WO2013176229A1 - 産業用ロボットの集中監視装置、集中監視プログラムを記録した媒体、およびメンテナンスシステム - Google Patents
産業用ロボットの集中監視装置、集中監視プログラムを記録した媒体、およびメンテナンスシステム Download PDFInfo
- Publication number
- WO2013176229A1 WO2013176229A1 PCT/JP2013/064401 JP2013064401W WO2013176229A1 WO 2013176229 A1 WO2013176229 A1 WO 2013176229A1 JP 2013064401 W JP2013064401 W JP 2013064401W WO 2013176229 A1 WO2013176229 A1 WO 2013176229A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- state
- speed reducer
- sensor
- centralized monitoring
- robot
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37209—Estimate life of gear, drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/80—Management or planning
Definitions
- the present invention relates to a centralized monitoring apparatus that monitors a plurality of industrial robots collectively.
- the accuracy of the arm trajectory and the like of an industrial robot is greatly affected by the performance of the speed reducer used at the joint. Therefore, it is important that the reducer for the industrial robot is appropriately replaced when the performance deteriorates.
- the reducer for an industrial robot is replaced, the industrial robot equipped with the reducer and the production line where the industrial robot is installed must be stopped. Therefore, in order to grasp the replacement time of the reducer for the industrial robot, it is very important that the failure of the reducer for the industrial robot is appropriately predicted.
- a maintenance information output device for predicting a failure is known (see Patent Document 1).
- Lubricating oil also deteriorates due to changes over time in the components of the lubricating oil itself.
- Patent Document 1 has a problem that there is a possibility that a reduction gear failure may not be properly predicted when the lubricating oil deteriorates due to a change in the lubricating oil component itself over time or the like. .
- An object of the present invention is to provide a centralized monitoring apparatus capable of transmitting a notification of a state of damage more appropriately than the conventional ones of a plurality of industrial robots to the outside.
- a centralized monitoring device for monitoring a plurality of industrial robots including a reduction gear and a lubricant deterioration sensor for detecting deterioration of the lubricant of the reduction gear.
- the lubricant deterioration sensor includes: a light emitting element configured to emit light; a color light receiving element configured to detect a color of received light; and the color light receiving element from which the lubricant enters and from the light emitting element A gap forming member that is formed on the optical path until the oil gap is formed and transmits light, and information corresponding to the color detected by the color light receiving element is transmitted to the outside of the lubricant deterioration sensor.
- the centralized monitoring device is A threshold storage unit configured to store a threshold corresponding to the state of breakage of the reducer; A reducer breakage state determining means configured to determine a breakage state of the reducer; A speed reducer breakage state transmitting means configured to send a notification of the state of breakage of the speed reducer determined by the speed reducer breakage state determining means to the outside of the centralized monitoring device; With When the value according to the color detected by the color light receiving element obtained from the information transmitted by the color information transmitting device reaches the threshold value stored in the storage unit, the speed reducer breakage state The judging means sets the state of damage to the speed reducer corresponding to the threshold as the state of damage to the speed reducer to which the lubricating oil deterioration sensor including the color light receiving element detects deterioration of the lubricating oil.
- a centralized monitoring device for judging is provided.
- the centralized monitoring device may be configured as follows.
- the industrial robot includes a speed reducer usage state sensor configured to detect a usage state of the speed reducer, and information corresponding to the usage state detected by the speed reducer usage state sensor is external to the industrial robot.
- a reduction gear information transmission device configured to transmit to the threshold value, and the central monitoring device includes the threshold value stored in the threshold value storage unit for determining by the reduction gear damage state determination means.
- Threshold setting means configured to set a threshold value is provided, and the threshold value setting means sets the threshold value according to the use state based on information transmitted by the speed reducer information transmitting device.
- the centralized monitoring device may be configured as follows.
- the speed reducer usage state sensor includes a lubricating oil temperature sensor configured to detect the temperature of the lubricating oil as a usage state of the speed reducer, and the speed reducer information transmission device is configured by the lubricating oil temperature sensor. Information according to the detected temperature is transmitted to the outside of the industrial robot, and the threshold setting means sets the threshold according to the temperature based on the information transmitted by the speed reducer information transmitting device. To do.
- the centralized monitoring device may 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 the state of use of the speed reducer, and the speed reducer information transmission device is detected by the load sensor. Information according to the load is transmitted to the outside of the industrial robot, and the threshold value setting means sets the threshold value according to the load based on the information transmitted by the speed reducer information transmission device.
- the centralized monitoring device may be configured as follows.
- the speed reducer breakage state transmission means uses the notification of the damage state of the speed reducer determined by the speed reducer breakage state determination means as the outside of the centralized monitoring device, and displays the notification by at least one of sound and sound
- the centralized monitoring device transmits information according to the color detected by the color light receiving element and information according to the use state of the speed reducer of the notification output device. Reducer information transmission means for transmitting to only one of them is provided.
- the centralized monitoring device may be configured as follows.
- the centralized monitoring device is configured to determine a consumption state of the lubricant deterioration sensor, and a notification of a consumption state of the lubricant deterioration sensor determined by the sensor consumption state determination unit. Is transmitted to the outside of the centralized monitoring device.
- the centralized monitoring device may 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 unit is configured to determine whether the battery is exhausted according to a remaining amount of power of the battery. Is determined as a consumption state of the lubricant deterioration sensor.
- the centralized monitoring device may be configured as follows.
- the sensor consumption state determining means determines the consumption state of the light emitting element according to the accumulated light emission time by the light emitting element as the consumption state of the lubricant deterioration sensor.
- the centralized monitoring device may be configured as follows.
- the robot state appropriateness determining means configured to determine the appropriateness of the use state of the industrial robot, and the notification of the appropriateness of the use state determined by the robot state appropriateness determination means
- Robot state appropriateness transmitting means configured to transmit to the outside, and the robot state appropriateness determining means is based on the information transmitted by the speed reducer information transmitting device.
- the temperature of the industrial robot according to the temperature is acquired, and the appropriateness of the usage state of the industrial robot is determined based on the acquired temperature.
- the centralized monitoring device may be configured as follows.
- Robot state appropriateness determining means configured to determine appropriateness of use state of the industrial robot, and notification of appropriateness of use state of the industrial robot determined by the robot state appropriateness determination means
- a robot state appropriateness transmitting unit configured to transmit to the outside of the centralized monitoring device, the robot state appropriateness determining unit based on the information transmitted by the reducer information transmitting device, The load of the industrial robot corresponding to the load applied to the speed reducer is acquired, and the appropriateness of the use state of the industrial robot is determined based on the acquired load.
- a medium on which a centralized monitoring program for causing a computer to function as the above-described centralized monitoring device is recorded is recorded.
- the centralized monitoring device described above a plurality of the industrial robots monitored by the centralized monitoring device, and the reduction gear breakage transmitted by the centralized monitoring device.
- a maintenance system including a notification output device that outputs a state notification by at least one of display and sound.
- the centralized monitoring device of the present invention determines the state of damage to the speed reducer according to the color detected by the color light receiving element of the lubricant deterioration sensor, the state of damage to the speed reducer can be determined more appropriately than before. it can. Further, the centralized monitoring device of the present invention is based on a value corresponding to the color detected by the color light receiving element of the lubricant oil deterioration sensor of each reduction gear of each of the plurality of industrial robots. And the notification of the determined state of damage of the reducer is transmitted to the outside, so that the notification of the state of damage of each reducer of the plurality of industrial robots can be transmitted to the outside. Therefore, the centralized monitoring apparatus according to the present invention can transmit a notification of the state of damage more appropriate than that of the conventional reducers of the plurality of industrial robots to the outside.
- the centralized monitoring device sets a threshold value for determining the state of damage to the speed reducer according to the actual usage state of the speed reducer, so that the state of damage to the speed reducer is changed to the actual state of use of the speed reducer. Accordingly, it is possible to notify with high accuracy.
- the centralized monitoring device of the present invention sets the threshold for judging the state of damage to the reduction gear according to the actual temperature of the lubricating oil, so the state of damage to the reduction gear is determined according to the actual temperature of the lubricating oil. Notification can be made with high accuracy.
- the centralized monitoring device of the present invention sets a threshold for judging the state of damage to the speed reducer according to the load actually applied to the speed reducer, so that the state of damage to the speed reducer is changed to the load actually applied to the speed reducer. Accordingly, it is possible to notify with high accuracy.
- the centralized monitoring device of the present invention can transmit appropriate information according to the user of the notification output device to the notification output device.
- the centralized monitoring device of the present invention notifies the notification of the state of wear of the lubricant deterioration sensor to the outside, so that an inappropriate lubricant deterioration sensor can be prevented from being used. The accuracy of the notification of damage status can be maintained.
- the centralized monitoring device of the present invention sends a notification of the state of battery consumption to the outside as the state of consumption of the lubricant deterioration sensor, an inappropriate lubricant deterioration sensor with a remaining battery level of zero is used. This can be prevented.
- the centralized monitoring device of the present invention sends a notification of the state of wear of the light emitting element to the outside as the state of wear of the lubricant deterioration sensor, an inappropriate lubricant deterioration sensor in which the light emitting element has failed is used. Can be prevented.
- the centralized monitoring device of the present invention can suppress inappropriate use of industrial robots that cause the temperature of industrial robots to be inappropriate.
- the centralized monitoring apparatus can suppress inappropriate use of industrial robots such that the load of industrial robots becomes an inappropriate load.
- the computer that executes the centralized monitoring program of the present invention determines the state of the reduction gear breakage according to the color detected by the color light receiving element of the lubricant deterioration sensor, the state of the reduction gear breakage is more appropriate than before. Judgment can be made.
- the computer that executes the centralized monitoring program according to the present invention is configured such that each speed reducer is based on a value corresponding to a color detected by a color light receiving element of a lubricant deterioration sensor of each speed reducer of a plurality of industrial robots.
- the computer that executes the centralized monitoring program of the present invention can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers of the plurality of industrial robots to the outside.
- the centralized monitoring device determines the state of damage to the speed reducer according to the color detected by the color light receiving element of the lubricant deterioration sensor. It is possible to judge more appropriately.
- the maintenance system of the present invention determines the state of damage of each reduction gear based on the value corresponding to the color detected by the color light receiving element of the lubricant deterioration sensor of each reduction gear of a plurality of industrial robots.
- the centralized monitoring device sends a notification of the speed reducer damage determined by the centralized monitoring device to the notification output device.
- the notification can be output by the notification output device. Therefore, the maintenance system of this invention can output the notification of the state of a more suitable breakage of each reduction gear of each of a plurality of industrial robots from the notification output device.
- the centralized monitoring apparatus can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers of a plurality of industrial robots to the outside.
- FIG. 1 is a configuration diagram of a maintenance system according to an embodiment of the present invention. It is a side view of the industrial robot shown in FIG. It is sectional drawing of the joint part of the industrial robot shown in FIG.
- FIG. 4 is a front view of the lubricant deterioration sensor shown in FIG. 3.
- FIG. 5 is a front sectional view of the lubricant deterioration sensor shown in FIG. 4 in a state attached to an arm.
- FIG. 6A is a plan view of the lubricant deterioration sensor shown in FIG.
- FIG. 6B is a bottom view of the lubricant deterioration sensor shown in FIG. It is a figure which shows the optical path from white LED shown in FIG. 5 to RGB sensor.
