 to the centralized monitoring device 100, but if it is the information corresponding to the color of the light received by the RGB sensor 73, Information other than the amount of light of each of the RGB colors of the light received by the RGB sensor 73 may be transmitted to the centralized monitoring device 100. For example, the lubricant deterioration sensor 60 may also calculate the black color difference ΔE calculated based on the amount of light of each of the RGB colors of the light received by the RGB sensor 73 as the color of the light received by the RGB sensor 73. The information is sent to the centralized monitoring device 100. When the lubricant deterioration sensor 60 transmits the black color difference ΔE calculated based on the light amount of each of the RGB colors of the light received by the RGB sensor 73 to the centralized monitoring device 100, the reduction gear of the centralized monitoring device 100 is damaged. The state determination unit 105e does not need to calculate the amount of light of each of the RGB colors of the light received by the RGB sensor 73. Calculate the black color difference ΔE.

In the present embodiment, each of the lubricant deterioration sensors uses wireless communication by a built-in wireless communication device as a method of communicating with an external device. For example, wired communication may be employed.

In the present embodiment, each of the lubricant deterioration sensors uses a built-in battery as the power supply mechanism. For example, a cable that electrically connects the external power source to the lubricant deterioration sensor may be used.

Further, the installation position of each of the lubricant deterioration sensors is not limited to the position disclosed in the embodiment, and is preferably set as appropriate according to the use of the industrial robot or the like.

Claims (12)

A centralized monitoring device that monitors a plurality of industrial robots including a reducer and a lubricant deterioration sensor for detecting deterioration of lubricating oil of the speed reducer; and the lubricant deterioration sensor includes: a light-emitting element configured to detect a color of the received light; and an oil gap for allowing the lubricating oil to permeate and disposed on an optical path from the light-emitting element to the color light-receiving element; a gap forming member that transmits light; and a color information transmitting device configured to transmit information corresponding to the color detected by the color light receiving element to the outside of the lubricant deterioration sensor; the centralized monitoring device includes a memory unit configured to store a threshold corresponding to a damage state of the reducer; a determination unit configured to determine a damage state of the reducer; and the deceleration determined by the reducer damage state determination unit The damage state notification of the machine is sent to the outside of the above-mentioned centralized monitoring device The speed reducer damage state transmitting means; and the speed reducer is obtained when the value corresponding to the color detected by the color light receiving element obtained by the information transmitted by the color information transmitting means is stored in the threshold value of the memory portion The damage state determining means determines the damage state of the speed reducer which is the target of the deterioration of the lubricating oil by the lubricant deterioration sensor including the color light receiving element, in the damage state of the speed reducer corresponding to the threshold value. The centralized monitoring device of claim 1, wherein The industrial robot includes: a reducer use state sensor configured to detect a use state of the reducer, and information for transmitting the information corresponding to the use state detected by the reducer use state sensor to a speed reducer information transmitting apparatus configured to be external to the industrial robot; the centralized monitoring apparatus includes a threshold setting unit configured to store the threshold value stored in the threshold memory unit for the speed reducer of the speed reducer The determining means configures the threshold value for determining; and the threshold setting means sets the threshold value corresponding to the use state based on the information transmitted by the speed reducer information transmitting means. The centralized monitoring device of claim 2, wherein the reducer use state sensor includes a lubricating oil temperature sensor configured to detect a temperature of the lubricating oil as a use state of the reducer; and the reducer information transmitting device Sending information corresponding to the temperature detected by the lubricating oil temperature sensor to the outside of the industrial robot; and the threshold setting means sets the temperature corresponding to the temperature based on the information transmitted by the speed reducer information transmitting device The above threshold. The centralized monitoring device of claim 2, wherein the reducer use state sensor includes a load sensor configured to detect a load applied to the reducer as a use state of the reducer; and the reducer information transmitting device Transmitting, to the outside of the industrial robot, information corresponding to the load detected by the load sensor; and the threshold setting means sets the threshold corresponding to the load based on information transmitted by the reducer information transmitting device . The centralized monitoring device of claim 2, wherein the speed reducer damage state transmitting means transmits the damage state notification of the speed reducer determined by the speed reducer damage state determining means to the set At least two notification output devices that output the notification by at least one of display and sound outside the middle monitoring device; and the centralized monitoring device includes a speed reducer information transmitting mechanism, and the speed reducer information transmitting mechanism The information corresponding to the color detected by the color light receiving element and the information corresponding to the use state of the speed reducer are transmitted to only one of the notification output devices. The centralized monitoring device according to claim 1, wherein the centralized monitoring device includes: a sensor consumption state determination mechanism configured to determine a consumption state of the lubricant deterioration sensor; and a state in which the sensor is consumed by the sensor The sensor consumption state transmitting means configured to transmit the state of consumption of the lubricant deterioration sensor to the outside of the centralized monitoring device. The centralized monitoring device of claim 6, wherein the lubricant deterioration sensor includes a battery configured to supply power to the light-emitting element; and the sensor consumption state determination means supplies the battery corresponding to a remaining amount of the battery The state of consumption is determined as the state of consumption of the above-described lubricant deterioration sensor. The centralized monitoring device of claim 6, wherein the sensor consumption state determining means determines a consumption state of the light-emitting element corresponding to the cumulative light-emitting time of the light-emitting element as a consumption state of the lubricant deterioration sensor. The centralized monitoring device of claim 3, further comprising: a robot state appropriateness determining unit configured to determine the appropriateness of use of the industrial robot; and the above-described determination by the robot state appropriateness determining unit Use The appropriateness of the state is notified to the robot state appropriateness transmitting means configured to be sent to the outside of the centralized monitoring device; and the robot state appropriateness determining means acquires the lubricating oil based on the information transmitted by the reducer information transmitting means The temperature corresponds to the temperature of the industrial robot, and the appropriateness of the use state of the industrial robot is determined based on the obtained temperature. The centralized monitoring device according to claim 4, further comprising: a robot state appropriateness determining unit configured to determine the appropriateness of use of the industrial robot; and the above-described determination by the robot state appropriateness determining unit The appropriateness of the use state of the industrial robot is notified to the robot state appropriateness transmitting means configured to be transmitted to the outside of the centralized monitoring device; and the robot state appropriateness determining means obtains based on the information transmitted by the reducer information transmitting means The load of the industrial robot corresponding to the load applied to the speed reducer is determined based on the acquired load, and the appropriateness of the use state of the industrial robot is determined. A medium recording a centralized monitoring program that causes a computer to function as a centralized monitoring device according to any one of claims 1 to 10. A maintenance system comprising: the centralized monitoring device according to any one of claims 1 to 10; the plurality of industrial robots monitored by the centralized monitoring device; and outputted by at least one of display and sound A notification output device for notifying the damage state of the speed reducer transmitted by the centralized monitoring device.