- FIG. It is a block diagram of the centralized monitoring apparatus shown in FIG. It is a figure which shows an example of the user information shown in FIG. It is a figure which shows an example of the robot information shown in FIG. It is a figure for demonstrating the calculation method of the robot load shown in FIG. It is a figure which shows an example of the reduction gear information shown in FIG. It is a figure which shows an example of the sensor information shown in FIG. It is a figure which shows an example of the threshold value information for robots shown in FIG. It is a figure which shows an example of the threshold table for reducers shown in FIG. It is a figure which shows an example of the table for table selection shown in FIG. It is a figure which shows an example of the threshold value information for sensors shown in FIG. FIG.
- FIG. 18A shows an experiment of the time change of the black color difference ⁇ E when the oil temperature shown in FIG. 3 is 40 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph which shows an example of a result.
- FIG. 18B shows an experiment of the time change of the black color difference ⁇ E when the oil temperature shown in FIG. 3 is 60 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph which shows an example of a result.
- FIG. 18C shows an experiment of the time change of the black color difference ⁇ E when the oil temperature shown in FIG.
- FIG. 3 is 60 ° C.
- the reduction gear load moment is 0.5 Mo
- the reduction gear load torque is 2.0 To.
- FIG. 22A shows a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature exceeds the recommended temperature range upper threshold.
- FIG. 22B shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG.
- FIG. 22C illustrates an example of a screen displayed on the display unit of the service provider apparatus illustrated in FIG. 19 or the display unit of the user apparatus illustrated in FIG. 20 when the robot temperature is equal to or higher than the high temperature warning threshold.
- FIG. 22D shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot temperature is equal to or lower than the low temperature warning threshold.
- FIG. FIG. 23A shows a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG.
- FIG. 20 when the robot load exceeds the recommended load range upper limit threshold. It is a figure which shows an example.
- FIG. 23B shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the robot load is equal to or higher than the high load warning threshold.
- FIG. It is a flowchart of operation
- FIG. 25A shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the black color difference ⁇ E is equal to or smaller than the inspection repair threshold.
- FIG. FIG. 25B shows the display of the service provider apparatus shown in FIG.
- FIG. 27A shows a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the remaining battery level reaches the battery replacement threshold. It is a figure which shows an example.
- FIG. 27B illustrates an example of a screen displayed on the display unit of the service provider apparatus illustrated in FIG. 19 or the display unit of the user apparatus illustrated in FIG.
- FIG. 28A illustrates an example of a screen displayed on the display unit of the service provider apparatus illustrated in FIG. 19 or the display unit of the user apparatus illustrated in FIG. 20 when the accumulated light emission time is equal to or greater than the LED replacement threshold.
- FIG. FIG. 28B shows an example of a screen displayed on the display unit of the service provider apparatus shown in FIG. 19 or the display unit of the user apparatus shown in FIG. 20 when the accumulated light emission time is equal to or greater than the LED warning threshold.
- FIG. 28A illustrates an example of a screen displayed on the display unit of the service provider apparatus illustrated in FIG. 19 or the display unit of the user apparatus illustrated in FIG. 20 when the accumulated light emission time is equal to or greater than the LED warning threshold.
- FIG. 1 is a configuration diagram of a maintenance system 10 according to the present embodiment.
- the maintenance system 10 includes a plurality of industrial robots 20, a centralized monitoring device 100 that collectively monitors the plurality of industrial robots 20, and a service that provides services related to the industrial robot 20.
- a service provider device 130 which is a device used by a trader and a plurality of user devices 160 which are devices used by a user of the industrial robot 20 are provided.
- the industrial robot 20, the centralized monitoring apparatus 100, the service provider apparatus 130, and the user apparatus 160 are connected to be communicable with each other via the network 11 such as the Internet.
- the plurality of industrial robots 20 are arranged at a plurality of places such as a factory 12A and a factory 12B.
- the centralized monitoring device 100 is arranged at a place away from the place where the industrial robot 20 is arranged.
- the service provider device 130 may be disposed at a location away from the location where the industrial robot 20 is located and the location where the centralized monitoring device 100 is located.
- the user device 160 may be provided for each group of a plurality of industrial robots 20, for example, for each factory or for each company operating the factory.
- the user device 160 is disposed at a location apart from the location where the industrial robot 20 is located, the location where the centralized monitoring device 100 is located, and the location where the service provider device 130 is located. Also good.
- FIG. 2 is a side view of the industrial robot 20.
- the industrial robot 20 connects the attachment part 21 attached to the installation part 90 such as the floor, the ceiling, the arms 22, 23, 24, 25 and 26, and the attachment part 21 and the arm 22.
- the joint 31, the joint 32 connecting the arms 22 and 23, the joint 33 connecting the arms 23 and 24, the joint 34 connecting the arms 24 and 25, and the arms 25 and 26 A joint portion 35 to be connected and a joint portion 36 to which the arm 26 and a hand (not shown) are connected are provided.
- FIG. 3 is a cross-sectional view of the joint portion 32.
- the joint portion 32 will be described, but the same applies to the joint portions 31, 33 to 36.
- the joint portion 32 reduces friction generated in the speed reducer 40 connecting the arm 22 and the arm 23, the motor 50 fixed to the arm 22 by the bolt 51, and the movable portion of the speed reducer 40.
- a strain gauge 80 as a load sensor for detecting a load applied to the speed reducer 40, and wireless communication for communicating with an external device wirelessly Device 81.
- the speed reducer 40 includes a case 41 having an internal gear 41a and fixed to the arm 22 by a bolt 41b, and three columns 42a arranged at equal intervals around the central axis of the speed reducer 40.
- the support 42 fixed to the arm 23 by the bolts 42b, the gear 43 fixed to the output shaft of the motor 50, and the three gears 43 arranged at equal intervals around the central axis of the speed reducer 40 mesh with the gear 43.
- the support 42 is rotatably supported by the case 41 via a bearing 41c.
- a seal member 41d for preventing leakage of the lubricating oil 40a is provided between the case 41 and the support 42.
- the crankshaft 45 is rotatably supported by the support 42 via a bearing 42c and is rotatably supported by the external gear 46 via a bearing 46a.
- the crankshaft 45 rotates the external gear 46 eccentrically with respect to the case 41 in accordance with the rotational motion input from the gear 44.
- Lubricating oil deterioration sensor 60 is fixed to arm 23.
- Two strain gauges 80 are attached to each of the three pillars 42a of the support 42, for a total of six.
- the strain gauge 80 detects a load applied to the speed reducer 40 as a strain generated in the column 42a.
- the strain gauge 80 is provided with a coating for protection from the lubricating oil 40a.
- the speed reducer 40 and the arm 23 are formed with a hole (not shown) through which an electric wire for transmitting the output of the strain gauge 80 to the wireless communication device 81 is passed. This hole is filled with a resin such as an epoxy resin after the electric wire is passed in order to prevent the lubricating oil 40a from leaking to the outside of the speed reducer 40.
- the strain gauge 80 detects a load applied to the speed reducer 40 as a use state of the speed reducer 40, and constitutes a speed reducer use state sensor of the present invention.
- the wireless communication device 81 has a built-in battery that supplies power to the wireless communication device 81 itself.
- the wireless communication device 81 transmits information corresponding to the load detected by the strain gauge 80 to the centralized monitoring device 100 as the use state of the speed reducer 40, and constitutes the speed reducer information transmission device of the present invention. is doing.
- FIG. 4 is a front view of the lubricant deterioration sensor 60.
- FIG. 5 is a front sectional view of the lubricant deterioration sensor 60 attached to the arm 23.
- FIG. 6A is a plan view of the lubricant deterioration sensor 60.
- FIG. 6B is a bottom view of the lubricant deterioration sensor 60.
- the lubricant deterioration sensor 60 has a gap 61 for the lubricant oil 40a to enter and a casing 61 made of aluminum alloy that supports each component of the lubricant deterioration sensor 60.
- the housing 61 is a screw part 61a for being fixed to the screw hole 23a of the arm 23, and a tool for being grasped by a tool such as a spanner when the screw part 61a is rotated with respect to the screw hole 23a of the arm 23. And a contact portion 61b.
- the screw hole 23a of the arm 23 is used for supplying the lubricating oil 40a to the speed reducer 40 and discarding the lubricating oil 40a from the speed reducer 40 when the lubricating oil deterioration sensor 60 is removed. May be.
- the gap forming member 62 includes two glass right-angle prisms 62b and 62c, and an oil gap 62a, which is a gap for the lubricant 40a to enter, is formed between the two right-angle prisms 62b and 62c. ing.
- the right-angle prisms 62b and 62c are fixed to the support member 63 with an adhesive.
- the support member 63 is fixed to the casing 61 with hexagon socket bolts 67.
- the support member 63 includes a holder 63a made of aluminum alloy, and a holder cap 63c made of aluminum alloy fixed to the holder 63a by a hexagon socket head cap screw 63b.
- the electronic component group 70 includes a circuit board 71 fixed to the support member 63 by a hexagon socket head bolt 69 via a spacer 68, and a white LED (Light) mounted on the circuit board 71, which is a light emitting element that emits white light.
- a white LED Light
- the temperature of the lubricating oil 40a (hereinafter referred to as "oil temperature") via the holder 63a, an RGB sensor 73 mounted on the circuit board 71, which is a color light receiving element that detects the color of the received light 72 .), A temperature sensor 74 mounted on the circuit board 71, a wireless communication device 75 that wirelessly communicates with a device external to the lubricant deterioration sensor 60, a white LED 72, Power is supplied to each electronic component on the circuit board 71 such as the RGB sensor 73, the temperature sensor 74, and the wireless communication device 75.
- a battery 76 a battery remaining amount sensor 77 for measuring the remaining amount of power of the battery 76 (hereinafter referred to as “battery remaining amount”), and a light emission timing sensor 78 for detecting the timing of light emission by the white LED 72 are provided. Yes.
- a plurality of electronic components are mounted on the circuit board 71.
- the temperature sensor 74 detects the temperature of the lubricating oil 40a as the use state of the speed reducer 40, and constitutes the speed reducer use state sensor of the present invention.
- the wireless communication device 75 is configured to transmit information corresponding to the color detected by the RGB sensor 73 to the centralized monitoring device 100, and constitutes a color information transmitting device of the present invention. Further, the wireless communication device 75 is configured to transmit information corresponding to the oil temperature detected by the temperature sensor 74 to the centralized monitoring device 100 as the use state of the speed reducer 40, and the speed reducer information transmission of the present invention. Configure the device. In addition, the wireless communication device 75 transmits information corresponding to the remaining battery level measured by the remaining battery level sensor 77 and information corresponding to the timing of light emission detected by the light emission timing sensor 78 to the centralized monitoring device 100. It has become.
- FIG. 7 is a diagram showing an optical path 72 a from the white LED 72 to the RGB sensor 73.
- the oil gap 62 a of the gap forming member 62 is disposed on the optical path 72 a from the white LED 72 to the RGB sensor 73.
- the holder 63a surrounds at least a part of the optical path 72a from the white LED 72 to the RGB sensor 73.
- the holder 63a is subjected to a treatment for preventing reflection of light, for example, a matte black alumite treatment.
- the right-angle prisms 62b and 62c transmit light emitted by the white LED 72.
- the entrance surface and the exit surface of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished.
- the optical path 72a is bent 90 degrees at the reflecting surface of the right-angle prism 62b, and is also bent 90 degrees at the reflecting surface of the right-angle prism 62c. That is, the optical path 72 a is bent 180 degrees by the gap forming member 62.
- the reflecting surfaces of the right-angle prisms 62b and 62c of the light emitted by the white LED 72 are optically polished and are provided with an aluminum vapor deposition film. And in order to protect the aluminum vapor deposition film with weak hardness and adhesion, SiO2 film is further given on the aluminum vapor deposition film.
- the distance between the exit surface of the right-angle prism 62b of the light emitted by the white LED 72 and the entrance surface of the right-angle prism 62c of the light emitted by the white LED 72 is the length of the oil gap 62a. If the oil gap 62a is too short, it is difficult for the contaminants in the lubricating oil 40a to properly flow through the oil gap 62a, so that the accuracy of detecting the color of the contaminants in the lubricant 40a is reduced. On the other hand, when the oil gap 62a is too long, the light emitted from the white LED 72 is too absorbed by the contaminants in the lubricating oil 40a in the oil gap 62a and hardly reaches the RGB sensor 73.
- the length of the oil gap 62a is preferably set appropriately so that the color detection accuracy of the contaminant in the lubricating oil 40a is increased.
- the length of the oil gap 62a is, for example, 1 mm.
- the lubricant deterioration sensor 60 detects the color of the white light emitted by the white LED 72 by the RGB sensor 73 with respect to light having a wavelength that is not absorbed by the contaminant in the lubricant 40a in the oil gap 62a. Therefore, the color of the contaminant in the lubricating oil 40a of the speed reducer 40 can be detected immediately.
- the centralized monitoring apparatus 100 can immediately identify the type and amount of contaminants in the lubricating oil 40a of the speed reducer 40 based on the color detected by the RGB sensor 73. That is, the lubricant deterioration sensor 60 can detect the degree of deterioration of the lubricant 40a by detecting the color of the contaminant in the lubricant 40a.
- the degree of deterioration of the lubricating oil 40a can be determined by a color difference ⁇ E (hereinafter referred to as “black color difference ⁇ E”) with respect to black, which is a predetermined color detected by the RGB sensor 73.
- the black color difference ⁇ E can be calculated by the following equation 1 using the R, G, and B values of the color detected by the RGB sensor 73.
- each lubricant deterioration sensor of the industrial robot 20 immediately identifies the type and amount of contaminants in the lubricant 40a of the speed reducer 40 based on the color detected by the RGB sensor 73 by the centralized monitoring device 100. be able to. Therefore, the maintenance system 10 can enable immediate prediction of a failure of a reduction gear for an industrial robot.
- the lubricant 40a has a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) for reducing friction on the friction surface, and performance to suppress seizure of the friction surface.
- a friction reducing agent such as molybdenum dithiocarbamate (MoDTC) and molybdenum dithiophosphate (MoDTP) for reducing friction on the friction surface, and performance to suppress seizure of the friction surface.
- Various additives such as an extreme pressure additive such as an SP-based additive for improving the extreme pressure and a dispersant such as Ca sulfonate for suppressing the generation and adhesion of sludge may be added. These additives are separated from the lubricating oil 40a as the lubricating oil 40a deteriorates, for example, by adhering to, bonding to, or sinking to the metal surfaces of the industrial robot 20 and the speed reducer.
- Each lubricant deterioration sensor detects not only the amount of iron powder in the lubricant 40a, but also the degree of deterioration of the base oil and the increase in contaminants such as sludge as the various additives added to the lubricant 40a decrease. Can be identified based on the detected color. Therefore, the maintenance system 10 can improve the accuracy of failure prediction as compared with a technology for predicting a reduction gear failure based only on the iron powder concentration.
- the right-angle prisms 62b and 62c and the white LED 72 are fixed to the holder 63a with an adhesive.
- the circuit board 71 on which the RGB sensor 73, the temperature sensor 74, the wireless communication device 75, the battery 76, the remaining battery level sensor 77 and the light emission timing sensor 78 are mounted is attached to the holder 63 a via the hexagon socket head bolt 69 via the spacer 68.
- the white LED 72 is fixed to the circuit board 71 by soldering.
- the temperature sensor 74 is connected to the holder 63a.
- the holder cap 63c is fixed to the holder 63a with a hexagon socket head bolt 63b.
- the holder 63a is fixed to the casing 61 to which the O-ring 64, the O-ring 65, and the O-ring 66 are attached by the hexagon socket head cap bolt 67.
- the tool contact portion 61 b of the housing 61 is gripped by a tool, and the screw portion 61 a of the housing 61 is screwed into the screw hole 23 a 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 apparatus 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 device such as a mouse and a keyboard for inputting various operations by a user of the centralized monitoring device 100, and a display such as an LCD (Liquid Crystal Display) that displays various information.
- a display device 102 that is a device, a network communication device 103 that is a network communication device that performs communication via the network 11 (see FIG. 1), and a storage device such as an HDD (Hard Disk Drive) that stores various data.
- a control unit 105 that controls the centralized monitoring apparatus 100 as a whole.
- the storage unit 104 stores a centralized monitoring program 104a for notifying the state of damage to the speed reducer of the industrial robot 20.
- the centralized monitoring program 104a may be installed in the centralized monitoring device 100 at the manufacturing stage of the centralized monitoring device 100, or a memory such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), a DVD (Digital Versatile Disc), or the like. It may be additionally installed on the centralized monitoring apparatus 100 from a medium, or may be additionally installed on the centralized monitoring apparatus 100 from the network 11.
- a USB Universal Serial Bus
- CD Compact Disc
- DVD Digital Versatile Disc
- the storage unit 104 is attached to the user of the industrial robot 20, the industrial robot 20 owned by the user, the speed reducer 40 included in the industrial robot 20, and the speed reducer 40.
- User information 104b which is information indicating a relationship with the lubricant deterioration sensor 60 is stored.
- FIG. 9 is a diagram showing an example of the user information 104b.
- the user ID (hereinafter referred to as “user ID”) and the ID of the industrial robot 20 owned by the user (hereinafter referred to as “robot ID”).
- robot ID the ID of the reduction gear 40 provided in the industrial robot 20
- sensor ID the ID of the lubricant deterioration sensor 60 installed in the reduction gear 40.
- the user ID, robot ID, speed reducer ID, and sensor ID are information input by the service provider via the service provider device 130.
- the storage unit 104 stores robot information 104c that is information indicating the relationship between the industrial robot 20 and various types of information of the industrial robot 20.
- FIG. 10 is a diagram illustrating an example of the robot information 104c.
- robot temperature the temperature of the industrial robot 20
- robot temperature the load of the industrial robot 20
- the robot ID is information input by the service provider via the service provider device 130.
- 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 speed reducer information 104d described later for the plurality of speed reducers 40 provided in the industrial robot 20. Information.
- the robot load F includes the distance L between the position of the rotation shaft of the speed reducer 40 of the joint portion 33 and the position of the load point to which the load F is applied, and the speed of the speed reducer 40 of the joint portion 33.
- This is information calculated as T / L by the control unit 105 based on a reduction gear load torque T described later. That is, the robot load is information calculated by the control unit 105 on the basis of the reducer load torque stored in the reducer information 104d described later for the reducer 40 of the joint portion 33 of the industrial robot 20.
- the storage unit 104 stores speed reducer information 104 d that is information indicating the relationship between the speed reducer 40 and various types of information on the speed reducer 40.
- FIG. 12 is a diagram showing an example of the speed reducer information 104d.
- the reducer ID As shown in FIG. 12, in the reducer information 104d, the reducer ID, the model of the reducer 40, the lot number of the reducer 40, and the lubricant deterioration sensor 60 installed in the reducer 40 are included.
- the black color difference ⁇ E which is the color difference ⁇ E of the color detected by the RGB sensor 73 with respect to the black color
- the oil temperature which is the temperature of the lubricating oil 40a of the speed reducer 40, the case 41 and the support body 42 of the speed reducer 40 are relative to each other.
- Speed reducer load moment Load applied to the speed reducer 40 in a rotational direction centered on an axis orthogonal to the rotational axis when rotating automatically (hereinafter referred to as “speed reducer load moment”), a case 41 and a support 42 of the speed reducer 40.
- a load applied to the speed reducer 40 (hereinafter referred to as “speed reducer load torque”) is associated with the rotation direction about the rotation axis when the gears rotate relatively.
- Mo is the rated moment of the reduction gear 40.
- To is the rated torque of the speed reducer 40.
- the reduction gear ID, model, and lot number are information input by the service provider via the service provider device 130.
- the storage unit 104 stores sensor information 104 e that is information indicating the relationship between the lubricant deterioration sensor 60 and various information of the lubricant deterioration sensor 60.
- FIG. 13 is a diagram illustrating an example of the sensor information 104e.
- the sensor ID of the lubricant deterioration sensor 60 As shown in FIG. 13, in the sensor information 104e, the sensor ID of the lubricant deterioration sensor 60, the battery remaining amount that is the remaining amount of power of the battery 76 of the lubricant deterioration sensor 60, and the lubricant deterioration sensor
- the accumulated time of light emission by the 60 white LEDs 72 (hereinafter referred to as “accumulated light emission time”) is associated.
- the sensor ID is information input by the service provider via the service provider device 130.
- the storage unit 104 stores robot threshold information 104f, which is threshold information for notifying the usage state of the industrial robot 20.
- FIG. 14 is a diagram illustrating an example of the robot threshold information 104f.
- the robot threshold information 104 f includes a recommended temperature range upper limit threshold indicating an upper limit of a temperature range recommended for the industrial robot 20 (hereinafter referred to as “recommended temperature range”), The high temperature warning threshold for warning that the temperature is within the recommended temperature range but near the upper limit, the low temperature warning threshold value for warning that the temperature is within the recommended temperature range but near the lower limit, and the lower limit of the recommended temperature range
- the recommended temperature range lower limit threshold, the recommended load range upper limit threshold indicating the upper limit of the load range recommended for the industrial robot 20 hereinafter referred to as “recommended load range”
- the recommended load range indicating the upper limit of the load range recommended for the industrial robot 20
- the storage unit 104 stores a plurality of speed reducer threshold tables 104g, which are tables for setting threshold values for notification of the state of breakage of the speed reducer 40.
- a storage unit is configured.
- the plurality of reduction gear threshold tables 104g stored in the storage unit 104 have different types of reduction gears, and are assigned IDs.
- FIG. 15 is a diagram illustrating an example of the threshold table 104g for the speed reducer.
- threshold values corresponding to the oil temperature, the reducer load moment, and the reducer load torque are shown.
- the reduction gear threshold table 104g shown in FIG. 15 there are many blanks, but actually there are specific thresholds.
- the reduction gear threshold table 104g shown in FIG. 15 when the reduction gear load moment is less than 0.25Mo, when it is 0.25Mo or more and less than 0.5Mo, it is 0.75Mo or more and less than 1.0Mo. In this case, the case of 1.0 Mo or more and less than 1.25 Mo and the case of 1.25 Mo or more are omitted, but actually, the reduction gear load moment is 0.5 Mo or more and less than 0.75 Mo.
- the upper numerical value is a threshold for inspection / repair, which is a threshold for encouraging the user of the industrial robot 20 to perform inspection or repair.
- the lower numerical value is a warning threshold value that is a threshold value for warning that the reduction gear 40 may be damaged. That is, the inspection and repair threshold and the warning threshold are thresholds corresponding to the state of damage to the speed reducer 40.
- the state of damage to the speed reducer 40 is a state of damage to the rolling surfaces of the bearings inside the speed reducer 40 and the meshing portions inside the speed reducer 40.
- the oil temperature is 40 ° C.
- the speed reducer load moment is 0.5 Mo or higher and lower than 0.75 Mo
- the speed reducer load torque is 1
- the inspection / repair threshold and the warning threshold are 350 and 425, respectively.
- the case where the oil temperature is less than ⁇ 10 ° C. and the case where the oil temperature is 80 ° C. or more are outside the range of the specification of the lubricant deterioration sensor according to the present embodiment. It is not defined in the machine threshold table 104g. Further, when the reduction gear load torque is 3.0 To or more, it is outside the range of the specification of the reduction gear according to the present embodiment, and thus is not defined in the reduction gear threshold table 104g shown in FIG.
- the storage unit 104 stores a table selection table 104h that is a table for selecting an appropriate reducer threshold table from a plurality of reducer threshold tables 104g.
- FIG. 16 is a diagram illustrating an example of the table selection table 104h.
- the ID of the reduction gear threshold table 104g corresponding to the reduction gear type is shown.
- the table selection table 104h shown in FIG. 16 for example, when the type of the reduction gear is “RV-XX1”, for the reduction gear whose ID is “Table 1” among the plurality of reduction gear threshold tables 104g. A threshold table is selected.
- the storage unit 104 stores sensor threshold information 104 i that is threshold information for notifying the wear state of the lubricant deterioration sensor 60.
- FIG. 17 is a diagram illustrating an example of the sensor threshold information 104i.
- the sensor threshold information 104i includes a battery replacement threshold that is a threshold for prompting replacement of the battery 76 of the lubricant deterioration sensor 60, and a threshold for warning that the remaining battery level is low.
- a battery replacement threshold that is a threshold for prompting replacement of the battery 76 of the lubricant deterioration sensor 60
- a threshold for warning that the remaining battery level is low.
- the control unit 105 shown in FIG. 8 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs and various data in advance, and a RAM (Random Access Memory) used as a work area of the CPU. ).
- the CPU is configured to execute a program stored in the ROM or the storage unit 104.
- the control unit 105 executes the centralized monitoring program 104a stored in the storage unit 104, thereby determining the appropriateness of the use state of the industrial robot 20 as a robot state appropriateness determination unit as a robot state appropriateness determination unit.
- robot state appropriateness transmitting means for transmitting notification of the appropriateness of the use state of the industrial robot 20 determined by the robot state appropriateness determining unit 105a to at least one of the service provider device 130 and the user device 160
- Threshold setting unit 105d as threshold setting means for setting A reduction gear breakage state determination unit 105e serving as a reduction gear breakage state determination means for determining the breakage state of the decelerator 40, and a notification of the damage state of the reduction gear 40 determined by the reduction gear breakage state determination unit 105e
- a speed reducer breakage state transmission unit 105f serving as a speed reducer breakage state transmitting means for transmitting to at least one of the user devices 160
- a speed reducer serving as a reducer information transmitting means for transmitting the speed reducer information 104d to the service provider device 130.
- At least one of the service provider device 130 and the user device 160 is notified of the status.
- Sensor wasting condition transmitting section 105i as a sensor wasting condition transmission means for transmitting, and functions as a sensor information transmitting section 105j for transmitting sensor information 104e to the service provider equipment 130.
- ⁇ 1 and ⁇ 2 denote the stresses generated in the portion where the two strain gauges 80 attached to any one of the three columns 42a of the support 42 of the speed reducer 40 are attached.
- a load torque calculated based on ⁇ 1 and ⁇ 2 is T A1 .
- a load moment calculated based on ⁇ 1 and ⁇ 2 is defined as M A1 .
- a load coefficient that can calculate the stress caused by the load torque out of ⁇ 1 by multiplying by T A1 is T1.
- the load factor stress caused by the load torque can be calculated out of ⁇ 2 by being multiplied by T A1 to T2.
- An operating angle of a load moment applied to the support 42 around the rotation axis of the support 42 with respect to the case 41 is defined as ⁇ .
- M1 ( ⁇ ), which is a function of ⁇ be a load coefficient by which the stress due to the load moment can be calculated among ⁇ 1 by being multiplied by M A1 .
- M2 ( ⁇ ), which is a function of ⁇ be a load coefficient that can calculate the stress caused by the load moment among ⁇ 2 by being multiplied by M A1 .
- the relationship shown in Equation 2 holds among ⁇ 1, ⁇ 2, T A1 , M A1 , T1, T2, M1 ( ⁇ ), and M2 ( ⁇ ).
- M1 ( ⁇ ) and M2 ( ⁇ ) are functions of ⁇ because the stress caused by the load moment of ⁇ 1 and the stress caused by the load moment of ⁇ 2 are relative rotations of the case 41 and the support 42. It is because it changes according to.
- Equation 2 the relationships shown in Equation 2 to Equation 3 and Equation 4 are established.
- produces in the part where the two strain gauges 80 attached to any one pillar 42a other than the pillar 42a mentioned above among the three pillars 42a of the support body 42 of the reduction gear 40 was stuck.
- T A2 A load torque calculated based on ⁇ 3 and ⁇ 4 is T A2 .
- a load moment calculated based on ⁇ 3 and ⁇ 4 is defined as M A2 .
- the load factor stress caused by the load torque can be calculated out of ⁇ 3 by being multiplied by T A2 and T3.
- the load factor stress caused by the load torque can be calculated out of ⁇ 4 by being multiplied by T A2 and T4.
- M due to stress to the load moment of ⁇ 3 by being multiplied by A2 is the M3 is a function of the load factor phi can be calculated (phi).
- the load factor stress caused by the load moment can be calculated out of ⁇ 4 by being multiplied by M A2 is a function of phi and M4 (phi).
- the relationship shown in Equation 5 holds among ⁇ 3, ⁇ 4, T A2 , M A2 , T3, T4, M3 ( ⁇ ), and M4 ( ⁇ ).
- M3 ( ⁇ ) and M4 ( ⁇ ) are functions of ⁇ because the stress caused by the load moment of ⁇ 3 and the stress caused by the load moment of ⁇ 4 are relative rotations of the case 41 and the support 42. It is because it changes according to.
- a load torque calculated based on ⁇ 5 and ⁇ 6 is T A3 .
- a load moment calculated based on ⁇ 5 and ⁇ 6 is defined as M A3 .
- a load coefficient that can calculate the stress caused by the load torque out of ⁇ 5 by multiplying by T A3 is T5.
- a load coefficient that can calculate the stress caused by the load torque out of ⁇ 6 by multiplying by T A3 is T6.
- M stress due to the load moment of ⁇ 5 be multiplied by the A3 is to M5 is a function of the load factor phi can be calculated (phi).
- the load factor stress caused by the load moment can be calculated out of ⁇ 6 by being multiplied by M A3 is a function of phi and M6 (phi).
- the relationship shown in Equation 8 holds among ⁇ 5, ⁇ 6, T A3 , M A3 , T5, T6, M5 ( ⁇ ), and M6 ( ⁇ ).
- M5 ( ⁇ ) and M6 ( ⁇ ) are functions of ⁇ because the stress caused by the load moment of ⁇ 5 and the stress caused by the load moment of ⁇ 6 are relative rotations of the case 41 and the support 42. It is because it changes according to.
- T A1 , T A2 , and T A3 have the same theoretical value, ⁇ when T A1 , T A2 , and T A3 are closest to each other is closest to the actual working angle of the load moment.
- M A1 , M A2 , and M A3 have the same theoretical value, ⁇ when M A1 , M A2 , and M A3 are closest to each other is closest to the actual working angle of the load moment . That is, ⁇ when the function ⁇ ( ⁇ ) shown in Equation 11 takes the minimum value is closest to the actual working angle of the load moment.
- control unit 105 calculates ⁇ when the function ⁇ ( ⁇ ) takes the minimum value based on the equations 3, 4, 6, 7, 9, 10, and 11, so that the actual working angle of the load moment is calculated. ⁇ closest to is calculated.
- control unit 105 can calculate ⁇ 1 to ⁇ 6 based on the output of the strain gauge 80, respectively. T1 to T6 and M1 ( ⁇ ) to M6 ( ⁇ ) are measured in advance by a load test.
- control unit 105 calculates T A1 , T A2 , T A3 , M A1 , M A2 , and M A3 from the numbers 3, 4, 6, 7, 9, and 10 based on the calculated ⁇ . ing.
- control unit 105 calculates the number T of the reduction gear load torque and the number M of the reduction gear load moment based on the calculated T A1 , T A2 , T A3 , M A1 , M A2 , M A3. 12 and Equation 13 are used for calculation.
- the experimental device After rotating the support 42 by 45 ° in the forward direction with respect to the case 41 on the condition that the maximum output rotation speed is 15 rpm, the experimental device created with a configuration equivalent to the configuration of the joint portion 32, An experiment is conducted in which the reciprocating rotational motion of 45 ° in the reverse direction is continued. In this experiment, the lubricating oil 40a is a new oil that is less degraded. Then, the time change of the black color difference ⁇ E is examined.
- FIG. 18A shows an example of an experimental result of the time change of the black color difference ⁇ E when the oil temperature is 40 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 1.0 To. It is a graph to show.
- FIG. 18B shows an example of an experimental result of the time change of the black color difference ⁇ E when the oil temperature is 60 ° C., the speed reducer load moment is 0.5 Mo, and the speed reducer load torque is 1.0 To. It is a graph to show.
- FIG. 18C shows an example of an experimental result of the time change of the black color difference ⁇ E when the oil temperature is 60 ° C., the reduction gear load moment is 0.5 Mo, and the reduction gear load torque is 2.0 To. It is a graph to show.
- the rated conversion time is based on the output rotation speed of the reduction gear 40 and the reduction gear load torque when the experimental device is actually driven.
- the time when the device is actually driven is converted into the time when the output rotational speed is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40.
- the life time of the speed reducer 40 is defined as 6000 hours when the speed reducer 40 is continuously driven under the condition that the output rotational speed is 15 rpm and the speed reducer load torque is the rated torque of the speed reducer 40. Has been.
- the rated conversion time is the life time of 6000 hours when the oil temperature is different.
- the black color difference ⁇ E (hereinafter referred to as the “color difference at the rated life”) at the time of reaching is different.
- the color difference at the rated life is different when the reduction gear load torque is different. It can be confirmed by the same experiment that the color difference at the rated life is different when any one of the oil temperature, the reduction gear load moment, and the reduction gear load torque is different. Therefore, it is preferable that the threshold for notifying the state of damage to the speed reducer 40 is determined in association with the oil temperature, the speed reducer load moment, and the speed reducer load torque.
- the minimum value is set as a threshold for inspection and repair, and the maximum value is set as a warning threshold.
- the oil temperature is 40 ° C. or higher and lower than 50 ° C.
- the speed reducer load moment is 0.5 Mo or higher and lower than 0.75 Mo
- the speed reducer load torque is 1.0 To More than 350, which is the threshold for inspection and repair when the pressure is less than 1.5 To, is a condition where the oil temperature is 40 ° C.
- the speed reducer load moment is 0.5 Mo
- the speed reducer load torque is 1.0 To.
- the numerical value was the minimum value among the color differences at the rated life in these experiments.
- the reducer threshold table 104g shown in FIG. 15 the oil temperature is 40 ° C.
- the threshold value for warning 425 in the case of 0 To or more and less than 1.5 To is a plurality of conditions under the conditions that the oil temperature is 40 ° C., the reducer load moment is 0.5 Mo, and the reducer load torque is 1.0 To.
- the numerical value was the maximum value among the color differences at the rated life in these experiments.
- the reduction gear threshold table 104g is created as described above. Note that a plurality of reducer threshold tables 104g are created by conducting an experiment under different conditions of the reducer model.
- FIG. 19 is a block diagram of the service provider apparatus 130.
- the service provider device 130 shown in FIG. 19 is a computer such as a PC.
- the service provider apparatus 130 is an operation unit 131 that is an input device such as a mouse or a keyboard for inputting various operations by a user of the service provider apparatus 130 and a display device such as an LCD that displays various information.
- a control unit 136 for controlling the centralized monitoring apparatus 100 as a whole.
- the storage unit 135 includes user information 135a identical to the user information 104b, robot information 135b identical to the robot information 104c, reducer information 135c identical to the reducer information 104d, and sensor information identical to the sensor information 104e. 135d can be stored.
- the user information 135a, the robot information 135b, the speed reducer information 135c, and the sensor information 135d are transmitted from the centralized monitoring device 100 whenever the user information 104b, the robot information 104c, the speed reducer information 104d, and the sensor information 104e are changed. This information is updated based on the incoming user information 104b, robot information 104c, reducer information 104d, and sensor information 104e.
- the service provider device 130 outputs the notification of the state of the reduction gear 40 damage determined by the reduction gear damage state determination unit 105e of the centralized monitoring device 100 by the display by the display unit 132 and the sound by the speaker 133.
- the notification output device of the present invention is configured.
- FIG. 20 is a block diagram of the user device 160.
- the user device 160 shown in FIG. 20 is a computer such as a PC.
- the user device 160 is an operation unit 161 that is an input device such as a mouse and a keyboard to which various operations by the user of the user device 160 are input, and a display device such as an LCD that displays various information.
- Display unit 162, speaker 163 that outputs various information by sound
- network communication unit 164 that is a network communication device that performs communication via network 11 (see FIG. 1)
- HDD that stores various data
- a storage unit 165 that is a storage device
- a control unit 166 that controls the centralized monitoring apparatus 100 as a whole.
- the user device 160 outputs a notification of the state of damage to the speed reducer 40 determined by the speed reducer breakage state determination unit 105e of the centralized monitoring device 100 based on the display by the display unit 162 and the sound by the speaker 163.
- the notification output device of the present invention is configured.
- joint portion 32 of one industrial robot 20 among the plurality of industrial robots 20 will be described, but the same applies to the joint portions 31, 33 to 36 of the industrial robot 20. The same applies to the joint portions 31 to 36 of the industrial robot 20.
- the lubricating oil 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.
- the lubricant deterioration sensor 60 transmits the RGB light amounts of the light received by the RGB sensor 73 together with the ID of the lubricant deterioration sensor 60 itself as an electrical signal to the centralized monitoring device 100 via the wireless communication device 75. To do. Further, the lubricant deterioration sensor 60 also detects the lubricant oil with respect to the temperature detected by the temperature sensor 74, the battery remaining amount measured by the battery remaining amount sensor 77, and the light emission timing detected by the light emission timing sensor 78. Along with the ID of the deterioration sensor 60 itself, an electrical signal is transmitted to the centralized monitoring device 100 via the wireless communication device 75.
- the strain detected by the strain gauge 80 is transmitted as an electrical signal to the centralized monitoring device 100 through the wireless communication device 81 together with the speed reducer ID of the speed reducer 40 in which the strain gauge 80 itself is installed.
- the control unit 105 of the centralized monitoring apparatus 100 receives the RGB light amounts of the light received by the RGB sensor 73 together with the sensor ID of the lubricant deterioration sensor 60 as an electrical signal via the network communication unit 103, the control unit 105 receives the received light amount. Based on the sensor ID and the user information 104b, a reduction gear ID corresponding to the sensor ID is determined. Next, the control unit 105 calculates a black color difference ⁇ E based on the received light amounts of the respective RGB colors. Then, the control unit 105 updates the speed reducer information 104d with the calculated black color difference ⁇ E as the black color difference ⁇ E for the speed reducer ID.
- control unit 105 determines the temperature based on the received sensor ID and the user information 104b. A reduction gear ID and a robot ID corresponding to the sensor ID are determined. Then, the control unit 105 updates the speed reducer information 104d with the received temperature as the oil temperature for the speed reducer ID. Further, the control unit 105 calculates the robot temperature according to a predetermined formula based on this temperature. Then, the control unit 105 updates the robot information 104c with the calculated robot temperature as the robot temperature for the robot ID.
- control unit 105 receives the strain detected by the strain gauge 80 as an electric signal through the network communication unit 103 together with the speed reducer ID
- the control unit 105 is based on the received speed reducer ID and the user information 104b.
- the robot ID corresponding to the reduction gear ID is determined.
- the control unit 105 calculates the reduction gear load moment and the reduction gear load torque as described above based on the received distortion.
- the control unit 105 updates the speed reducer information 104d with the calculated speed reducer load moment and speed reducer load torque as the speed reducer load moment and speed reducer load torque for the speed reducer ID.
- the control unit 105 calculates the robot load as described above based on the reduction gear load torque.
- the robot information 104c is updated with the calculated robot load as the load for the robot ID.
- control unit 105 receives the remaining battery level measured by the remaining battery level sensor 77 together with the sensor ID as an electrical signal via the network communication unit 103, the control unit 105 calculates the received remaining battery level to the battery corresponding to the sensor ID.
- the sensor information 104e is updated as the remaining amount.
- control unit 105 receives the light emission timing detected by the light emission timing sensor 78 as an electric signal together with the sensor ID via the network communication unit 103, the control unit 105 is based on all the light emission timings received so far. The accumulated light emission time by the white LED 72 is calculated. Then, the control unit 105 updates the sensor information 104e with the calculated accumulated light emission time as the accumulated light emission time for the sensor ID.
- robot information 104c regarding one industrial robot 20 (hereinafter referred to as “target robot”) among the plurality of industrial robots 20 is updated will be described. The same applies to the case where the robot information 104c is updated.
- FIG. 21 is a flowchart of the operation of the centralized monitoring apparatus 100 when the robot information 104c is updated.
- the robot state appropriateness determination unit 105a of the control unit 105 of the centralized monitoring apparatus 100 has the robot temperature associated with the robot ID of the target robot in the robot information 104c as the robot threshold information 104f. It is determined whether the upper recommended temperature range upper threshold is exceeded (S201).
- the robot state appropriateness transmitting unit 105b of the control unit 105 As shown in FIG. A notification that the temperature exceeds the upper limit of the recommended temperature range 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. (S202).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot state appropriateness determination unit 105a determines in S201 that the robot temperature does not exceed the recommended temperature range upper limit threshold value, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold value. It is determined whether or not the temperature is lower than the recommended temperature range lower limit threshold on the information 104f (S203).
- the robot state appropriateness transmission unit 105b causes the robot temperature to fall within the recommended temperature range, as shown in FIG.
- a notification to the effect that the value is below the lower 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 (S204).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot state appropriateness determination unit 105a determines in S203 that the robot temperature is not less than the recommended temperature range lower limit threshold, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold information. It is determined whether or not it is equal to or higher than the high temperature warning threshold value 104f (S205).
- the robot state appropriateness transmitting unit 105b determines that the robot temperature is within the recommended temperature range as shown in FIG. However, a notification that warns that it is 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 (S206). .
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot state appropriateness determination unit 105a determines in S205 that the robot temperature is not equal to or higher than the high temperature warning threshold, the robot temperature associated with the robot ID of the target robot in the robot information 104c is the robot threshold information 104f. It is determined whether or not it is equal to or lower than the upper threshold for low temperature warning (S207).
- the robot state appropriateness transmitting unit 105b determines that the robot temperature is within the recommended temperature range as shown in FIG. However, the notification that warns that it is close to the lower 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 (S208). .
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot information 104c includes the robot ID of the target robot. It is determined whether or not the associated robot load exceeds the recommended load range upper limit threshold on the robot threshold information 104f (S209).
- the robot state appropriateness transmitting unit 105b determines that the robot load is the recommended load as shown in FIG.
- a notification that the upper limit of the range is exceeded 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 (S210).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot state appropriateness determination unit 105a determines in S209 that the robot load does not exceed the recommended load range upper limit threshold value, the robot load associated with the robot ID of the target robot in the robot information 104c is the robot threshold value. It is determined whether or not the threshold is a high load warning threshold value on the information 104f (S211).
- the robot state appropriateness transmitting unit 105b determines that the robot load is within the recommended load range as shown in FIG.
- a notification that warns that it is within the limit but is 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). ).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can review the operation performed by the industrial robot 20 so that the notification is not displayed on the display unit 162.
- the robot information transmitting unit 105c of the control unit 105 includes the target of the robot information 104c.
- Information associated with the robot ID of the robot is transmitted to the service provider apparatus 130 via the network communication unit 103 (S213).
- the control unit 136 of the service provider device 130 receives information associated with the robot ID of the target robot in the robot information 104c from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 is based on the received information. Then, the robot information 135b is updated.
- control part 105 complete
- speed reducer information 104d regarding one speed reducer 40 (hereinafter referred to as “target speed reducer”) out of a plurality of speed reducers 40 of one industrial robot 20 among the plurality of industrial robots 20 is updated.
- target speed reducer speed reducer information 104d regarding one speed reducer 40
- FIG. 24 is a flowchart of the operation of the centralized monitoring apparatus 100 when the reducer information 104d is updated.
- the threshold setting unit 105d of the control unit 105 of the centralized monitoring device 100 includes the model of the speed reducer 40 associated with the ID of the target speed reducer in the speed reducer information 104d, and on the storage unit 104. Based on the table selection table 104h, the ID of the reducer threshold table 104g is acquired, and the reducer threshold table 104g to which the acquired ID is attached is used in the subsequent processing. Is set as (S231).
- the threshold setting unit 105d includes the oil temperature, the reducer load moment, and the reducer load torque associated with the ID of the target reducer in the reducer information 104d, and the reducer threshold table 104g set in S231. Based on the above, the inspection / repair threshold and the warning threshold of the reduction gear 40 are set as the inspection / repair threshold and the warning threshold used in the subsequent processing (S232).
- the speed reducer breakage state determination unit 105e of the control unit 105 determines whether the black color difference ⁇ E associated with the ID of the target speed reducer in the speed reducer information 104d is equal to or smaller than the inspection / repair threshold set in S232. It is determined whether or not (S233).
- the reduction gear breakage state transmission unit 105f of the control unit 105 transmits the user as shown in FIG.
- a notification prompting the inspection or repair of the speed reducer 40 as a notification of a damaged state of the speed reducer 40 is provided for the user of the service robot apparatus 130 and the user of the industrial robot 20 including the speed reducer 40.
- the data is transmitted to the device 160 via the network communication unit 103 (S234).
- the speed reducer breakage state transmission unit 105f transmits a notification of the state of breakage of the speed reducer 40 corresponding to the inspection / repair threshold value.
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can perform, for example, inspection or repair of the speed reducer 40 based on the notification displayed on the display unit 162.
- the reduction gear breakage state determination unit 105e determines in S233 that the black color difference ⁇ E is not less than or equal to the inspection repair threshold, the black color difference ⁇ E associated with the ID of the target reduction gear in the reduction gear information 104d is determined in S232. It is determined whether or not it is less than the set warning threshold (S235).
- the reduction gear breakage state transmission unit 105f causes the reduction gear 40 to break as shown in FIG.
- the notification for warning that there is a possibility of being present is a notification of the state of the reduction gear 40 being damaged, and the device for the service provider 130 and the device for the user of the user of the industrial robot 20 equipped with the reduction gear 40
- the data is transmitted to the network 160 via the network communication unit 103 (S236).
- the reduction gear damage state transmission unit 105f transmits a notification of the damage state of the reduction gear 40 corresponding to the warning threshold value.
- the control unit 136 of the service provider device 130 When the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132. Therefore, a service provider who is a user of the service provider device 130 is addressed to, for example, a manufacturer or user of the industrial robot 20 including the reduction gear 40 based on the notification displayed on the display unit 132.
- the reduction gear 40 for replacement is sent out, a service person is dispatched to the place where the industrial robot 20 equipped with the reduction gear 40 is installed, and the production amount of the reduction gear 40 for replacement is adjusted. Can be.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, based on the notification displayed on the display unit 162, the user of the user device 160 can execute preparations for inspection or repair of the reduction gear 40, for example.
- the reduction gear information transmission unit 105g of the control unit 105 reduces the reduction gear information 104d.
- the information associated with the ID of the target reducer is transmitted to the service provider device 130 via the network communication unit 103 (S237).
- the control unit 136 of the service provider device 130 receives the information associated with the ID of the target reduction gear in the reduction gear information 104d from the centralized monitoring device 100 via the network communication unit 134, the control information 136 is converted into the received information. Based on this, the reducer information 135c is updated.
- control unit 105 ends the process of S237, the control unit 105 ends the process illustrated in FIG.
- a sensor related to a lubricant deterioration sensor 60 (hereinafter referred to as “target sensor”) of one speed reducer 40 out of a plurality of speed reducers 40 of one industrial robot 20 among the plurality of industrial robots 20.
- target sensor a sensor related to a lubricant deterioration sensor 60
- the information 104e is updated will be described, the same applies to the case where the sensor information 104e regarding the other lubricant deterioration sensor 60 is updated.
- FIG. 26 is a flowchart of the operation of the centralized monitoring apparatus 100 when the sensor information 104e is updated.
- the sensor consumption state determination unit 105h of the control unit 105 of the centralized monitoring device 100 indicates that the remaining battery level associated with the ID of the target sensor in the sensor information 104e is on the sensor threshold information 104i. It is determined whether or not the battery replacement threshold is reached (S261).
- the sensor consumption state transmission unit 105i of the control unit 105 determines that the lubricant has deteriorated as shown in FIG.
- the network communication unit 103 sends a notification prompting the replacement of the battery 76 of the sensor 60 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. (S262).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can replace the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162, for example.
- the remaining battery level associated with the ID of the target sensor in the sensor information 104e is determined as sensor threshold information. It is determined whether or not the battery warning threshold value on 104i is below (S263).
- the sensor consumption state transmission unit 105i warns that the remaining battery level is low, as shown in FIG.
- the notification to be transmitted 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 (S264).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- the service provider who is the user of the service provider device 130 is based on the notification displayed on the display unit 132, for example, the manufacturer or user of the industrial robot 20 including the lubricant deterioration sensor 60.
- a battery 76 for replacement of the lubricant deterioration sensor 60 is sent to a service person, a service person is dispatched to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed, or a replacement battery The production amount of the battery 76 can be adjusted.
- the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute preparation for replacement of the battery 76 of the lubricant deterioration sensor 60 based on the notification displayed on the display unit 162, for example.
- the sensor consumption state determination unit 105h determines in S263 that the remaining battery level is not equal to or less than the battery warning threshold value, or when the processes in S262 and S264 are completed, the sensor consumption state determination unit 105h is associated with the ID of the target sensor in the sensor information 104e. It is determined whether or not the accumulated light emission time is equal to or greater than the LED replacement threshold on the sensor threshold information 104i (S265).
- the sensor consumption state transmission unit 105i sends a notification prompting replacement of the white LED 72 as shown in FIG. Then, the information 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 (S266).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- control unit 166 of the user device 160 When the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute, for example, replacement of the white LED 72 based on the notification displayed on the display unit 162.
- the sensor consumption state determination unit 105h determines in S265 that the accumulated light emission time is less than the LED replacement threshold, the accumulated light emission time associated with the ID of the target sensor in the sensor information 104e is calculated as sensor threshold information 104i. It is determined whether or not the upper LED warning threshold is exceeded (S267).
- the sensor consumption state transmission unit 105i determines that the accumulated light emission time is the lifetime of the white LED 72 as shown in FIG.
- a notification that warns that the vehicle is approaching is sent 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. (S268).
- the control unit 136 of the service provider device 130 receives the notification from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 displays the received notification on the display unit 132.
- the service provider who is the user of the service provider device 130 is based on the notification displayed on the display unit 132, for example, the manufacturer or user of the industrial robot 20 including the lubricant deterioration sensor 60.
- the white LED 72 for replacement of the lubricant deterioration sensor 60 is sent to the service station, a service person is dispatched to the place where the industrial robot 20 equipped with the lubricant deterioration sensor 60 is installed, The production amount of the white LED 72 can be adjusted.
- the control unit 166 of the user device 160 receives a notification from the centralized monitoring device 100 via the network communication unit 164, the control unit 166 displays the received notification on the display unit 162. Therefore, the user of the user device 160 can execute preparation for replacement of the white LED 72 based on the notification displayed on the display unit 162, for example.
- the sensor information transmission unit 105j of the control unit 105 includes the sensor information 104e.
- Information associated with the ID of the target sensor is transmitted to the service provider device 130 via the network communication unit 103 (S269).
- the control unit 136 of the device for service provider 130 receives information associated with the ID of the target sensor from the sensor information 104e from the centralized monitoring device 100 via the network communication unit 134, the control unit 136 is based on the received information.
- the sensor information 135d is updated.
- the centralized monitoring device 100 determines the state of damage to the speed reducer 40 according to the color detected by the RGB sensor 73 of the lubricant deterioration sensor 60, the state of damage to the speed reducer 40 is determined. It can be judged more appropriately than before.
- the reduction gear breakage state determination unit 105e of the centralized monitoring device 100 is a black value that is a value corresponding to the color detected by the RGB sensor 73 based on the information transmitted by the wireless communication device 75 of the lubricant deterioration sensor 60.
- the color difference ⁇ E is compared with the threshold value for inspection and warning stored in the storage unit 104 (S233, S235), and when the black color difference ⁇ E reaches the threshold value for inspection and repair and the threshold value for warning ( YES in S233, YES in S235), the lubricating oil deterioration sensor 60 equipped with the RGB sensor 73 indicates the deterioration of the lubricating oil 40a in accordance with the state of breakage of the speed reducer 40 corresponding to the threshold for inspection and repair and the threshold for warning. Judgment is made as the state of damage of the speed reducer 40 to be detected (S234, S236).
- the centralized monitoring device 100 breaks down each speed reducer 40 based on the value corresponding to the color detected by the RGB sensor 73 of the lubricant deterioration sensor 60 of each speed reducer 40 of the plurality of industrial robots 20. Since the notification of the state of damage of the reduced speed reducer 40 is transmitted to the outside, the notification of the state of damage of each of the plurality of industrial robots 20 may be transmitted to the outside. it can.
- the centralized monitoring device 100 can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers 40 of the plurality of industrial robots 20 to the outside.
- the threshold setting unit 105d of the centralized monitoring device 100 sets an inspection / repair threshold and a warning threshold according to the use state of the speed reducer 40 based on the information transmitted by the wireless communication device 75 and the wireless communication device 81 ( S232). That is, the centralized monitoring apparatus 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the actual usage state of the speed reducer 40. The state can be notified with high accuracy according to the actual use state of the speed reducer 40.
- the threshold setting unit 105d sets an inspection / repair threshold and a warning threshold according to the temperature of the lubricating oil 40a based on the information transmitted by the wireless communication device 75. That is, the centralized monitoring device 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the actual temperature of the lubricating oil 40a. Can be accurately reported according to the actual temperature of the lubricating oil 40a.
- the centralized monitoring device 100 may set a warning threshold and an inspection / repair threshold in accordance with an oil temperature other than the oil temperature detected by the temperature sensor 74. For example, the centralized monitoring apparatus 100 may set a warning threshold and an inspection / repair threshold according to the oil temperature input from the user via the operation unit 101.
- the centralized monitoring device 100 uses not only the actual temperature of the lubricating oil 40a acquired immediately before as the oil temperature used in the processing shown in FIG. 21, but also the lubricating oil 40a for the predetermined period such as the latest 10 minutes. An average value of actual temperatures may be adopted.
- the threshold setting unit 105d sets an inspection / repair threshold and a warning threshold according to the load applied to the speed reducer 40 based on the information transmitted by the wireless communication device 81. That is, the centralized monitoring device 100 sets the inspection and repair thresholds and warning thresholds for determining the state of damage to the speed reducer 40 according to the load actually applied to the speed reducer 40. The state can be notified with high accuracy according to the load actually applied to the speed reducer 40.
- the method for detecting the load actually applied to the speed reducer 40 may be a method other than the strain gauge 80. Further, the centralized monitoring device 100 adopts not only the load acquired immediately before but also the average value of the actual load in a predetermined period such as the latest 10 minutes as the load used in the processing shown in FIG. It may be.
- the centralized monitoring apparatus 100 transmits the speed reducer information 104d only to the service provider apparatus 130 out of the service provider apparatus 130 and the user apparatus 160 (S237), so the service provider apparatus 130 and the user apparatus 160 Appropriate information according to each user can be transmitted to the service provider device 130 and the user device 160.
- the service provider who is a user of the service provider device 130 modifies the speed reducer threshold table 104g on the central monitoring device 100 based on the speed reducer information 104d received from the central monitoring device 100 by the service provider device 130. can do.
- the service provider who is a user of the service provider device 130 creates a new one suitable for the actual use state of the reducer 40 based on the reducer information 104 d received from the central monitoring device 100 by the service provider device 130.
- a speed reducer 40 can also be developed.
- the reduction gear threshold table 104g may be manually corrected by the service agent based on the reduction gear information 104d received from the central monitoring device 100 by the service agent device 130, or concentrated based on the reduction gear information 104d. It may be automatically corrected by the monitoring device 100.
- the centralized monitoring device 100 notifies the service device 130 and the user device 160 of the wear state of the lubricant deterioration sensor 60 (S262, S264, S266, S268). It is possible to prevent the deterioration sensor 60 from being used, and as a result, it is possible to maintain the accuracy of notification of the state of damage to the speed reducer 40. For example, the centralized monitoring device 100 transmits a notification of the exhausted state of the battery 76 to the service provider device 130 and the user device 160 as the exhausted state of the lubricant deterioration sensor 60 (S262, S264). It is possible to prevent the use of the inappropriate lubricant deterioration sensor 60 whose amount has become zero.
- the central monitoring device 100 transmits a notification of the consumption state of the white LED 72 as the consumption state of the lubricant deterioration sensor 60 to the service provider device 130 and the user device 160 (S266, S268). It is possible to prevent the use of an inappropriate lubricant deterioration sensor 60 that has failed.
- the centralized monitoring device 100 acquires the robot temperature corresponding to the oil temperature based on the information transmitted by the wireless communication device 75, and determines the appropriateness of the usage state of the industrial robot 20 based on the acquired robot temperature. (S202, S204, S206, S208), it is possible to suppress inappropriate use of the industrial robot 20 such that the robot temperature becomes an inappropriate temperature.
- the centralized monitoring device 100 acquires a robot load corresponding to the load applied to the speed reducer 40 based on the information transmitted by the wireless communication device 81, and the usage state of the industrial robot 20 is determined based on the acquired robot load. Since the appropriateness is determined (S210, S212), inappropriate use of the industrial robot 20 in which the robot load becomes an inappropriate load can be suppressed.
- the temperature sensor 74 detects the oil temperature via the holder 63a
- the temperature sensor 74 may directly detect the oil temperature without using another member such as the holder 63a.
- the maintenance system 10 can be easily constructed as compared with a configuration in which the temperature sensor 74 is provided separately from the lubricant deterioration sensor 60. it can. In the maintenance system 10, the temperature sensor 74 may be provided separately from the lubricant deterioration sensor 60.
- the centralized monitoring device 100 manages not only the type of the speed reducer 40 but also the lot number, even if the speed reducer 40 is the same type, the centralized monitoring device 100 provides service to the speed reducer 40 of the lot that is damaged earlier than other lots. You can make them recognize. Therefore, for example, the service provider increases the replacement frequency of the lubricating oil 40a of the speed reducer 40 of the lot in which breakage occurs earlier than other lots, or shortens the detection cycle of the deterioration of the lubricating oil 40a by the lubricating oil deterioration sensor 60. Can be.
- the centralized monitoring apparatus 100 includes two threshold values corresponding to the possibility of the reduction gear 40 being damaged, that is, a warning threshold value and a threshold value for inspection and repair, as threshold values for notifying the state of damage to the reduction gear 40. Therefore, the state of damage to the speed reducer 40 can be notified in two stages as the possibility of damage to the speed reducer 40 (S234, S236). When the state of damage to the speed reducer 40 is notified in multiple stages as the possibility of damage to the speed reducer 40, the user is suddenly notified that, for example, the possibility that the speed reducer 40 is damaged is very high. Compared to the configuration, it is possible to determine the necessity of replacing the reduction gear 40 with a margin.
- the central monitoring apparatus 100 may have only one threshold for notifying the state of damage to the speed reducer 40, or the speed reducer as a threshold for notifying the state of damage to the speed reducer 40. It may include three or more thresholds corresponding to 40 possible breakages.
- the lubricant deterioration sensor 60 is configured to transmit the light amounts of the respective RGB colors of the light received by the RGB sensor 73 to the centralized monitoring device 100, but information corresponding to the color of the light received by the RGB sensor 73 may be used. For example, information other than the light amounts of the RGB colors of the light received by the RGB sensor 73 may be transmitted to the centralized monitoring device 100.
- the lubricant deterioration sensor 60 uses, as the information corresponding to the color of the light received by the RGB sensor 73, the black color difference ⁇ E calculated based on the light amounts of the RGB colors of the light received by the RGB sensor 73. You may be supposed to send to.
- the lubricating oil deterioration sensor 60 is configured to transmit the black color difference ⁇ E calculated based on the light amounts 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 black color difference ⁇ E based on the light amounts of the RGB colors of the light received by the RGB sensor 73.
- Each of the lubricant deterioration sensors employs wireless communication by a built-in wireless communication device in the present embodiment as a communication method with an external device.
- wireless communication may be employed. .
- each of the lubricant deterioration sensors employs a built-in battery as a power supply means in the present embodiment.
- a cable that electrically connects an external power source and the lubricant deterioration sensor is used. It may be adopted.
- each lubricant deterioration sensor is not limited to the position shown in the present embodiment, and is preferably set as appropriate according to the application of the industrial robot.
- the centralized monitoring apparatus can transmit a notification of the state of damage more appropriate than the conventional ones of the reducers of a plurality of industrial robots to the outside.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
前記潤滑油劣化センサーは、光を発するよう構成された発光素子と、受けた光の色を検出するよう構成されたカラー受光素子と、前記潤滑油が侵入し且つ前記発光素子から前記カラー受光素子までの光路上に配置されている油用隙間が形成されていて光を透過させる隙間形成部材と、前記カラー受光素子によって検出された色に応じた情報を前記潤滑油劣化センサーの外部に送信するよう構成された色情報送信装置とを備えており、
前記集中監視装置は、
前記減速機の破損の状態に対応する閾値を記憶するよう構成された閾値記憶部と、
前記減速機の破損の状態を判断するよう構成された減速機破損状態判断手段と、
前記減速機破損状態判断手段によって判断された前記減速機の破損の状態の通知を前記集中監視装置の外部に送信するよう構成された減速機破損状態送信手段と、
を備えており、
前記色情報送信装置によって送信された情報から得られた前記カラー受光素子によって検出された色に応じた値が、前記記憶部に記憶されている前記閾値に達した場合に、前記減速機破損状態判断手段は、この閾値に対応する前記減速機の破損の状態を、このカラー受光素子を備えている前記潤滑油劣化センサーが前記潤滑油の劣化を検出する対象の前記減速機の破損の状態として判断する、集中監視装置が供される。
20 産業用ロボット
40 減速機
40a 潤滑油
60 潤滑油劣化センサー
62 隙間形成部材
62a 油用隙間
72 白色LED(発光素子)
72a 光路
73 RGBセンサー(カラー受光素子)
74 温度センサー(減速機使用状態センサー、潤滑油温度センサー)
75 無線通信装置(色情報送信装置、減速機情報送信装置)
76 電池
80 歪みゲージ(減速機使用状態センサー、荷重センサー)
81 無線通信装置(減速機情報送信装置)
100 集中監視装置
104 記憶部(閾値記憶部)
104a 集中監視プログラム
105a ロボット状態適切性判断部(ロボット状態適切性判断手段)
105b ロボット状態適切性送信部(ロボット状態適切性送信手段)
105d 閾値設定部(閾値設定手段)
105e 減速機破損状態判断部(減速機破損状態判断手段)
105f 減速機破損状態送信部(減速機破損状態送信手段)
105g 減速機情報送信部(減速機情報送信手段)
105h センサー消耗状態判断部(センサー消耗状態判断手段)
105i センサー消耗状態送信部(センサー消耗状態送信手段)
130 サービス業者用装置(通知出力装置)
160 利用者用装置(通知出力装置)
Claims (12)
- 減速機と、前記減速機の潤滑油の劣化を検出するための潤滑油劣化センサーとを備えている複数の産業用ロボットを監視する集中監視装置であって、
前記潤滑油劣化センサーは、光を発するよう構成された発光素子と、受けた光の色を検出するよう構成されたカラー受光素子と、前記潤滑油が侵入し且つ前記発光素子から前記カラー受光素子までの光路上に配置されている油用隙間が形成されていて光を透過させる隙間形成部材と、前記カラー受光素子によって検出された色に応じた情報を前記潤滑油劣化センサーの外部に送信するよう構成された色情報送信装置とを備えており、
前記集中監視装置は、
前記減速機の破損の状態に対応する閾値を記憶するよう構成された閾値記憶部と、
前記減速機の破損の状態を判断するよう構成された減速機破損状態判断手段と、
前記減速機破損状態判断手段によって判断された前記減速機の破損の状態の通知を前記集中監視装置の外部に送信するよう構成された減速機破損状態送信手段と、
を備えており、
前記色情報送信装置によって送信された情報から得られた前記カラー受光素子によって検出された色に応じた値が、前記記憶部に記憶されている前記閾値に達した場合に、前記減速機破損状態判断手段は、この閾値に対応する前記減速機の破損の状態を、このカラー受光素子を備えている前記潤滑油劣化センサーが前記潤滑油の劣化を検出する対象の前記減速機の破損の状態として判断する、集中監視装置。 - 前記産業用ロボットは、前記減速機の使用状態を検出するよう構成された減速機使用状態センサーと、前記減速機使用状態センサーによって検出された前記使用状態に応じた情報を前記産業用ロボットの外部に送信するよう構成された減速機情報送信装置とを備えており、
前記集中監視装置は、前記閾値記憶部に記憶されている前記閾値のうち前記減速機破損状態判断手段による判断のための前記閾値を設定するよう構成された閾値設定手段を備えており、
前記閾値設定手段は、前記減速機情報送信装置によって送信された情報に基づいて、前記使用状態に応じた前記閾値を設定する、
請求項1に記載の集中監視装置。 - 前記減速機使用状態センサーは、前記減速機の使用状態として前記潤滑油の温度を検出するよう構成された潤滑油温度センサーを備えており、
前記減速機情報送信装置は、前記潤滑油温度センサーによって検出された前記温度に応じた情報を前記産業用ロボットの外部に送信し、
前記閾値設定手段は、前記減速機情報送信装置によって送信された情報に基づいて、前記温度に応じた前記閾値を設定する、
請求項2に記載の集中監視装置。 - 前記減速機使用状態センサーは、前記減速機の使用状態として前記減速機に加わる荷重を検出するよう構成された荷重センサーを備えており、
前記減速機情報送信装置は、前記荷重センサーによって検出された前記荷重に応じた情報を前記産業用ロボットの外部に送信し、
前記閾値設定手段は、前記減速機情報送信装置によって送信された情報に基づいて、前記荷重に応じた前記閾値を設定する、
請求項2または請求項3に記載の集中監視装置。 - 前記減速機破損状態送信手段は、前記減速機破損状態判断手段によって判断された前記減速機の破損の状態の通知を、前記集中監視装置の外部として、この通知を表示および音の少なくとも1つによって出力する少なくとも2つの通知出力装置に送信し、
前記集中監視装置は、前記カラー受光素子によって検出された色に応じた情報と、前記減速機の使用状態に応じた情報とを前記通知出力装置のうち1つのみに送信する減速機情報送信手段を備えている、
請求項2から請求項4までの何れかに記載の集中監視装置。 - 前記集中監視装置は、前記潤滑油劣化センサーの消耗の状態を判断するよう構成されたセンサー消耗状態判断手段と、前記センサー消耗状態判断手段によって判断された前記潤滑油劣化センサーの消耗の状態の通知を前記集中監視装置の外部に送信するよう構成されたセンサー消耗状態送信手段とを備えている、
請求項1から請求項5までの何れかに記載の集中監視装置。 - 前記潤滑油劣化センサーは、前記発光素子に電力を供給するよう構成された電池を備えており、
前記センサー消耗状態判断手段は、前記電池の電力量の残量に応じた前記電池の消耗の状態を、前記潤滑油劣化センサーの消耗の状態として判断する、
請求項6に記載の集中監視装置。 - 前記センサー消耗状態判断手段は、前記発光素子による発光の累積の時間に応じた前記発光素子の消耗の状態を、前記潤滑油劣化センサーの消耗の状態として判断する、
請求項6または請求項7に記載の集中監視装置。 - 前記産業用ロボットの使用状態の適切性を判断するよう構成されたロボット状態適切性判断手段と、
前記ロボット状態適切性判断手段によって判断された前記使用状態の適切性の通知を前記集中監視装置の外部に送信するよう構成されたロボット状態適切性送信手段と、
をさらに備えており、
前記ロボット状態適切性判断手段は、前記減速機情報送信装置によって送信された情報に基づいて、前記潤滑油の温度に応じた前記産業用ロボットの温度を取得し、取得した前記温度に基づいて前記産業用ロボットの使用状態の適切性を判断する、
請求項3に記載の集中監視装置。 - 前記産業用ロボットの使用状態の適切性を判断するよう構成されたロボット状態適切性判断手段と、
前記ロボット状態適切性判断手段によって判断された前記産業用ロボットの使用状態の適切性の通知を前記集中監視装置の外部に送信するよう構成されたロボット状態適切性送信手段と、
をさらに備えており、
前記ロボット状態適切性判断手段は、前記減速機情報送信装置によって送信された情報に基づいて、前記減速機に加わる荷重に応じた前記産業用ロボットの負荷を取得し、取得した前記負荷に基づいて前記産業用ロボットの使用状態の適切性を判断する、
請求項4に記載の集中監視装置。 - 請求項1から請求項10までの何れかに記載の集中監視装置としてコンピューターを機能させる集中監視プログラムを記録した媒体。
- 請求項1から請求項10までの何れかに記載の集中監視装置と、
前記集中監視装置によって監視される複数台の前記産業用ロボットと、
前記集中監視装置によって送信された前記減速機の破損の状態の通知を表示および音の少なくとも1つによって出力する通知出力装置とを備えている、
メンテナンスシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201380027532.8A CN104582912B (zh) | 2012-05-25 | 2013-05-23 | 工业用机器人的集中监视装置、集中监视方法以及维护系统 |
DE112013002681.3T DE112013002681T5 (de) | 2012-05-25 | 2013-05-23 | Zentrale Überwachungsvorrichtung für einen Industrieroboter, Medium, das ein zentrales Überwachungsprogramm aufzeichnet, und Wartungssystem |
KR1020147032646A KR102056261B1 (ko) | 2012-05-25 | 2013-05-23 | 산업용 로봇의 집중 감시 장치, 집중 감시 프로그램을 기록한 매체 및 메인터넌스 시스템 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012-120082 | 2012-05-25 | ||
JP2012120082A JP5973786B2 (ja) | 2012-05-25 | 2012-05-25 | 産業用ロボットの集中監視装置、集中監視プログラムおよびメンテナンスシステム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013176229A1 true WO2013176229A1 (ja) | 2013-11-28 |
Family
ID=49623910
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/064401 WO2013176229A1 (ja) | 2012-05-25 | 2013-05-23 | 産業用ロボットの集中監視装置、集中監視プログラムを記録した媒体、およびメンテナンスシステム |
Country Status (6)
Country | Link |
---|---|
JP (1) | JP5973786B2 (ja) |
KR (1) | KR102056261B1 (ja) |
CN (1) | CN104582912B (ja) |
DE (1) | DE112013002681T5 (ja) |
TW (1) | TWI595221B (ja) |
WO (1) | WO2013176229A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3264592B1 (en) * | 2015-02-27 | 2023-04-12 | Sony Group Corporation | Actuator and medical support arm device |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101708041B1 (ko) * | 2015-07-03 | 2017-02-20 | 아주대학교 산학협력단 | 컴포넌트 기반의 로봇 관리 방법 및 장치 |
JP6630073B2 (ja) | 2015-07-09 | 2020-01-15 | 株式会社Subaru | 機械加工装置及び機械加工方法 |
JP6625421B2 (ja) | 2015-12-11 | 2019-12-25 | シスメックス株式会社 | 医療用ロボットシステム、データ解析装置、および、医療用ロボットの監視方法 |
CN106965170B (zh) * | 2016-01-14 | 2019-12-03 | 上银科技股份有限公司 | 以反电动势为监控依据的夹持装置及控制方法 |
US11338446B2 (en) | 2016-12-28 | 2022-05-24 | Subaru Corporation | Machining robot and machining method |
DE112018001716B4 (de) | 2017-03-29 | 2021-01-21 | Sumitomo Heavy Industries, Ltd. | Hauptmaschinen-Unterstützungssystem |
JP7053610B2 (ja) | 2017-06-22 | 2022-04-12 | 株式会社Subaru | 機械加工装置用のアタッチメント |
JP6812925B2 (ja) * | 2017-08-01 | 2021-01-13 | トヨタ自動車株式会社 | ロボットアーム、鉄粉量推定方法及び異常予兆判定システム |
JP7126513B2 (ja) * | 2017-11-22 | 2022-08-26 | 川崎重工業株式会社 | 機械装置の劣化診断装置、劣化診断装置において実行される機械装置の劣化診断方法、及び、機械装置の劣化診断方法 |
CN108549349B (zh) * | 2018-05-22 | 2020-10-16 | 佛山科学技术学院 | 一种高负荷工业机器人信息采集方法及装置 |
JP7081319B2 (ja) * | 2018-06-13 | 2022-06-07 | いすゞ自動車株式会社 | 推定装置及び、推定方法 |
JP7245617B2 (ja) * | 2018-07-24 | 2023-03-24 | ナブテスコ株式会社 | 分析装置 |
DE102019121013B4 (de) | 2018-08-09 | 2022-12-29 | Fanuc Corporation | Steuervorrichtung, schmierstoffkühlverfahren und verwaltungsvorrichtung |
CN111795817A (zh) * | 2020-07-27 | 2020-10-20 | 西安交通大学 | 一种基于多传感融合的rv减速器性能测试装置 |
US20240025045A1 (en) | 2020-09-30 | 2024-01-25 | Fanuc Corporation | Control device for industrial machine |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04142447A (ja) * | 1990-10-02 | 1992-05-15 | Ishikawajima Harima Heavy Ind Co Ltd | 潤滑油監視装置 |
JPH0634541A (ja) * | 1992-07-14 | 1994-02-08 | Nippon Oil Co Ltd | 潤滑油劣化モニター装置 |
JPH08126369A (ja) * | 1994-10-24 | 1996-05-17 | Mitsubishi Electric Corp | ロボット制御装置 |
JPH10315170A (ja) * | 1997-05-12 | 1998-12-02 | Kawasaki Heavy Ind Ltd | ロボット制御装置 |
JP2001113491A (ja) * | 1999-10-14 | 2001-04-24 | Denso Corp | ロボット装置の管理システム |
JP2001266268A (ja) * | 2000-03-17 | 2001-09-28 | Seiko Precision Inc | センシング装置 |
JP2004347548A (ja) * | 2003-05-26 | 2004-12-09 | Ts Corporation | 荷重検出システム |
JP2005257531A (ja) * | 2004-03-12 | 2005-09-22 | Omron Corp | 光電センサ装置 |
JP2009184095A (ja) * | 2008-02-08 | 2009-08-20 | Fanuc Ltd | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
JP2011094761A (ja) * | 2009-11-02 | 2011-05-12 | Ebara Corp | 油面検知兼軸受監視装置及び真空ポンプ |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3129321B2 (ja) * | 1989-06-26 | 2001-01-29 | トヨタ自動車株式会社 | 動作監視装置 |
JP2876835B2 (ja) * | 1991-07-30 | 1999-03-31 | 日産自動車株式会社 | ギヤボックス内の異常検出装置 |
JP2005085193A (ja) * | 2003-09-11 | 2005-03-31 | Mitsubishi Materials Corp | 無線センサシステム |
EP1939602A4 (en) * | 2005-10-21 | 2016-02-17 | Nabtesco Corp | DEVICE AND SYSTEM FOR OUTPUT MAINTENANCE INFORMATION |
EP1980840A4 (en) * | 2006-01-23 | 2012-12-05 | Ntn Toyo Bearing Co Ltd | LUBRICANT DISPOSABLE DETECTOR AND BEARING WITH THE DETECTOR |
JP2007212161A (ja) * | 2006-02-07 | 2007-08-23 | Ntn Corp | 透過率・潤滑剤劣化検出装置および検出装置付き軸受 |
CN102322516B (zh) * | 2011-05-27 | 2014-08-13 | 中国船舶重工集团公司第七一一研究所 | 泥泵双速齿轮箱智能控制系统及其控制方法 |
-
2012
- 2012-05-25 JP JP2012120082A patent/JP5973786B2/ja not_active Expired - Fee Related
-
2013
- 2013-05-23 CN CN201380027532.8A patent/CN104582912B/zh active Active
- 2013-05-23 WO PCT/JP2013/064401 patent/WO2013176229A1/ja active Application Filing
- 2013-05-23 KR KR1020147032646A patent/KR102056261B1/ko active IP Right Grant
- 2013-05-23 DE DE112013002681.3T patent/DE112013002681T5/de active Pending
- 2013-05-24 TW TW102118486A patent/TWI595221B/zh not_active IP Right Cessation
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04142447A (ja) * | 1990-10-02 | 1992-05-15 | Ishikawajima Harima Heavy Ind Co Ltd | 潤滑油監視装置 |
JPH0634541A (ja) * | 1992-07-14 | 1994-02-08 | Nippon Oil Co Ltd | 潤滑油劣化モニター装置 |
JPH08126369A (ja) * | 1994-10-24 | 1996-05-17 | Mitsubishi Electric Corp | ロボット制御装置 |
JPH10315170A (ja) * | 1997-05-12 | 1998-12-02 | Kawasaki Heavy Ind Ltd | ロボット制御装置 |
JP2001113491A (ja) * | 1999-10-14 | 2001-04-24 | Denso Corp | ロボット装置の管理システム |
JP2001266268A (ja) * | 2000-03-17 | 2001-09-28 | Seiko Precision Inc | センシング装置 |
JP2004347548A (ja) * | 2003-05-26 | 2004-12-09 | Ts Corporation | 荷重検出システム |
JP2005257531A (ja) * | 2004-03-12 | 2005-09-22 | Omron Corp | 光電センサ装置 |
JP2009184095A (ja) * | 2008-02-08 | 2009-08-20 | Fanuc Ltd | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
JP2011094761A (ja) * | 2009-11-02 | 2011-05-12 | Ebara Corp | 油面検知兼軸受監視装置及び真空ポンプ |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3264592B1 (en) * | 2015-02-27 | 2023-04-12 | Sony Group Corporation | Actuator and medical support arm device |
Also Published As
Publication number | Publication date |
---|---|
JP2013244564A (ja) | 2013-12-09 |
KR102056261B1 (ko) | 2019-12-16 |
DE112013002681T5 (de) | 2015-03-19 |
KR20150016246A (ko) | 2015-02-11 |
TWI595221B (zh) | 2017-08-11 |
CN104582912A (zh) | 2015-04-29 |
JP5973786B2 (ja) | 2016-08-23 |
CN104582912B (zh) | 2016-12-07 |
TW201350817A (zh) | 2013-12-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5973786B2 (ja) | 産業用ロボットの集中監視装置、集中監視プログラムおよびメンテナンスシステム | |
JP5885582B2 (ja) | 減速機破損状態通知装置、減速機破損状態通知機能付機械システムおよび減速機破損状態通知プログラム | |
JP6175433B2 (ja) | 状態判定方法、状態通知システムおよび状態判定プログラム | |
US20190048988A1 (en) | Actuator diagnostics and prognostics | |
JP6448093B2 (ja) | センサー装置 | |
JP6148436B2 (ja) | 潤滑油劣化センサーおよびそれを備えた機械 | |
JP5860739B2 (ja) | 減速機破損状態通知装置、減速機破損状態通知機能付機械システムおよび減速機破損状態通知プログラム | |
WO2013111787A1 (ja) | 潤滑油の劣化を検出するよう構成された機械、産業用ロボット用減速機および産業用ロボット | |
JP5886653B2 (ja) | 潤滑油劣化センサーおよびそれを備えた機械 | |
JP5956152B2 (ja) | 潤滑油劣化センサーを備えた機械 | |
KR102084988B1 (ko) | 윤활유 열화 센서 및 그것을 구비한 기계 | |
JP6612385B2 (ja) | センサー | |
JP5814748B2 (ja) | 潤滑油劣化センサー、産業用ロボット用減速機および産業用ロボット | |
JP6110604B2 (ja) | 光センサーおよびそれを備えた機械、産業用ロボット用減速機、産業用ロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13794198 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 20147032646 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112013002681 Country of ref document: DE Ref document number: 1120130026813 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13794198 Country of ref document: EP Kind code of ref document: A1 |